ABB Flexible Automation AB

RAPID Reference On-line Manual 3.0

MAIN MENU

Table of Contents
Introduction
RAPID Summary
Basic Characteristics
Motion and I/O Principles
Data Types and System data
Instructions
Functions
Predefined Data and Programs
Programming off-line
ArcWare
SpotWare
GlueWare
Quickreference
Index, Glossary
 CONTENTS
Page

1 Table of Contents..................................................................................... 1-1

2 Introduction ............................................................................................ 2-3
1 Other Manuals ..................................................................................................... 2-3
2 How to Read this Manual.................................................................................... 2-3
2.1 Typographic conventions .............................................................................. 2-4
2.2 Syntax rules................................................................................................... 2-4
2.3 Formal syntax................................................................................................ 2-5
3 RAPID Summary..................................................................................... 3-1
1 The Structure of the Language........................................................................... 3-5
2 Controlling the Program Flow............................................................................ 3-6
2.1 Programming principles ................................................................................ 3-6
2.2 Calling another routine.................................................................................. 3-6
2.3 Program control within the routine ............................................................... 3-6
2.4 Stopping program execution ......................................................................... 3-7
2.5 Stop current cycle.......................................................................................... 3-7
3 Various Instructions ............................................................................................ 3-8
3.1 Assigning a value to data .............................................................................. 3-8
3.2 Wait ............................................................................................................... 3-8
3.3 Comments ..................................................................................................... 3-8
3.4 Loading program modules ............................................................................ 3-9
3.5 Various functions .......................................................................................... 3-9
3.6 Basic data ...................................................................................................... 3-9
3.7 Conversion function...................................................................................... 3-9
4 Motion Settings .................................................................................................... 3-10
4.1 Programming principles ................................................................................ 3-10
4.2 Defining velocity........................................................................................... 3-10
4.3 Defining acceleration .................................................................................... 3-11
4.4 Defining configuration management ............................................................ 3-11
4.5 Defining the payload ..................................................................................... 3-11
4.6 Defining the behaviour near singular points ................................................. 3-11
4.7 Displacing a program .................................................................................... 3-12
4.8 Soft servo ...................................................................................................... 3-12
4.9 Adjust the robot tuning values ...................................................................... 3-12
4.10 World Zones................................................................................................ 3-13
4.11 Data for motion settings .............................................................................. 3-13
5 Motion ................................................................................................................... 3-14

RAPID Reference Manual 1-1

 Page

5.1 Programming principles................................................................................ 3-14

5.2 Positioning instructions................................................................................. 3-15
5.3 Searching....................................................................................................... 3-15
5.4 Activating outputs or interrupts at specific positions ................................... 3-15
5.5 Motion control if an error/interrupt takes place............................................ 3-16
5.6 Controlling external axes .............................................................................. 3-16
5.7 Independent axes........................................................................................... 3-16
5.8 Position functions.......................................................................................... 3-17
5.9 Motion data ................................................................................................... 3-17
5.10 Basic data for movements........................................................................... 3-18
6 Input and Output Signals.................................................................................... 3-19
6.1 Programming principles................................................................................ 3-19
6.2 Changing the value of a signal...................................................................... 3-19
6.3 Reading the value of an input signal............................................................. 3-19
6.4 Reading the value of an output signal........................................................... 3-19
6.5 Testing input on output signals ..................................................................... 3-20
6.6 Disabling and enabling I/O modules............................................................. 3-20
6.7 Defining input and output signals ................................................................. 3-20
7 Communication.................................................................................................... 3-21
7.1 Programming principles................................................................................ 3-21
7.2 Communicating using the teach pendant ...................................................... 3-21
7.3 Reading from or writing to a character-based serial channel/file ................. 3-22
7.4 Communicating using binary serial channels/files ....................................... 3-22
7.5 Data for serial channels................................................................................. 3-22
8 Interrupts ............................................................................................................. 3-23
8.1 Programming principles................................................................................ 3-23
8.2 Connecting interrupts to trap routines........................................................... 3-23
8.3 Ordering interrupts........................................................................................ 3-24
8.4 Cancelling interrupts..................................................................................... 3-24
8.5 Enabling/disabling interrupts ........................................................................ 3-24
8.6 Data type of interrupts .................................................................................. 3-24
9 Error Recovery .................................................................................................... 3-25
9.1 Programming principles ................................................................................ 3-25
9.2 Creating an error situation from within the program .................................... 3-25
9.3 Restarting/returning from the error handler .................................................. 3-26
9.4 Data for error handling.................................................................................. 3-26

1-2 RAPID Reference Manual

 Page

10 System & Time ................................................................................................... 3-27

10.1 Programming principles .............................................................................. 3-27
10.2 Using a clock to time an event .................................................................... 3-27
10.3 Reading current time and date .................................................................... 3-27
11 Mathematics ....................................................................................................... 3-28
11.1 Programming principles .............................................................................. 3-28
11.2 Simple calculations on numeric data........................................................... 3-28
11.3 More advanced calculations ........................................................................ 3-28
11.4 Arithmetic functions.................................................................................... 3-29
12 Spot Welding ...................................................................................................... 3-30
12.1 Spot welding features.................................................................................. 3-30
12.2 Principles of SpotWare ............................................................................... 3-31
12.3 Programming principles .............................................................................. 3-32
12.4 Spot welding instructions............................................................................ 3-32
12.5 Spot welding data........................................................................................ 3-32
13 Arc Welding........................................................................................................ 3-33
13.1 Programming principles .............................................................................. 3-33
13.2 Arc welding instructions ............................................................................. 3-33
13.3 Arc welding data ......................................................................................... 3-34
14 GlueWare............................................................................................................ 3-35
14.1 Glueing features .......................................................................................... 3-35
14.2 Programming principles .............................................................................. 3-35
14.3 Glue instructions ......................................................................................... 3-35
14.4 Glue data ..................................................................................................... 3-36
15 External Computer Communication ............................................................... 3-37
15.1 Programming principles .............................................................................. 3-37
15.2 Sending a program-controlled message from the robot to a computer ....... 3-37
16 Service Instructions ........................................................................................... 3-38
16.1 Directing a value to the robot’s test signal.................................................. 3-38
17 String Functions................................................................................................. 3-39
17.1 Basic Operations ......................................................................................... 3-39
17.2 Comparison and Searching ......................................................................... 3-39
17.3 Conversion .................................................................................................. 3-40
18 Syntax Summary................................................................................................ 3-41
18.1 Instructions.................................................................................................. 3-41
18.2 Functions ..................................................................................................... 3-45

RAPID Reference Manual 1-3

 Page

4
5 Basic Characteristics ............................................................................... 5-1
1 Basic Elements ..................................................................................................... 5-3
1.1 Identifiers ...................................................................................................... 5-3
1.2 Spaces and new-line characters..................................................................... 5-4
1.3 Numeric values ............................................................................................. 5-4
1.4 Logical values ............................................................................................... 5-4
1.5 String values.................................................................................................. 5-4
1.6 Comments ..................................................................................................... 5-5
1.7 Placeholders .................................................................................................. 5-5
1.8 File header..................................................................................................... 5-5
1.9 Syntax............................................................................................................ 5-6
2 Modules................................................................................................................. 5-8
2.1 Program modules .......................................................................................... 5-8
2.2 System modules ............................................................................................ 5-9
2.3 Module declarations...................................................................................... 5-9
2.4 Syntax ........................................................................................................... 5-9
3 Routines ................................................................................................................ 5-11
3.1 Routine scope................................................................................................ 5-11
3.2 Parameters..................................................................................................... 5-12
3.3 Routine termination ...................................................................................... 5-13
3.4 Routine declarations...................................................................................... 5-13
3.5 Procedure call................................................................................................ 5-14
3.6 Syntax ........................................................................................................... 5-15
4 Data Types............................................................................................................ 5-18
4.1 Non-value data types..................................................................................... 5-18
4.2 Equal (alias) data types ................................................................................. 5-18
4.3 Syntax ........................................................................................................... 5-19
5 Data ....................................................................................................................... 5-20
5.1 Data scope..................................................................................................... 5-20
5.2 Variable declaration ...................................................................................... 5-21
5.3 Persistent declaration .................................................................................... 5-22
5.4 Constant declaration...................................................................................... 5-22
5.5 Initiating data ................................................................................................ 5-22
5.6 Syntax ........................................................................................................... 5-23
6 Instructions........................................................................................................... 5-25

1-4 RAPID Reference Manual

 Page

6.1 Syntax............................................................................................................ 5-25

7 Expressions ........................................................................................................... 5-26
7.1 Arithmetic expressions.................................................................................. 5-26
7.2 Logical expressions....................................................................................... 5-27
7.3 String expressions ......................................................................................... 5-27
7.4 Using data in expressions.............................................................................. 5-28
7.5 Using aggregates in expressions ................................................................... 5-29
7.6 Using function calls in expressions............................................................... 5-29
7.7 Priority between operators ............................................................................ 5-30
7.8 Syntax............................................................................................................ 5-31
8 Error Recovery .................................................................................................... 5-33
8.1 Error handlers................................................................................................ 5-33
9 Interrupts.............................................................................................................. 5-35
9.1 Interrupt manipulation................................................................................... 5-35
9.2 Trap routines ................................................................................................. 5-36
10 Backward execution........................................................................................... 5-37
10.1 Backward handlers ...................................................................................... 5-37
10.2 Limitation of move instructions in the backward handler .......................... 5-38
11 Multitasking ....................................................................................................... 5-39
11.1 Synchronising the tasks............................................................................... 5-39
11.1 Synchronising using polling........................................................................ 5-40
11.1 Synchronising using an interrupt................................................................. 5-40
11.2 Intertask communication............................................................................. 5-41
11.3 Type of task................................................................................................. 5-42
11.4 Priorities ...................................................................................................... 5-42
11.5 Task sizes .................................................................................................... 5-43
11.6 Something to think about ............................................................................ 5-43
6 Motion and I/O Principles ...................................................................... 6-1
1 Coordinate Systems ............................................................................................. 6-3
1.1 The robot’s tool centre point (TCP) .............................................................. 6-3
1.2 Coordinate systems used to determine the position of the TCP.................... 6-3
1.3 Coordinate systems used to determine the direction of the tool ................... 6-8
1.4 Related information....................................................................................... 6-12
2 Positioning during Program Execution ............................................................. 6-13
2.1 General .......................................................................................................... 6-13
2.2 Interpolation of the position and orientation of the tool ............................... 6-13

RAPID Reference Manual 1-5

 Page

2.3 Interpolation of corner paths......................................................................... 6-16

2.4 Independent axes........................................................................................... 6-22
2.5 Soft Servo...................................................................................................... 6-24
2.6 Stop and restart ............................................................................................. 6-25
2.7 Related information ...................................................................................... 6-26
3 Synchronization with logical instructions ......................................................... 6-27
3.1 Sequential program execution at stop points ................................................ 6-27
3.2 Sequential program execution at fly-by points ............................................. 6-27
3.3 Concurrent program execution ..................................................................... 6-28
3.4 Path synchronization..................................................................................... 6-31
3.5 Related information ...................................................................................... 6-32
4 Robot Configuration............................................................................................ 6-33
4.1 Robot configuration data for 6400C ............................................................. 6-35
4.2 Related information ...................................................................................... 6-36
5 Singularities.......................................................................................................... 6-37
5.1 Singularity points/IRB 6400C....................................................................... 6-38
5.2 Program execution through singularities ...................................................... 6-38
5.3 Jogging through singularities........................................................................ 6-38
5.4 Related information ...................................................................................... 6-38
6 World Zones......................................................................................................... 6-39
6.1 Using global zones........................................................................................ 6-39
6.2 Using World Zones ....................................................................................... 6-39
6.3 Definition of World Zones in the world coordinate system ......................... 6-39
6.4 Supervision of the Robot TCP ...................................................................... 6-40
6.5 Actions .......................................................................................................... 6-41
6.6 Minimum size of World Zones. .................................................................... 6-42
6.7 Power failure, restart, and run on.................................................................. 6-42
6.8 Related information ...................................................................................... 6-43
7 I/O Principles ....................................................................................................... 6-44
7.1 Signal characteristics .................................................................................... 6-44
7.2 System signals............................................................................................... 6-45
7.3 Cross connections ......................................................................................... 6-45
7.4 Limitations .................................................................................................... 6-46
7.5 Related information ...................................................................................... 6-46
7 Data Types and System Data .................................................................. 7-1
bool - Logical values ....................................................................................... 7-bool-1

1-6 RAPID Reference Manual

 Page

clock - Time measurement ............................................................... 7-clock-1

confdata - Robot configuration data ............................................... 7-confdata-1
corrdescr - Correction generator descriptor.................................. 7-corrdescr-1
dionum - Digital values 0 - 1 ............................................................ 7-dionum-1
errnum - Error number ................................................................... 7-errnum-1
extjoint - Position of external joints ................................................ 7-extjoint-1
intnum - Interrupt identity .............................................................. 7-intnum-1
iodev - Serial channels and files....................................................... 7-iodev-1
jointtarget - Joint position data ....................................................... 7-jointtarget-1
loaddata - Load data......................................................................... 7-loaddata-1
mecunit - Mechanical unit................................................................ 7-mecunit-1
motsetdata - Motion settings data ................................................... 7-motsetdata-1
num - Numeric values (registers) .................................................... 7-num-1
o_jointtarget - Original joint position data .................................... 7-o_jointtarget-1
orient - Orientation........................................................................... 7-orient-1
o_robtarget - Original position data ............................................... 7-o_robtarget-1
pos - Positions (only X, Y and Z) ..................................................... 7-pos-1
pose - Coordinate transformations.................................................. 7-pose-1
progdisp - Program displacement ................................................... 7-progdisp-1
robjoint - Joint position of robot axes............................................. 7-robjoint-1
robtarget - Position data................................................................... 7-robtarget-1
shapedata - World zone shape data................................................. 7-shape-1
signalxx - Digital and analog signals ............................................... 7-signalxx-1
speeddata - Speed data ..................................................................... 7-speeddata-1
string - Strings................................................................................... 7-string-1
symnum - Symbolic number ............................................................ 7-symnum-1
tooldata - Tool data........................................................................... 7-tooldata-1
tpnum - Teach Pendant Window number ...................................... 7-tpnum-1
triggdata - Positioning events - trigg ............................................... 7-triggdata-1
tunetype - Servo tune type................................................................ 7-tunetype-1
wobjdata - Work object data ........................................................... 7-wobjdata-1
wzstationary - Stationary world zone data..................................... 7-wzstationary-5
wztemporary - Temporary world zone data .................................. 7-wztemporary-7
zonedata - Zone data......................................................................... 7--zonedata-1
System Data - ....................................................................................7-System data-1

RAPID Reference Manual 1-7

 Page

8 Instructions............................................................................................... 8-1
“:=” - Assigns a value....................................................................... 8-:=-1
AccSet - Reduces the acceleration .................................................. 8-AccSet-1
ActUnit - Activates a mechanical unit............................................ 8-ActUnit-1
Add - Adds a numeric value............................................................ 8-Add-1
Break - Break program execution .................................................. 8-Break-1
CallByVar - Call a procedure by a variable .................................. 8-CallByVar-1
Clear - Clears the value ................................................................... 8-Clear-1
ClkReset - Resets a clock used for timing ...................................... 8-ClkReset-1
ClkStart - Starts a clock used for timing ....................................... 8-ClkStart-1
ClkStop - Stops a clock used for timing ......................................... 8-ClkStop-1
Close - Closes a file or serial channel ............................................. 8-Close-1
comment - Comment........................................................................ 8-comment-1
Compact IF - If a condition is met, then... (one instruction) ........ 8-Compact IF-1
ConfJ - Controls the configuration during joint movement ........ 8-ConfJ-1
ConfL - Monitors the configuration during linear movement..... 8-ConfL-1
CONNECT - Connects an interrupt to a trap routine ................. 8-CONNECT-1
CorrClear - Removes all correction generators ............................ 8-CorClear-1
CorrCon - Connects to a correction generator ............................. 8-CorrCon-1
CorrDiscon - Disconnects from a correction generator................ 8-CorrDiscon-1
CorrWrite - Writes to a correction generator............................... 8-CorrWrite-1
DeactUnit - Deactivates a mechanical unit .................................... 8-DeActUnit-1
Decr - Decrements by 1.................................................................... 8-Decr-1
EOffsOff - Deactivates an offset for external axes ....................... 8-EOffsOff-1
EOffsOn - Activates an offset for external axes ............................ 8-EOffsOn-1
EOffsSet - Activates an offset for external axes using a value ..... 8-EOffsSet-1
ErrWrite - Write an Error Message .............................................. 8-ErrWrite-1
EXIT - Terminates program execution.......................................... 8-EXIT-1
ExitCycle - Break current cycle and start next ............................. 8-ExitCycle-1
FOR - Repeats a given number of times ........................................ 8-FOR-1
GOTO - Goes to a new instruction ................................................. 8-GOTO-1
GripLoad - Defines the payload of the robot................................. 8-GripLoad-1
IDelete - Cancels an interrupt......................................................... 8-IDelete-1
IDisable - Disables interrupts.......................................................... 8-IDisable-1
IEnable - Enables interrupts ........................................................... 8-IEnable-1
IF - If a condition is met, then ...; otherwise ... .............................. 8-IF-1

1-8 RAPID Reference Manual

 Page

Incr - Increments by 1...................................................................... 8-Incr-1

IndAMove - Independent Absolute position Movement............... 8-IndAMove-1
IndCMove - Independent Continuous Movement......................... 8-IndCMove-1
IndDMove - Independent Delta position Movement..................... 8-IndRMove-1
IndReset - Independent Reset ......................................................... 8-IndReset-1
IndRMove - Independent Relative position Movement................ 8-IndRMove-1
InvertDO - Inverts the value of a digital output signal................. 8-InvertDO-1
IODisable - Disable I/O unit............................................................ 8-IODisable-1
IOEnable - Enable I/O unit ............................................................. 8-IOEnable-1
ISignalDI - Orders interrupts from a digital input signal............ 8-ISignalDI-1
ISignalDO - Interrupts from a digital output signal..................... 8-ISignalDO-1
ISleep - Deactivates an interrupt .................................................... 8-ISleep-1
ITimer - Orders a timed interrupt................................................. 8-ITimer-1
IVarValue - Orders a variable value interrupt ............................ 8-IVarVal-1
IWatch - Activates an interrupt...................................................... 8-IWatch-1
label - Line name .............................................................................. 8-label-1
Load - Load a program module during execution ........................ 8-Load-1
MoveAbsJ - Moves the robot to an absolute joint position .......... 8-MoveAbsJ-1
MoveC - Moves the robot circularly............................................... 8-MoveC-1
MoveJ - Moves the robot by joint movement ................................ 8-MoveJ-1
MoveL - Moves the robot linearly .................................................. 8-MoveL-1
Open - Opens a file or serial channel.............................................. 8-Open-1
PathResol - Override path resolution............................................. 8-PathResol-1
PDispOff - Deactivates program displacement ............................. 8-PDispOff-1
PDispOn - Activates program displacement.................................. 8-PDispOn-1
PDispSet - Activates program displacement using a value .......... 8-PDispSet-1
ProcCall - Calls a new procedure ................................................... 8-ProcCall-1
PulseDO - Generates a pulse on a digital output signal................ 8-PulseDO-1
RAISE - Calls an error handler ...................................................... 8-RAISE-1
Reset - Resets a digital output signal .............................................. 8-Reset-1
RestoPath - Restores the path after an interrupt .......................... 8-RestoPath-1
RETRY - Restarts following an error ............................................ 8-RETRY-1
RETURN - Finishes execution of a routine.................................... 8-RETURN-1
Rewind - Rewind file position ......................................................... 8-Rewind-1
SearchC - Searches circularly using the robot .............................. 8-SearchC-1
SearchL - Searches linearly using the robot .................................. 8-SearchL-1

RAPID Reference Manual 1-9

 Page

Set - Sets a digital output signal ...................................................... 8-Set-1

SetAO - Changes the value of an analog output signal ................. 8-SetAO-1
SetDO - Changes the value of a digital output signal.................... 8-SetDO-1
SetGO - Changes the value of a group of digital output signals .. 8-SetGO-1
SingArea - Defines interpolation around singular points............. 8-SingArea-1
SoftAct - Activating the soft servo .................................................. 8-SoftAct-1
SoftDeact - Deactivating the soft servo........................................... 8-SoftDeAct-1
StartMove - Restarts robot motion................................................. 8-StartMove-1
Stop - Stops program execution ...................................................... 8-Stop-1
StopMove - Stops robot motion....................................................... 8-StopMove-1
StorePath - Stores the path when an interrupt occurs ................. 8-StorePath-1
TEST - Depending on the value of an expression ......................... 8-TEST-1
TPErase - Erases text printed on the teach pendant..................... 8-TPErase-1
TPReadFK - Reads function keys................................................... 8-TPReadFK-1
TPReadNum - Reads a number from the teach pendant ............. 8-TPReadNum-1
TPShow - Switch window on the teach pendant............................ 8-TPShow-1
TPWrite - Writes on the teach pendant ......................................... 8-TPWrite-1
TriggC - Circular robot movement with events ............................ 8-TriggC-1
TriggEquip - Defines a fixed position-time I/O event ................... 8-TriggEquip-1
TriggInt - Defines a position related interrupt.............................. 8-TriggInt-1
TriggIO - Defines a fixed position I/O event.................................. 8-TriggIO-1
TriggJ - Axis-wise robot movements with events.......................... 8-TriggJ-1
TriggL - Linear robot movements with events.............................. 8-TriggL-1
TRYNEXT - Jumps over an instruction which has caused an error 8-TRYNEXT-1
TuneReset - Resetting servo tuning ................................................ 8-TuneServo-1
TuneServo - Tuning servos.............................................................. 8-TuneServo-1
UnLoad - UnLoad a program module during execution .............. 8-UnLoad-1
VelSet - Changes the programmed velocity................................... 8-VelSet-1
WaitDI - Waits until a digital input signal is set ........................... 8-WaitDI-1
WaitDO - Waits until a digital output signal is set........................ 8-WaitDO-1
WaitTime - Waits a given amount of time ..................................... 8-WaitTime-1
WaitUntil - Waits until a condition is met ..................................... 8-WaitUntil-1
WHILE - Repeats as long as............................................................ 8-WHILE-1
Write - Writes to a character-based file or serial channel ........... 8-Write-1
WriteBin - Writes to a binary serial channel................................. 8-WriteBin-1
WriteStrBin - Writes a string to a binary serial channel.............. 8-WriteStrBin-1

1-10 RAPID Reference Manual

 Page

WZBoxDef - Define a box-shaped world zone ............................... 8-WZBoxDef-1

WZCylDef - Define a cylinder-shaped world zone ........................ 8-WZCylDef-1
WZDisable - Deactivate temporary world zone supervision ........ 8-WZDisable-1
WZDOSet - Activate world zone to set digital output................... 8-WZDOSet-1
WZEnable - Activate temporary world zone supervision............. 8-WZEnable-1
WZFreecErase temporary world zone supervision ....................... 8-WZFree-1
WZLimSup - Activate world zone limit supervision ..................... 8-WZLimSup-1
WZSphDef - Define a sphere-shaped world zone .......................... 8-WZSphDef-1
9 Functions .................................................................................................. 9-1
Abs - Gets the absolute value ............................................................. 9-Abs-1
ACos - Calculates the arc cosine value.............................................. 9-ACos-1
AOutput - Reads the value of an analog output signal.................... 9-AOutput-1
ArgName - Gets argument name....................................................... 9-ArgName-1
ASin - Calculates the arc sine value .................................................. 9-ASin-1
ATan - Calculates the arc tangent value........................................... 9-ATan-1
ATan2 - Calculates the arc tangent2 value....................................... 9-ATan2-1
ByteToStr - Converts a byte to a string data.................................... 9-ByteToStr-1
CDate - Reads the current date as a string....................................... 9-CDate-1
CJointT - Reads the current joint angles.......................................... 9-CJointT-1
ClkRead - Reads a clock used for timing.......................................... 9-ClkRead-1
CorrRead - Reads the current total offsets ...................................... 9-CorrRead-1
Cos - Calculates the cosine value ....................................................... 9--Cos-1
CPos - Reads the current position (pos) data ................................... 9-CPos-1
CRobT - Reads the current position (robtarget) data..................... 9-CRobT-1
CTime - Reads the current time as a string...................................... 9-CTime-1
CTool - Reads the current tool data.................................................. 9-CTool-1
CWObj - Reads the current work object data ................................. 9-CWobj-1
DefDFrame - Define a displacement frame ...................................... 9-DefDFrame-1
DefFrame - Define a frame ................................................................ 9-DefFrame-1
Dim - Obtains the size of an array..................................................... 9-Dim-1
DOutput - Reads the value of a digital output signal ...................... 9-DOutput-1
EulerZYX - Gets Euler angles from orient ...................................... 9-EulerZYX-1
Exp - Calculates the exponential value ............................................. 9-Exp-1
GetTime - Reads the current time as a numeric value.................... 9-GetTime-1
GOutput - Reads the value of a group of digital output signals ..... 9-GOutput-1
IndInpos - Independent In position status........................................ 9-IndInpos-1

RAPID Reference Manual 1-11

 Page

IndSpeed - Independent Speed status............................................... 9-IndSpeed-1

IsPers - Is Persistent ........................................................................... 9-IsPers-1
IsVar - Is Variable .............................................................................. 9-IsVar-1
MirPos - Mirroring of a position....................................................... 9-MirPos-1
NumToStr - Converts numeric value to string ................................ 9-NumToStr-1
Offs - Displaces a robot position........................................................ 9-Offs-1
OpMode - Read the operating mode................................................. 9-OpMode-1
OrientZYX - Builds an orient from Euler angles ............................ 9-OrientZYX-1
ORobT - Removes a program displacement from a position ......... 9-ORobT-1
PoseInv - Inverts the pose .................................................................. 9-PoseInv-1
PoseMult - Multiplies pose data ........................................................ 9-PoseMult-1
PoseVect - Applies a transformation to a vector ............................. 9-PoseVect-1
Pow - Calculates the power of a value .............................................. 9-Pow-1
Present - Tests if an optional parameter is used .............................. 9-Present-1
ReadBin - Reads from a binary serial channel or file ..................... 9-ReadBin-1
ReadMotor - Reads the current motor angles ................................. 9-ReadMotor-1
ReadNum - Reads a number from a file or the serial channel ....... 9-ReadNum-1
ReadStr - Reads a string from a file or serial channel .................... 9-ReadStr-1
RelTool - Make a displacement relative to the tool ......................... 9-RelTool-1
Round - Round is a numeric value.................................................... 9-Round-1
RunMode - Read the running mode ................................................. 9-RunMode-1
Sin - Calculates the sine value ........................................................... 9-Sin-1
Sqrt - Calculates the square root value ............................................ 9-Sqrt-1
StrFind - Searches for a character in a string.................................. 9-StrFind-1
StrLen - Gets the string length .......................................................... 9-StrLen-1
StrMap - Maps a string ...................................................................... 9-StrMap-1
StrMatch - Search for pattern in string............................................ 9-StrMatch-1
StrMemb - Checks if a character belongs to a set ........................... 9-StrMemb-1
StrOrder - Checks if strings are ordered ......................................... 9-StrOrder-1
StrPart - Finds a part of a string....................................................... 9-StrPart-1
StrToByte - Converts a string to a byte data ................................... 9-StrToByte-1
StrToVal - Converts a string to a value ............................................ 9-StrToVal-1
Tan - Calculates the tangent value.................................................... 9-Tan-1
TestDI - Tests if a digital input is set ................................................ 9-TestDI-1
Trunc - Truncates a numeric value................................................... 9-Trunc-1
ValToStr - Converts a value to a string............................................ 9-ValToStr-1

1-12 RAPID Reference Manual

 Page

10 Predefined Data and Programs ............................................................ 10-1

1 System Module User ............................................................................................ 10-3
1.1 Contents......................................................................................................... 10-3
1.2 Creating new data in this module.................................................................. 10-3
1.3 Deleting this data........................................................................................... 10-4
11 Programming Off-line........................................................................... 11-3
1 Programming Off-line ......................................................................................... 11-3
1.1 File format ..................................................................................................... 11-3
1.2 Editing ........................................................................................................... 11-3
1.3 Syntax check ................................................................................................. 11-3
1.4 Examples ....................................................................................................... 11-4
1.5 Making your own instructions....................................................................... 11-4
12
13 ArcWare ................................................................................................. 13-1
seamdata - Seam data ......................................................................... 13-seamdata-1
weavedata - Weave data ..................................................................... 13-weavedata-1
welddata - Weld data.......................................................................... 13-welddata-1
ArcC - Arc welding with circular motion ........................................ 13-ArcC-1
arcdata - Arc process data ................................................................. 13-arcdata-1
ArcL - Arc welding with linear motion............................................. 13-ArcL-1
ArcKill - Kill the AW process............................................................ 13-ArcKill-1
ArcRefresh - Refresh arcweld data................................................... 13-ArcRefr-1
14 SpotWare................................................................................................ 14-1
gundata - Spot weld gun data ............................................................ 14-gundata-1
spotdata - Spot weld data ................................................................... 14-spotdata-1
SpotL - Spot Welding with motion.................................................... 14-SpotL-1
System Module - SWUSRC................................................................ 14-SWUSRC-1
System Module - SWUSRF ................................................................ 14-SWUSRF-1
System Module - SWTOOL ............................................................... 14-SWTOOL-1
15 GlueWare ............................................................................................... 15-1
ggundata - Gluing gun data ............................................................... 15-ggundata-1
GlueC - Gluing with circular motion ................................................ 15-GlueC-1
GlueL - Gluing with linear motion.................................................... 15-GlueL-1
System Module GLUSER................................................................... 15-GLUSER-1

RAPID Reference Manual 1-13

16
17
18 Quick Reference..................................................................................... 18-1
1 The Jogging Window........................................................................................... 18-3
1.1 Window: Jogging .......................................................................................... 18-3
2 The Inputs/Outputs Window .............................................................................. 18-4
2.1 Window: Inputs/Outputs............................................................................... 18-4
3 The Program Window......................................................................................... 18-6
3.1 Moving between different parts of the program ........................................... 18-6
3.2 General menus .............................................................................................. 18-7
3.3 Window: Program Instr................................................................................. 18-10
3.4 Window: Program Routines.......................................................................... 18-11
3.5 Window: Program Data ................................................................................ 18-13
3.6 Window: Program Data Types...................................................................... 18-15
3.7 Window: Program Test ................................................................................. 18-16
3.8 Window: Program Modules.......................................................................... 18-17
4 The Production Window ..................................................................................... 18-18
4.1 Window: Production ..................................................................................... 18-18
5 The FileManager.................................................................................................. 18-20
5.1 Window: FileManager .................................................................................. 18-20
6 The Service Window............................................................................................ 18-22
6.1 General menus .............................................................................................. 18-22
6.2 Window Service Log .................................................................................... 18-24
6.3 Window Service Calibration......................................................................... 18-25
6.4 Window Service Commutation..................................................................... 18-26
7 The System Parameters....................................................................................... 18-27
7.1 Window: System Parameters ........................................................................ 18-27
8 Special ArcWare windows .................................................................................. 18-30
8.1 Window: Production ..................................................................................... 18-30
8.2 Window: Program Test ................................................................................. 18-31
8.3 Window when executing............................................................................... 18-32
19 Special Functionality in this Robot ...................................................... 19-1
20 Index, Glossary ...................................................................................... 20-1

1-14 RAPID Reference Manual

 Introduction

CONTENTS
Page

1 Other Manuals................................................................................................................. 3
2 How to Read this Manual ............................................................................................... 3
2.1 Typographic conventions ....................................................................................... 4
2.2 Syntax rules ............................................................................................................ 4
2.3 Formal syntax ......................................................................................................... 5

RAPID Reference Manual 2-1

Introduction

2-2 RAPID Reference Manual

 Introduction

Introduction
This is a reference manual containing a detailed explanation of the programming
language as well as all data types, instructions and functions. If you are program-
ming off-line, this manual will be particularly useful in this respect.

When you start to program the robot it is normally better to start with the User’s
Guide until you are familiar with the system.

1 Other Manuals
Before using the robot for the first time, you should read Basic Operation. This will
provide you with the basics of operating the robot.

The User’s Guide provides step-by-step instructions on how to perform various

tasks, such as how to move the robot manually, how to program, or how to start a
program when running production.

The Product Manual describes how to install the robot, as well as maintenance pro-
cedures and troubleshooting. This manual also contains a Product Specification
which provides an overview of the characteristics and performance of the robot.

2 How to Read this Manual

To answer the questions Which instruction should I use? or What does this instruc-
tion mean?, see Chapter 3: RAPID Summary. This chapter briefly describes all
instructions, functions and data types grouped in accordance with the instruction
pick-lists you use when programming. It also includes a summary of the syntax,
which is particularly useful when programming off-line.

Chapter 5: Basic Characteristics explains the inner details of the language. You
would not normally read this chapter unless you are an experienced programmer.

Chapter 6: Motion and I/O Principles describes the various coordinate systems of the
robot, its velocity and other motion characteristics during different types of execution.

Chapters 7-9 describe all data types, instructions and functions. They are described
in alphabetical order for your convenience.

This manual describes all the data and programs provided with the robot on deliv-
ery. In addition to these, there are a number of predefined data and programs sup-
plied with the robot, either on diskette or, or sometimes already loaded. Chapter 10:
Predefined Data and Programs describes what happens when these are loaded into
the robot.

If you program off-line, you will find some tips in Chapter 11: Programming off-
line.

Chapter 13-15 describes the functionality when the robot is equipped with Process-

RAPID Reference Manual 2-3

Introduction

Ware, i.e. ArcWare, SpotWare and GlueWare.

If you want to find out what a particular menu command does, you should refer to
Chapter 18: Quick Reference. This chapter can also be used as a pocket guide when
you are working with the robot.

To make things easier to locate and understand, Chapter 20 contains an index and a
glossary.

If the robot is delivered or upgraded with some extra functionality, this is described
in Chapter 19: Special Functionality in this Robot.

2.1 Typographic conventions

The commands located under any of the five menu keys at the top of the teach pen-
dant display are written in the form of Menu: Command. For example, to activate
the Print command in the File menu, you choose File: Print.

The names on the function keys and in the entry fields are specified in bold italic
typeface, e.g. Modpos.

Words belonging to the actual programming language, such as instruction names,

are written in italics, e.g. MoveL.

Examples of programs are always displayed in the same way as they are output to a
diskette or printer. This differs from what is displayed on the teach pendant in the
following ways:

- Certain control words that are masked in the teach pendant display are
printed, e.g. words indicating the start and end of a routine.
- Data and routine declarations are printed in the formal form,
e.g. VAR num reg1;.

2.2 Syntax rules

Instructions and functions are described using both simplified syntax and formal
syntax. If you use the teach pendant to program, you generally only need to know
the simplified syntax, since the robot automatically makes sure that the correct syn-
tax is used.

2-4 RAPID Reference Manual

 Introduction

Simplified syntax

Example:

TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient]

Instruction Compulsory Optional Mutually

argument argument exclusive
arguments
- Optional arguments are enclosed in square brackets [ ]. These arguments can
be omitted.
- Arguments that are mutually exclusive, i.e. cannot exist in the instruction at the
same time, are separated by a vertical bar |.
- Arguments that can be repeated an arbitrary number of times are enclosed in
braces { }.

2.3 Formal syntax

Example: TPWrite
[String’:=’] <expression (IN) of string>
[’\’Num’:=’ <expression (IN) of num> ] |
[’\’Bool’:=’ <expression (IN) of bool> ] |
[’\’Pos’:=’ <expression (IN) of pos> ] |
[’\’Orient’:=’ <expression (IN) of orient> ]’;’

- The text within the square brackets [ ] may be omitted.

- Arguments that are mutually exclusive, i.e. cannot exist in the instruction at the
same time, are separated by a vertical bar |.
- Arguments that can be repeated an arbitrary number of times are enclosed in
braces { }.
- Symbols that are written in order to obtain the correct syntax are enclosed in
single quotation marks (apostrophes) ’ ’.
- The data type of the argument (italics) and other characteristics are enclosed in
angle brackets < >. See the description of the parameters of a routine for more
detailed information.

The basic elements of the language and certain instructions are written using a special
syntax, EBNF. This is based on the same rules, but with some additions.

Example: GOTO <identifier>’;’

<identifier> ::= <ident>
| <ID>
<ident> ::= <letter> {<letter> | <digit> | ’_’}

- The symbol ::= means is defined as.

- Text enclosed in angle brackets < > is defined in a separate line.

RAPID Reference Manual 2-5

Introduction

2-6 RAPID Reference Manual

 RAPID Summary

CONTENTS
Page

1 The Structure of the Language ...................................................................................... 5

2 Controlling the Program Flow....................................................................................... 6
2.1 Programming principles ........................................................................................ 6
2.2 Calling another routine .......................................................................................... 6
2.3 Program control within the routine........................................................................ 6
2.4 Stopping program execution.................................................................................. 7
2.5 Stop current cycle .................................................................................................. 7
3 Various Instructions........................................................................................................ 8
3.1 Assigning a value to data....................................................................................... 8
3.2 Wait ....................................................................................................................... 8
3.3 Comments.............................................................................................................. 8
3.4 Loading program modules..................................................................................... 9
3.5 Various functions................................................................................................... 9
3.6 Basic data............................................................................................................... 9
3.7 Conversion function .............................................................................................. 9
4 Motion Settings................................................................................................................ 10
4.1 Programming principles ........................................................................................ 10
4.2 Defining velocity ................................................................................................... 10
4.3 Defining acceleration............................................................................................. 11
4.4 Defining configuration management ..................................................................... 11
4.5 Defining the payload ............................................................................................. 11
4.6 Defining the behaviour near singular points.......................................................... 11
4.7 Displacing a program............................................................................................. 12
4.8 Soft servo............................................................................................................... 12
4.9 Adjust the robot tuning values............................................................................... 12
4.10 World Zones ........................................................................................................ 13
4.11 Data for motion settings ...................................................................................... 13
5 Motion .............................................................................................................................. 14
5.1 Programming principles ........................................................................................ 14
5.2 Positioning instructions ......................................................................................... 15
5.3 Searching ............................................................................................................... 15
5.4 Activating outputs or interrupts at specific positions ............................................ 15
5.5 Motion control if an error/interrupt takes place..................................................... 16
5.6 Controlling external axes....................................................................................... 16
5.7 Independent axes ................................................................................................... 16
5.8 Position functions .................................................................................................. 17

RAPID Reference Manual 3-1

RAPID Summary

Page

5.9 Motion data............................................................................................................ 17

5.10 Basic data for movements ................................................................................... 18
6 Input and Output Signals............................................................................................... 19
6.1 Programming principles ........................................................................................ 19
6.2 Changing the value of a signal .............................................................................. 19
6.3 Reading the value of an input signal ..................................................................... 19
6.4 Reading the value of an output signal ................................................................... 19
6.5 Testing input on output signals ............................................................................. 20
6.6 Disabling and enabling I/O modules ..................................................................... 20
6.7 Defining input and output signals ......................................................................... 20
7 Communication ............................................................................................................... 21
7.1 Programming principles ........................................................................................ 21
7.2 Communicating using the teach pendant............................................................... 21
7.3 Reading from or writing to a character-based serial channel/file.......................... 22
7.4 Communicating using binary serial channels/files................................................ 22
7.5 Data for serial channels ......................................................................................... 22
8 Interrupts......................................................................................................................... 23
8.1 Programming principles ........................................................................................ 23
8.2 Connecting interrupts to trap routines ................................................................... 23
8.3 Ordering interrupts ................................................................................................ 24
8.4 Cancelling interrupts ............................................................................................. 24
8.5 Enabling/disabling interrupts ................................................................................ 24
8.6 Data type of interrupts ........................................................................................... 24
9 Error Recovery................................................................................................................ 25
9.1 Programming principles ........................................................................................ 25
9.2 Creating an error situation from within the program............................................. 25
9.3 Restarting/returning from the error handler........................................................... 26
9.4 Data for error handling .......................................................................................... 26
10 System & Time .............................................................................................................. 27
10.1 Programming principles ...................................................................................... 27
10.2 Using a clock to time an event ............................................................................ 27
10.3 Reading current time and date............................................................................. 27
11 Mathematics .................................................................................................................. 28
11.1 Programming principles ...................................................................................... 28
11.2 Simple calculations on numeric data ................................................................... 28
11.3 More advanced calculations ................................................................................ 28
11.4 Arithmetic functions ............................................................................................ 29

3-2 RAPID Reference Manual

 RAPID Summary

Page

12 Spot Welding.................................................................................................................. 30
12.1 Spot welding features .......................................................................................... 30
12.2 Principles of SpotWare........................................................................................ 31
12.3 Programming principles ...................................................................................... 32
12.4 Spot welding instructions .................................................................................... 32
12.5 Spot welding data ................................................................................................ 32
13 Arc Welding................................................................................................................... 33
13.1 Programming principles ...................................................................................... 33
13.2 Arc welding instructions...................................................................................... 33
13.3 Arc welding data.................................................................................................. 34
14 GlueWare ....................................................................................................................... 35
14.1 Glueing features................................................................................................... 35
14.2 Programming principles ...................................................................................... 35
14.3 Glue instructions.................................................................................................. 35
14.4 Glue data.............................................................................................................. 36
15 External Computer Communication........................................................................... 37
15.1 Programming principles ...................................................................................... 37
15.2 Sending a program-controlled message from the robot to a computer................ 37
16 Service Instructions....................................................................................................... 38
16.1 Directing a value to the robot’s test signal .......................................................... 38
17 String Functions ............................................................................................................ 39
17.1 Basic Operations.................................................................................................. 39
17.2 Comparison and Searching.................................................................................. 39
17.3 Conversion........................................................................................................... 40
18 Syntax Summary ........................................................................................................... 41
18.1 Instructions .......................................................................................................... 41
18.2 Functions ............................................................................................................. 45

RAPID Reference Manual 3-3

RAPID Summary

Page

3-4 RAPID Reference Manual

RAPID Summary The Structure of the Language

1 The Structure of the Language

The program consists of a number of instructions which describe the work of the robot.
Thus, there are specific instructions for the various commands, such as one to move the
robot, one to set an output, etc.

The instructions generally have a number of associated arguments which define what
is to take place in a specific instruction. For example, the instruction for resetting an
output contains an argument which defines which output is to be reset; e.g. Reset do5.
These arguments can be specified in one of the following ways:

- as a numeric value, e.g. 5 or 4.6

- as a reference to data, e.g. reg1
- as an expression, e.g. 5+reg1*2
- as a function call, e.g. Abs(reg1)
- as a string value, e.g. "Producing part A"

There are three types of routines – procedures, functions and trap routines.

- A procedure is used as a subprogram.

- A function returns a value of a specific type and is used as an argument of an
instruction.
- Trap routines provide a means of responding to interrupts. A trap routine can
be associated with a specific interrupt; e.g. when an input is set, it is automati-
cally executed if that particular interrupt occurs.

Information can also be stored in data, e.g. tool data (which contains all information on
a tool, such as its TCP and weight) and numerical data (which can be used, for example,
to count the number of parts to be processed). Data is grouped into different data types
which describe different types of information, such as tools, positions and loads. As
this data can be created and assigned arbitrary names, there is no limit (except that
imposed by memory) on the number of data. These data can exist either globally in the
program or locally within a routine.

There are three kinds of data – constants, variables and persistents.

- A constant represents a static value and can only be assigned a new value man-
ually.
- A variable can also be assigned a new value during program execution.
- A persistent can be described as a “persistent” variable. When a program is
saved the initialization value reflects the current value of the persistent.

Other features in the language are:

- Routine parameters
- Arithmetic and logical expressions
- Automatic error handling
- Modular programs
- Multi tasking

RAPID Reference Manual 3-5

Controlling the Program Flow RAPID Summary

2 Controlling the Program Flow

The program is executed sequentially as a rule, i.e. instruction by instruction.
Sometimes, instructions which interrupt this sequential execution and call another
instruction are required to handle different situations that may arise during execution.

2.1 Programming principles

The program flow can be controlled according to five different principles:

- By calling another routine (procedure) and, when that routine has been
executed, continuing execution with the instruction following the routine call.
- By executing different instructions depending on whether or not a given
condition is satisfied.
- By repeating a sequence of instructions a number of times or until a given
condition is satisfied.
- By going to a label within the same routine.
- By stopping program execution.

2.2 Calling another routine

Instruction Used to:
ProcCall Call (jump to) another routine
CallByVar Call procedures with specific names
RETURN Return to the original routine

2.3 Program control within the routine

Instruction Used to:
Compact IF Execute one instruction only if a condition is satisfied
IF Execute a sequence of different instructions depending on
whether or not a condition is satisfied
FOR Repeat a section of the program a number of times
WHILE Repeat a sequence of different instructions as long as a given
condition is satisfied
TEST Execute different instructions depending on the value of an
expression
GOTO Jump to a label
label Specify a label (line name)

3-6 RAPID Reference Manual

RAPID Summary Controlling the Program Flow

2.4 Stopping program execution

Instruction Used to:
Stop Stop program execution
EXIT Stop program execution when a program restart is not allowed
Break Stop program execution temporarily for debugging purposes

2.5 Stop current cycle

Instruction Used to:
Exit cycle Stop the current cycle and move the program pointer to the first
instruction in the main routine. When the execution mode
CONT is selected, execution will continue with the next
program cycle.

RAPID Reference Manual 3-7

Various Instructions RAPID Summary

3 Various Instructions
Various instructions are used to

- assign values to data

- wait a given amount of time or wait until a condition is satisfied
- insert a comment into the program
- load program modules.

3.1 Assigning a value to data

Data can be assigned an arbitrary value. It can, for example, be initialized with a con-
stant value, e.g. 5, or updated with an arithmetic expression, e.g. reg1+5*reg3.

Instruction Used to:

:= Assign a value to data

3.2 Wait
The robot can be programmed to wait a given amount of time, or to wait until an arbi-
trary condition is satisfied; for example, to wait until an input is set.

Instruction Used to:

WaitTime Wait a given amount of time or to wait until the robot stops
moving
WaitUntil Wait until a condition is satisfied
WaitDI Wait until a digital input is set
WaitDO Wait until a digital output is set

3.3 Comments
Comments are only inserted into the program to increase its readability. Program exe-
cution is not affected by a comment.

Instruction Used to:

comment Comment on the program

3-8 RAPID Reference Manual

RAPID Summary Various Instructions

3.4 Loading program modules

Program modules can be loaded from mass memory or erased from the program mem-
ory. In this way large programs can be handled with only a small memory.

Instruction Used to:

Load Load a program module into the program memory
UnLoad Unload a program module from the program memory

3.5 Various functions

Function Used to:
OpMode Read the current operating mode of the robot
RunMode Read the current program execution mode of the robot
Dim Obtain the dimensions of an array
Present Find out whether an optional parameter was present when a
routine call was made
IsPers Check whether a parameter is a persistent
IsVar Check whether a parameter is a variable

3.6 Basic data

Data type Used to define:
bool Logical data (with the values true or false)
num Numeric values (decimal or integer)
symnum Numeric data with symbolic value
string Character strings
switch Routine parameters without value

3.7 Conversion function

Function Used to:
StrToByte Convert a byte to a string data with a defined byte data format.
ByteToStr Convert a string with a defined byte data format to a byte data.

RAPID Reference Manual 3-9

Motion Settings RAPID Summary

4 Motion Settings
Some of the motion characteristics of the robot are determined using logical
instructions that apply to all movements:

- Maximum velocity and velocity override

- Acceleration
- Management of different robot configurations
- Payload
- Behaviour close to singular points
- Program displacement
- Soft servo
- Tuning values

4.1 Programming principles

The basic characteristics of the robot motion are determined by data specified for each
positioning instruction. Some data, however, is specified in separate instructions which
apply to all movements until that data changes.

The general motion settings are specified using a number of instructions, but can also
be read using the system variable C_MOTSET or C_PROGDISP.

Default values are automatically set (by executing the routine SYS_RESET in system
module BASE)

- at a cold start-up,
- when a new program is loaded,
- when the program is started from the beginning.

4.2 Defining velocity

The absolute velocity is programmed as an argument in the positioning instruction. In
addition to this, the maximum velocity and velocity override (a percentage of the
programmed velocity) can be defined.

Instruction Used to define:

VelSet The maximum velocity and velocity override

3-10 RAPID Reference Manual

RAPID Summary Motion Settings

4.3 Defining acceleration

When fragile parts, for example, are handled, the acceleration can be reduced for part
of the program.

Instruction Used to define:

AccSet The maximum acceleration

4.4 Defining configuration management

The robot’s configuration is normally checked during motion. If joint (axis-by-axis)
motion is used, the correct configuration will be achieved. If linear or circular motion
are used, the robot will always move towards the closest configuration, but a check is
performed to see if it is the same as the programmed one. It is possible to change this,
however.

Instruction Used to define:

ConfJ Configuration control on/off during joint motion
ConfL Configuration check on/off during linear motion

4.5 Defining the payload

To achieve the best robot performance, the correct payload must be defined.

Instruction Used to define:

GripLoad The payload of the gripper

4.6 Defining the behaviour near singular points

The robot can be programmed to avoid singular points by changing the tool orientation
automatically.

Instruction Used to define:

SingArea The interpolation method through singular points

RAPID Reference Manual 3-11

Motion Settings RAPID Summary

4.7 Displacing a program

When part of the program must be displaced, e.g. following a search, a program
displacement can be added.

Instruction Used to:

PDispOn Activate program displacement
PDispSet Activate program displacement by specifying a value
PDispOff Deactivate program displacement
EOffsOn Activate an external axis offset
EOffsSet Activate an external axis offset by specifying a value
EOffsOff Deactivate an external axis offset

Function Used to:

DefDFrame Calculate a program displacement from three positions
DefFrame Calculate a program displacement from six positions
ORobT Remove program displacement from a position

4.8 Soft servo

One or more of the robot axes can be made “soft”. When using this function, the robot
will be compliant and can replace, for example, a spring tool.

Instruction Used to:

SoftAct Activate the soft servo for one or more axes
SoftDeact Deactivate the soft servo

4.9 Adjust the robot tuning values

In general, the performance of the robot is self-optimising; however, in certain extreme
cases, overrunning, for example, can occur. You can adjust the robot tuning values to
obtain the required performance.

Instruction Used to:

TuneServo Adjust the robot tuning values
TuneReset Reset tuning to normal
PathResol Adjust the geometric path resolution

Data type Used to:

tunetype Represent the tuning type as a symbolic constant

3-12 RAPID Reference Manual

RAPID Summary Motion Settings

4.10 World Zones

Up to 10 different volumes can be defined within the working area of the robot. These
can be used for:

- Indicating that the robot’s TCP is a definite part of the working area.
- Delimiting the working area for the robot and preventing a collision with the
tool.
- Creating a working area common to two robots. The working area is then
available only to one robot at a time.

Instruction Used to:

WZBoxDef1 Define a box-shaped global zone
1
WZCylDef Define a cylindrical global zone
WZSphDef Define a spherical global zone
WZLimSup1 Activate limit supervision for a global zone
WZDOSet1 Activate global zone to set digital outputs
1
WZDisable Deactivate supervision of a temporary global zone
1
WZEnable Activate supervision of a temporary global zone
WZFree1 Erase supervision of a temporary global zone

Data type Used to:

wztemporary Identify a temporary global zone
wzstationary Identify a stationary global zone
shapedata Describe the geometry of a global zone

4.11 Data for motion settings

Data type Used to define:
motsetdata Motion settings except program displacement
progdisp Program displacement

1. Only when the robot is equipped with the option “Advanced functions”

RAPID Reference Manual 3-13

Motion RAPID Summary

5 Motion
The robot movements are programmed as pose-to-pose movements, i.e. “move from
the current position to a new position”. The path between these two positions is then
automatically calculated by the robot.

5.1 Programming principles

The basic motion characteristics, such as the type of path, are specified by choosing the
appropriate positioning instruction.

The remaining motion characteristics are specified by defining data which are
arguments of the instruction:

- Position data (end position for robot and external axes)

- Speed data (desired speed)
- Zone data (position accuracy)
- Tool data (e.g. the position of the TCP)
- Work-object data (e.g. the current coordinate system)

Some of the motion characteristics of the robot are determined using logical
instructions which apply to all movements (See Motion Settings on page 10):

- Maximum velocity and velocity override

- Acceleration
- Management of different robot configurations
- Payload
- Behaviour close to singular points
- Program displacement
- Soft servo
- Tuning values

Both the robot and the external axes are positioned using the same instructions. The
external axes are moved at a constant velocity, arriving at the end position at the same
time as the robot.

3-14 RAPID Reference Manual

RAPID Summary Motion

5.2 Positioning instructions

Instruction Type of movement:
MoveC TCP moves along a circular path
MoveJ Joint movement
MoveL TCP moves along a linear path
MoveAbsJ Absolute joint movement

5.3 Searching
During the movement, the robot can search for the position of a work object, for
example. The searched position (indicated by a sensor signal) is stored and can be used
later to position the robot or to calculate a program displacement.

Instruction Type of movement:

SearchC TCP along a circular path
SearchL TCP along a linear path

5.4 Activating outputs or interrupts at specific positions

Normally, logical instructions are executed in the transition from one positioning
instruction to another. If, however, special motion instructions are used, these can be
executed instead when the robot is at a specific position.

Instruction Used to:

TriggIO1 Define a trigg condition to set an output at a given position
TriggInt1 Define a trigg condition to execute a trap routine at a given
position
TriggEquip1 Define a trigg condition to set an output at a given position
with the possibility to include time compensation for the lag
in the external equipment
TriggC1 Run the robot (TCP) circularly with an activated trigg
condition
TriggJ1 Run the robot axis-by-axis with an activated trigg condition
TriggL1 Run the robot (TCP) linearly with an activated trigg condition

Data type Used to define:

triggdata1 Trigg conditions

1. Only if the robot is equipped with the option “Advanced functions”

RAPID Reference Manual 3-15

Motion RAPID Summary

5.5 Motion control if an error/interrupt takes place

In order to rectify an error or an interrupt, motion can be stopped temporarily and then
restarted again.

Instruction Used to:

StopMove Stop the robot movements
StartMove Restart the robot movements
StorePath1 Store the last path generated
RestoPath1 Regenerate a path stored earlier
1. Only if the robot is equipped with the option “Advanced Functions”.

5.6 Controlling external axes

The robot and external axes are usually positioned using the same instructions. Some
instructions, however, only affect the external axis movements.

Instruction Used to:

DeactUnit Deactivate an external mechanical unit
ActUnit Activate an external mechanical unit

5.7 Independent axes

The robot axis 6 (and 4 on IRB 2400 /4400) or an external axis can be moved
independently of other movements. The working area of an axis can also be reset,
which will reduce the cycle times.

Function Used to:

2
IndAMove Change an axis to independent mode and move the axis to an
absolute position
IndCMove2 Change an axis to independent mode and start the axis moving
continuously
IndDMove2 Change an axis to independent mode and move the axis a
delta distance
IndRMove2 Change an axis to independent mode and move the axis to a
relative position (within the axis revolution)
IndReset2 Change an axis to dependent mode or/and reset the working
area
IndInpos2 Check whether an independent axis is in position
2
IndSpeed Check whether an independent axis has reached programmed
speed
2. Only if the robot is equipped with the option “Advanced Motion”.

3-16 RAPID Reference Manual

RAPID Summary Motion

5.8 Position functions

Function Used to:
Offs Add an offset to a robot position, expressed in relation to the
work object
RelTool Add an offset, expressed in the tool coordinate system
CPos Read the current position (only x, y, z of the robot)
CRobT Read the current position (the complete robtarget)
CJointT Read the current joint angles
ReadMotor Read the current motor angles
CTool Read the current tooldata value
CWObj Read the current wobjdata value
ORobT Remove a program displacement from a position
MirPos Mirror a position

5.9 Motion data

Motion data is used as an argument in the positioning instructions.

Data type Used to define:

robtarget The end position
jointtarget The end position for a MoveAbsJ instruction
speeddata The speed
zonedata The accuracy of the position (stop point or fly-by point)
tooldata The tool coordinate system and the load of the tool
wobjdata The work object coordinate system

RAPID Reference Manual 3-17

Motion RAPID Summary

5.10 Basic data for movements

Data type Used to define:
pos A position (x, y, z)
orient An orientation
pose A coordinate system (position + orientation)
confdata The configuration of the robot axes
extjoint The position of the external axes
robjoint The position of the robot axes
o_robtarget Original robot position when Limit ModPos is used
o_jointtarget Original robot position when Limit ModPos is used for
MoveAbsJ
loaddata A load
mecunit An external mechanical unit

3-18 RAPID Reference Manual

RAPID Summary Input and Output Signals

6 Input and Output Signals

The robot can be equipped with a number of digital and analog user signals that can be
read and changed from within the program.

6.1 Programming principles

The signal names are defined in the system parameters and, using these names, can be
read from the program.

The value of an analog signal or a group of digital signals is specified as a numeric

value.

6.2 Changing the value of a signal

Instruction Used to:
InvertDO Invert the value of a digital output signal
PulseDO Generate a pulse on a digital output signal
Reset Reset a digital output signal (to 0)
Set Set a digital output signal (to 1)
SetAO Change the value of an analog output signal
SetDO Change the value of a digital output signal (symbolic value;
e.g. high/low)
SetGO Change the value of a group of digital output signals

6.3 Reading the value of an input signal

The value of an input signal can be read directly, e.g. IF di1=1 THEN ...

6.4 Reading the value of an output signal

Function Used to read:
DOutput The value of a digital output signal
GOutput The value of a group of digital output signals
AOutput The current value from an analog output signal

RAPID Reference Manual 3-19

Input and Output Signals RAPID Summary

6.5 Testing input on output signals

Instruction Used to:
WaitDI Wait until a digital input is set or reset
WaitDO Wait until a digital output is set on reset

Function Used to:

TestDI Test whether a digital input is set

6.6 Disabling and enabling I/O modules

I/O modules are automatically enabled at start-up, but they can be disabled during
program execution and re-enabled later.

Instruction Used to:

IODisable Disable an I/O module
IOEnable Enable an I/O module

6.7 Defining input and output signals

Data type Used to define:
dionum The symbolic value of a digital signal
signalai The name of an analog input signal *
signalao The name of an analog output signal *
signaldi The name of a digital input signal *
signaldo The name of a digital output signal *
signalgi The name of a group of digital input signals *
signalgo The name of a group of digital output signals *

Instruction Used to:

AliasIO1 Define a signal with an alias name

* Only to be defined using system parameters.

1. Only if the robot is equipped with the option “Developer’s Functions”

3-20 RAPID Reference Manual

RAPID Summary Communication

7 Communication
There are four possible ways to communicate via serial channels:

- Messages can be output to the teach pendant display and the user can answer
questions, such as about the number of parts to be processed.
- Character-based information can be written to or read from text files on mass
memory. In this way, for example, production statistics can be stored and
processed later in a PC. Information can also be printed directly on a printer
connected to the robot.
- Binary information can be transferred between the robot and a sensor, for
example.
- Binary information can be transferred between the robot and another computer,
for example, with a link protocol.

7.1 Programming principles

The decision whether to use character-based or binary information is dependent on
how the equipment with which the robot communicates handles that information. A
file, for example, can have data that is stored in character-based or binary form.

If communication is required in both directions simultaneously, binary transmission is

necessary.

Each serial channel or file used must first be opened. On doing this, the channel/file
receives a descriptor that is then used as a reference when reading/writing. The teach
pendant can be used at all times and does not need to be opened.

Both text and the value of certain types of data can be printed.

7.2 Communicating using the teach pendant

Instruction Used to:
TPErase Clear the teach pendant operator display
TPWrite Write text on the teach pendant operator display
ErrWrite Write text on the teach pendant display and simultaneously
store that message in the progam’s error log.
TPReadFK Label the function keys and to read which key is pressed
TPReadNum Read a numeric value from the teach pendant
TPShow Choose a window on the teach pendant from RAPID

RAPID Reference Manual 3-21

Communication RAPID Summary

7.3 Reading from or writing to a character-based serial channel/file

Instruction Used to:
Open1 Open a channel/file for reading or writing
Write1 Write text to the channel/file
Close1 Close the channel/file

Function Used to:

ReadNum1 Read a numeric value
ReadStr1 Read a text string

7.4 Communicating using binary serial channels/files

Instruction Used to:
Open1 Open a serial channel/file for binary transfer of data
WriteBin1 Write to a binary serial channel/file
WriteStrBin1 Write a string to a binary serial channel/file
Rewind1 Set the file position to the beginning of the file
Close1 Close the channel/file

Function Used to:

ReadBin1 Read from a binary serial channel

7.5 Data for serial channels

Data type Used to define:
iodev A reference to a serial channel/file, which can then be used for
reading and writing

1. Only if the robot is equipped with the option “Advanced functions”

3-22 RAPID Reference Manual

RAPID Summary Interrupts

8 Interrupts
Interrupts are used by the program to enable it to deal directly with an event, regardless
of which instruction is being run at the time.

The program is interrupted, for example, when a specific input is set to one. When this
occurs, the ordinary program is interrupted and a special trap routine is executed.
When this has been fully executed, program execution resumes from where it was
interrupted.

8.1 Programming principles

Each interrupt is assigned an interrupt identity. It obtains its identity by creating a var-
iable (of data type intnum) and connecting this to a trap routine.

The interrupt identity (variable) is then used to order an interrupt, i.e. to specify the rea-
son for the interrupt. This may be one of the following events:

- An input or output is set to one or to zero.

- A given amount of time elapses after an interrupt is ordered.
- A specific position is reached.

When an interrupt is ordered, it is also automatically enabled, but can be temporarily

disabled. This can take place in two ways:

- All interrupts can be disabled. Any interrupts occurring during this time are
placed in a queue and then automatically generated when interrupts are enabled
again.
- Individual interrupts can be deactivated. Any interrupts occurring during this
time are disregarded.

8.2 Connecting interrupts to trap routines

Instruction Used to:
CONNECT Connect a variable (interrupt identity) to a trap routine

RAPID Reference Manual 3-23

Interrupts RAPID Summary

8.3 Ordering interrupts

Instruction Used to order:
ISignalDI An interrupt from a digital input signal
SignalDO An interrupt from a digital output signal
ITimer A timed interrupt
TriggInt1 A position-fixed interrupt (from the Motion pick list )

8.4 Cancelling interrupts

Instruction Used to:
IDelete Cancel (delete) an interrupt

8.5 Enabling/disabling interrupts

Instruction Used to:
ISleep Deactivate an individual interrupt
IWatch Activate an individual interrupt
IDisable Disable all interrupts
IEnable Enable all interrupts

8.6 Data type of interrupts

Data type Used to define:
intnum The identity of an interrupt

1. Only if the robot is equipped with the option “Advanced functions”

3-24 RAPID Reference Manual

RAPID Summary Error Recovery

9 Error Recovery
Many of the errors that occur when a program is being executed can be handled in the
program, which means that program execution does not have to be interrupted. These
errors are either of a type detected by the robot, such as division by zero, or of a type
that is detected by the program, such as errors that occur when an incorrect value is
read by a bar code reader.

9.1 Programming principles

When an error occurs, the error handler of the routine is called (if there is one). It is
also possible to create an error from within the program and then jump to the error han-
dler.

If the routine does not have an error handler, a call will be made to the error handler in
the routine that called the routine in question. If there is no error handler there either,
a call will be made to the error handler in the routine that called that routine, and so on
until the internal error handler of the robot takes over and outputs an error message and
stops program execution.

In the error handler, errors can be handled using ordinary instructions. The system data
ERRNO can be used to determine the type of error that has occurred. A return from the
error handler can then take place in various ways.

In future releases, if the current routine does not have an error handler, the internal
error handler of the robot takes over directly. The internal error handler outputs an
error message and stops program execution with the program pointer at the faulty
instruction.

So, a good rule already in this issue is as follows: if you want to call the error handler
of the routine that called the current routine (propagate the error), then:

- Add an error handler in the current routine

- Add the instruction RAISE in this error handler.

9.2 Creating an error situation from within the program

Instruction Used to:
RAISE “Create” an error and call the error handler

RAPID Reference Manual 3-25

Error Recovery RAPID Summary

9.3 Restarting/returning from the error handler

Instruction Used to:
EXIT Stop program execution in the event of a fatal error
RAISE Call the error handler of the routine that called the current rou-
tine
RETRY Re-execute the instruction that caused the error
TRYNEXT Execute the instruction following the instruction that caused
the error
RETURN Return to the routine that called the current routine

9.4 Data for error handling

Data type Used to define:

errnum The reason for the error

3-26 RAPID Reference Manual

RAPID Summary System & Time

10 System & Time

System and time instructions allow the user to measure, inspect and record time.

10.1 Programming principles

Clock instructions allow the user to use clocks that function as stopwatches. In this way
the robot program can be used to time any desired event.

The current time or date can be retrieved in a string. This string can then be displayed
to the operator on the teach pendant display or used to time and date-stamp log files.

It is also possible to retrieve components of the current system time as a numeric value.
This allows the robot program to perform an action at a certain time or on a certain day
of the week.

10.2 Using a clock to time an event

Instruction Used to:
ClkReset Reset a clock used for timing
ClkStart Start a clock used for timing
ClkStop Stop a clock used for timing

Function Used to:

ClkRead Read a clock used for timing

Data Type Used for:

clock Timing – stores a time measurement in seconds

10.3 Reading current time and date

Function Used to:
CDate Read the Current Date as a string
CTime Read the Current Time as a string
GetTime Read the Current Time as a numeric value

RAPID Reference Manual 3-27

Mathematics RAPID Summary

11 Mathematics
Mathematical instructions and functions are used to calculate and change the value of
data.

11.1 Programming principles

Calculations are normally performed using the assignment instruction, e.g.
reg1:= reg2 + reg3 / 5. There are also some instructions used for simple calculations,
such as to clear a numeric variable.

11.2 Simple calculations on numeric data

Instruction Used to:
Clear Clear the value
Add Add or subtract a value
Incr Increment by 1
Decr Decrement by 1

11.3 More advanced calculations

Instruction Used to:
:= Perform calculations on any type of data

3-28 RAPID Reference Manual

RAPID Summary Mathematics

11.4 Arithmetic functions

Function Used to:
Abs Calculate the absolute value
Round Round a numeric value
Trunc Truncate a numeric value
Sqrt Calculate the square root
Exp Calculate the exponential value with the base “e”
Pow Calculate the exponential value with an arbitrary base
ACos Calculate the arc cosine value
ASin Calculate the arc sine value
ATan Calculate the arc tangent value in the range [-90,90]
ATan2 Calculate the arc tangent value in the range [-180,180]
Cos Calculate the cosine value
Sin Calculate the sine value
Tan Calculate the tangent value
EulerZYX Calculate Euler angles from an orientation
OrientZYX Calculate the orientation from Euler angles
PoseInv Invert a pose
PoseMult Multiply a pose
PoseVect Multiply a pose and a vector

RAPID Reference Manual 3-29

Spot Welding RAPID Summary

12 Spot Welding
The SpotWare package provides support for spot welding applications that are
equipped with a weld timer and on/off weld gun.

The SpotWare application provides fast and accurate positioning combined with gun
manipulation, process start and supervision of an external weld timer.

Communication with the welding equipment is carried out by means of digital inputs
and outputs. Some serial weld timer interfaces are also supported: Bosch PSS5000,
NADEX, ABB Timer. See separate documentation.

It should be noted that SpotWare is a package that can be extensively customised. It is

the intention that the user adapts the routines to suit the environmental situation.

12.1 Spot welding features

The SpotWare package contains the following features:

- Fast and accurate positioning

- Handling of an on/off gun with two strokes
- Dual/single gun
- Gun pre-closing
- User defined supervision of the surrounding equipment before weld start
- User defined supervision of the surrounding equipment after the weld
- User defined open/close gun and supervision
- User defined pressure setting
- User defined preclose time calculation
- Monitoring of the external weld timer
- Weld error recovery with automatic rewelding
- Return to the spot weld position
- Spot counters
- Time- or signal-dependent motion release after a weld
- Quick start after a weld
- User-defined service routines
- Presetting and checking of gun pressure
- Simulated welding
- Reverse execution with gun control
- Parallel and serial weld timer interfaces
- Supports both program and start triggered weld timers

3-30 RAPID Reference Manual

RAPID Summary Spot Welding

- SpotL current data information

- Spot identity info: the current spotdata parameter name (string format)
- Spot identity transfer to the serial weld timer BOSCH PSS 5000
- User defined autonomous supervision, such as state-controlled weld current
signal and water cooling start. Note: This feature requires the MultiTasking
option
- Manual weld, gun open and gun close initiated by digital input
- Weld process start disregarding the in position event, is possible
- Optional user defined error recovery

12.2 Principles of SpotWare

SpotWare is based on a separate handling of motion, spot welding and, if MultiTasking
is installed, continuous supervision. On its way towards the programmed position, the
motion task will trigger actions in the spot-welding tasks.

The triggers are activated by virtual digital signals.

The tasks work with their own internal encapsulated variables and with persistents
which are fully transparent for all tasks.

For well defined entries, calls to user routines offer adaptations to the plant
environment. A number of predefined parameters are also available to shape the
behaviour of the SpotL instruction.

A program stop will only stop the motion task execution. The process and supervision
carry on their tasks until they come to a well defined process stop. For example, this
will make the gun open after a finished weld, although the program has stopped.

The opening and closing of the gun are always executed by RAPID routines, even if
activated manually from the I/O window on the teach-pendant. These gun routines may
be changed from the simple on/off default functionality to a more complex like analog
gun control and they may contain additional gun supervision.

Since the process and supervision tasks are acting on I/O triggers, they will be executed
either by the trig that was sent by the motion (SpotL) or by manual activation (teach
pendant or external). This offers the possibility of performing a stand-alone weld
anywhere without programming a new position.

It is also possible to define new supervision events and to connect them to digital signal
triggers. By default, a state dependent weld power and water cooling signal control are
implemented.

Supported equipment:

- One weld timer monitoring with standard parallel (some serial) interface. The
weld timer may be of the type, program schedule or start signal triggered.
- Any type of single/dual gun close and gun gap control.

RAPID Reference Manual 3-31

Spot Welding RAPID Summary

- Any type of pressure preset.

- Event controlled SpotL-independent spot weld equipment such as contactors
etc. (Note: MultiTasking option required).

12.3 Programming principles

Both the robot’s linear movement and the spot weld process control are embedded in
one instruction, SpotL.

The spot welding process is specified by:

- Spotdata: spot weld process data

- Gundata: spot weld gun data
- The system modules SWUSRF and SWUSRC: RAPID routines and global data
for customising purposes. See Predefined Data and Programs ProcessWare.
- System parameters: the I/O configuration. See User’s Guide - System
Parameters

12.4 Spot welding instructions

Instruction Used to:
SpotL Control the motion, gun closure/opening and the welding
process
Move the TCP along a linear path and perform a spot weld at
the end position

12.5 Spot welding data

Data type Used to define:
spotdata The spot weld process control
gundata The spot weld gun

3-32 RAPID Reference Manual

RAPID Summary Arc Welding

13 Arc Welding
The ArcWare package supports most welding functions. Crater-filling and scraping
starts can, for example, be programmed. Using ArcWare, the whole welding process
can be controlled and monitored by the robot via a number of different digital and ana-
log inputs and outputs.

13.1 Programming principles

The same instructions are used both to control the robot’s movements and the actual
welding process. The arc welding instructions indicate which weld data and seam data
are used in the weld in question.

The weld settings for the actual weld phase are defined in weld data. The start and end
phase are defined in seam data.

Any weaving is defined in weave data, which is also identified by the arc welding
instruction.

Certain functions, such as a scraping start, are defined in the system parameters.

The welding process is divided into the following phases:

START WELD END

PREACTION IGNITION HEAT FINISH FILL POSTACTION

13.2 Arc welding instructions

Instruction Type of movement:
ArcC TCP along a circular path
ArcL TCP along a linear path

RAPID Reference Manual 3-33

Arc Welding RAPID Summary

13.3 Arc welding data

Data type Used to define:
welddata The weld phase
seamdata The start and end phase of a weld
weavedata The weaving characteristics

3-34 RAPID Reference Manual

RAPID Summary GlueWare

14 GlueWare
The GlueWare package provides support for gluing applications that are equipped with
one or two gluing guns.

The GlueWare application provides fast and accurate positioning combined with gun
manipulation, process start and stop.

Communication with the glueing equipment is carried out by means of digital and ana-
log outputs.

14.1 Glueing features

The GlueWare package contains the following features:

- Fast and accurate positioning

- Handling of on/off guns as well as proportional guns
- Two different guns can be handled in the same program, each gun controlled
by one digital signal (on/off) and two analog signals (flows)
- Gun pre-opening and pre-closing respectively
- Simulated glueing

14.2 Programming principles

Both the robot’s movement and the glue process control are embedded in one instruc-
tion, GlueL and GlueC respectively.

The glueing process is specified by:

- Gundata: glue gun data. See Data types - ggundata.

- The system module GLUSER: RAPID routines and global data for customizing
purposes. See Predefined Data and Programs - System Module GLUSER.
- System parameters: the I/O configuration. See System Parameters - Glueing

14.3 Glue instructions

Instruction Used to:
GlueL Move the TCP along a linear path and perform glueing with the
given data
GlueC Move the TCP along a circular path and perform glueing with
the given data

RAPID Reference Manual 3-35

GlueWare RAPID Summary

14.4 Glue data

Data type Used to define:
ggundata The used glue gun

3-36 RAPID Reference Manual

RAPID Summary External Computer Communication

15 External Computer Communication

The robot can be controlled from a superordinate computer. In this case, a special com-
munications protocol is used to transfer information.

15.1 Programming principles

As a common communications protocol is used to transfer information from the robot
to the computer and vice versa, the robot and computer can understand each other and
no programming is required. The computer can, for example, change values in the pro-
gram’s data without any programming having to be carried out (except for defining this
data). Programming is only necessary when program-controlled information has to be
sent from the robot to the superordinate computer.

15.2 Sending a program-controlled message from the robot to a computer

Instruction Used to:
SCWrite1 Send a message to the superordinate computer

1. Only if the robot is equipped with the option “RAP Serial Link”.

RAPID Reference Manual 3-37

Service Instructions RAPID Summary

16 Service Instructions
A number of instructions are available to test the robot system. See the chapter on Trou-
bleshooting Tools in the Product Manual for more information.

16.1 Directing a value to the robot’s test signal

A reference signal, such as the speed of a motor, can be directed to an analog output
signal located on the backplane of the robot.

Instruction Used to:

TestSign Define and activate a test signal

Data type Used to define:

testsignal The type of test signal

3-38 RAPID Reference Manual

RAPID Summary String Functions

17 String Functions
String functions are used for operations with strings such as copying, concatenation,
comparison, searching, conversion, etc.

17.1 Basic Operations

Data type Used to define:
string String. Predefined constants STR_DIGIT, STR_UPPER,
STR_LOWER and STR_WHITE

Instruction/Operator Used to:

:= Assign a value (copy of string)
+ String concatenation

Function Used to:

StrLen Find string length
StrPart Obtain part of a string

17.2 Comparison and Searching

Operator Used to:
= Test if equal to
<> Test if not equal to

Function Used to:

StrMemb Check if character belongs to a set
StrFind Search for character in a string
StrMatch Search for pattern in a string
StrOrder Check if strings are in order

RAPID Reference Manual 3-39

String Functions RAPID Summary

17.3 Conversion
Function Used to:
NumToStr Convert a numeric value to a string
ValToStr Convert a value to a string
StrToVal Convert a string to a value
StrMap Map a string
StrToByte Convert a byte to string data
ByteToStr Convert a string to a byte

3-40 RAPID Reference Manual

RAPID Summary Syntax Summary

18 Syntax Summary

18.1 Instructions
Data := Value
AccSet Acc Ramp
ActUnit MecUnit
Add Name AddValue
Break
CallBy Var Name Number
Clear Name
ClkReset Clock
ClkStart Clock
ClkStop Clock
Close IODevice
! Comment
ConfJ [\On] | [\Off]
ConfL [\On] | [\Off]
CONNECT Interrupt WITH Trap routine
CorrCon Descr
CorrDiscon Descr
CorrWrite Descr Data
CorrClear
DeactUnit MecUnit
Decr Name
EOffsSet EAxOffs

RAPID Reference Manual 3-41

Syntax Summary RAPID Summary

ErrWrite [ \W ] Header Reason [ \RL2] [ \RL3] [ \RL4]

Exit
ExitCycle
FOR Loop counter FROM Start value TO End value
[STEP Step value] DO ... ENDFOR
GOTO Label
GripLoad Load
IDelete Interrupt
IF Condition ...
IF Condition THEN ...
{ELSEIF Condition THEN ...}
[ELSE ...]
ENDIF
Incr Name
IndAMove MecUnit Axis [ \ToAbsPos ] | [ \ToAbsNum ] Speed
[ \Ramp ]

IndCMove MecUnit Axis Speed [ \Ramp ]

IndDMove MecUnit Axis Delta Speed [ \Ramp ]

IndReset MecUnit Axis [ \RefPos ] | [ \RefNum ] | [ \Short ] | [ \Fwd ] |
[ \Bwd ] | [ \Old ]
IndRMove MecUnit Axis [ \ToRelPos ] | [ \ToRelNum ] | [ \Short ] |
[ \Fwd ] | [ \Bwd ] Speed [ \Ramp ]
InvertDO Signal
IODisable UnitName MaxTime
IOEnable UnitName MaxTime
ISignalDI [ \Single ] Signal TriggValue Interrupt
ISignalDO [ \Single ] Signal TriggValue Interrupt
ISleep Interrupt

3-42 RAPID Reference Manual

RAPID Summary Syntax Summary

ITimer [ \Single ] Time Interrupt

IVarValue VarNo Value, Interrupt
IWatch Interrupt
Label:
MoveAbsJ [ \Conc ] ToJointPos Speed [ \V ] | [ \T ] Zone [ \Z]
Tool [ \WObj ]
MoveC [ \Conc ] CirPoint ToPoint Speed [ \V ] | [ \T ] Zone [ \Z]
Tool [ \WObj ]
MoveJ [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
MoveL [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] | [\Bin]
PathResol Value
PDispOn [ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ]
PDispSet DispFrame
Procedure { Argument }
PulseDO [ \PLength ] Signal
RAISE [ Error no ]
Reset Signal
RETURN [ Return value ]
Rewind IODevice
SearchC [ \Stop ] | [ \PStop ] | [ \Sup ] Signal SearchPoint CirPoint
ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ]
SearchL [ \Stop ] | [ \PStop ] | [ \Sup ] Signal SearchPoint ToPoint
Speed [ \V ] | [ \T ] Tool [ \WObj ]
Set Signal
SetAO Signal Value

RAPID Reference Manual 3-43

Syntax Summary RAPID Summary

SetDO [ \SDelay ] Signal Value

SetGO Signal Value
SingArea [ \Wrist] | [ \Arm] | [ \Off]
SoftAct Axis Softness [\Ramp ]
Stop [ \NoRegain ]
TEST Test data {CASE Test value {, Test value} : ...}
[ DEFAULT: ...] ENDTEST
TPReadFK Answer String FK1 FK2 FK3 FK4 FK5 [\MaxTime]
[\DIBreak] [\BreakFlag]
TPReadNum Answer String [\MaxTime] [\DIBreak] [\BreakFlag]
TPShow Window
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient]
TriggC CirPoint ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ]
[ \T4] Zone Tool [ \WObj ]
TriggInt TriggData Distance [ \Start ] | [ \Time ] Interrupt
TriggIO TriggData Distance [ \Start ] | [ \Time ] [ \DOp ] | [ \GOp ] |
[\AOp ] SetValue [ \DODelay ] | [ \AORamp ]
TriggJ ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ]
TriggL ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ]
TuneServo MecUnit Axis TuneValue
TuneServo MecUnit Axis TuneValue [\Type]
UnLoad FilePath [\File]
VelSet Override Max
WaitDI Signal Value [\MaxTime] [\TimeFlag]
WaitDO Signal Value [\MaxTime] [\TimeFlag]
WaitTime [\InPos] Time

3-44 RAPID Reference Manual

RAPID Summary Syntax Summary

WaitUntil [\InPos] Cond [\MaxTime] [\TimeFlag]

WHILE Condition DO ... ENDWHILE
Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient]
[\NoNewLine]
WriteBin IODevice Buffer NChar
WriteStrBin IODevice Str
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint 1
WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius Height
WZDisable WorldZone
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before] Shape
Signal SetValue
WZEnable WorldZone
WZFree WorldZone
WZLimSup [\Temp] | [\Stat] WorldZone Shape
WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius

18.2 Functions
Abs (Input)
ACos (Value)
AOutput (Signal)
ArgName (Parameter)
ASin (Value)
ATan (Value)
ATan2 (Y X)
ByteToStr (ByteData [\Hex] | [\Okt] | [\Bin] | [\Char])
ClkRead (Clock)

RAPID Reference Manual 3-45

Syntax Summary RAPID Summary

CorrRead
Cos (Angle)
CPos ([Tool] [\WObj])
CRobT ([Tool] [\WObj])
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
DefFrame (NewP1 NewP2 NewP3 [\Origin])
Dim (ArrPar DimNo)
DOutput (Signal)
EulerZYX ([\X] | [\Y] | [\Z] Rotation)
Exp (Exponent)
GOutput (Signal)
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )
IndInpos MecUnit Axis
IndSpeed MecUnit Axis [\InSpeed] | [\ZeroSpeed]
IsPers (DatObj)
IsVar (DatObj)
MirPos (Point MirPlane [\WObj] [\MirY])
NumToStr (Val Dec [\Exp])
Offs (Point XOffset YOffset ZOffset)
OrientZYX (ZAngle YAngle XAngle)
ORobT (OrgPoint [\InPDisp] | [\InEOffs])
PoseInv (Pose)
PoseMult (Pose1 Pose2)
PoseVect (Pose Pos)
Pow (Base Exponent)

3-46 RAPID Reference Manual

RAPID Summary Syntax Summary

Present (OptPar)
ReadBin (IODevice [\Time])
ReadMotor [\MecUnit ] Axis
ReadNum (IODevice [\Time])
ReadStr (IODevice [\Time])
RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])
Round ( Val [\Dec])
Sin (Angle)
Sqrt (Value)
StrFind (Str ChPos Set [\NotInSet])
StrLen (Str)
StrMap ( Str FromMap ToMap)
StrMatch (Str ChPos Pattern)
StrMemb (Str ChPos Set)
StrOrder ( Str1 Str2 Order)
StrPart (Str ChPos Len)
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
StrToVal ( Str Val )
Tan (Angle)
TestDI (Signal)
Trunc ( Val [\Dec] )
ValToStr ( Val )

RAPID Reference Manual 3-47

Syntax Summary RAPID Summary

3-48 RAPID Reference Manual

 Basic Characteristics RAPID

CONTENTS
Page

1 Basic Elements................................................................................................................. 3
1.1 Identifiers ................................................................................................................ 3
1.2 Spaces and new-line characters .............................................................................. 4
1.3 Numeric values ....................................................................................................... 4
1.4 Logical values ......................................................................................................... 4
1.5 String values ........................................................................................................... 4
1.6 Comments ............................................................................................................... 5
1.7 Placeholders ............................................................................................................ 5
1.8 File header .............................................................................................................. 5
1.9 Syntax ..................................................................................................................... 6
2 Modules ............................................................................................................................ 8
2.1 Program modules.................................................................................................... 8
2.2 System modules...................................................................................................... 9
2.3 Module declarations ............................................................................................... 9
2.4 Syntax ..................................................................................................................... 9
3 Routines............................................................................................................................ 11
3.1 Routine scope ......................................................................................................... 11
3.2 Parameters .............................................................................................................. 12
3.3 Routine termination ................................................................................................ 13
3.4 Routine declarations ............................................................................................... 13
3.5 Procedure call ......................................................................................................... 14
3.6 Syntax ..................................................................................................................... 15
4 Data Types ....................................................................................................................... 18
4.1 Non-value data types .............................................................................................. 18
4.2 Equal (alias) data types........................................................................................... 18
4.3 Syntax ..................................................................................................................... 19
5 Data................................................................................................................................... 20
5.1 Data scope............................................................................................................... 20
5.2 Variable declaration................................................................................................ 21
5.3 Persistent declaration.............................................................................................. 22
5.4 Constant declaration ............................................................................................... 22
5.5 Initiating data.......................................................................................................... 22
5.6 Syntax ..................................................................................................................... 23
6 Instructions ...................................................................................................................... 25
6.1 Syntax ..................................................................................................................... 25
7 Expressions ...................................................................................................................... 26

RAPID Reference Manual 5-1

Basic Characteristics RAPID

Page

7.1 Arithmetic expressions ........................................................................................... 26

7.2 Logical expressions ................................................................................................ 27
7.3 String expressions................................................................................................... 27
7.4 Using data in expressions ....................................................................................... 28
7.5 Using aggregates in expressions............................................................................. 29
7.6 Using function calls in expressions ........................................................................ 29
7.7 Priority between operators...................................................................................... 30
7.8 Syntax..................................................................................................................... 31
8 Error Recovery................................................................................................................ 33
8.1 Error handlers ......................................................................................................... 33
9 Interrupts......................................................................................................................... 35
9.1 Interrupt manipulation ............................................................................................ 35
9.2 Trap routines........................................................................................................... 36
10 Backward execution...................................................................................................... 37
10.1 Backward handlers ............................................................................................... 37
10.2 Limitation of move instructions in the backward handler.................................... 38
11 Multitasking................................................................................................................... 39
11.1 Synchronising the tasks ........................................................................................ 39
11.2 Intertask communication ...................................................................................... 41
11.3 Type of task .......................................................................................................... 42
11.4 Priorities................................................................................................................ 42
11.5 Task sizes.............................................................................................................. 43
11.6 Something to think about...................................................................................... 43

5-2 RAPID Reference Manual

Basic Characteristics RAPID Basic Elements

1 Basic Elements

1.1 Identifiers
Identifiers are used to name modules, routines, data and labels;
e.g. MODULE module_name
PROC routine_name()
VAR pos data_name;
label_name:
The first character in an identifier must be a letter. The other characters can be letters,
digits or underscores “_”.
The maximum length of any identifier is 16 characters, each of these characters being
significant. Identifiers that are the same except that they are typed in the upper case,
and vice versa, are considered the same.

Reserved words

The words listed below are reserved. They have a special meaning in the RAPID
language and thus must not be used as identifiers.
There are also a number of predefined names for data types, system data, instructions,
and functions, that must not be used as identifiers. See Chapters 7, 8, 9, 10 ,13, 14 and
15 in this manual.

ALIAS AND BACKWARD CASE

CONNECT CONST DEFAULT DIV
DO ELSE ELSEIF ENDFOR
ENDFUNC ENDIF ENDMODULE ENDPROC
ENDRECORD ENDTEST ENDTRAP ENDWHILE
ERROR EXIT FALSE FOR
FROM FUNC GOTO IF
INOUT LOCAL MOD MODULE
NOSTEPIN NOT NOVIEW OR
PERS PROC RAISE READONLY
RECORD RETRY RETURN STEP
SYSMODULE TEST THEN TO
TRAP TRUE TRYNEXT VAR
VIEWONLY WHILE WITH XOR

RAPID Reference Manual 5-3

Basic Elements Basic Characteristics RAPID

1.2 Spaces and new-line characters

The RAPID programming language is a free format language, meaning that spaces can
be used anywhere except for in:
- identifiers
- reserved words
- numerical values
- placeholders.
New-line, tab and form-feed characters can be used wherever a space can be used,
except for within comments.
Identifiers, reserved words and numeric values must be separated from one another by
a space, a new-line, tab or form-feed character.
Unnecessary spaces and new-line characters will automatically be deleted from a
program loaded into the program memory. Consequently, programs loaded from
diskette and then stored again might not be identical.

1.3 Numeric values

A numeric value can be expressed as
- an integer, e.g. 3, -100, 3E2
- a decimal number, e.g. 3.5, -0.345, -245E-2
The value must be in the range specified by the ANSI IEEE 754-1985 standard (single
precision) float format.

1.4 Logical values

A logical value can be expressed as TRUE or FALSE.

1.5 String values

A string value is a sequence of characters (ISO 8859-1) and control characters (non-
ISO 8859-1 characters in the numeric code range 0-255). Character codes can be
included, making it possible to include non-printable characters (binary data) in the
string as well. String length max. 80 characters.
Example: "This is a string"
"This string ends with the BEL control character \07"
If a backslash (which indicates character code) or double quote character is included,
it must be written twice.
Example: "This string contains a "" character"
"This string contains a \\ character"

5-4 RAPID Reference Manual

Basic Characteristics RAPID Basic Elements

1.6 Comments
Comments are used to make the program easier to understand. They do not affect the
meaning of the program in any way.
A comment starts with an exclamation mark “!” and ends with a new-line character. It
occupies an entire line and cannot occur between two modules;
e.g. ! comment
IF reg1 > 5 THEN
! comment
reg2 := 0;
ENDIF

1.7 Placeholders
Placeholders can be used to temporarily represent parts of a program that are “not yet
defined”. A program that contains placeholders is syntactically correct and may be
loaded into the program memory.

Placeholder Represents:
<TDN> data type definition
<DDN> data declaration
<RDN> routine declaration
<PAR> formal optional alternative parameter
<ALT> optional formal parameter
<DIM> formal (conformant) array dimension
<SMT> instruction
<VAR> data object (variable, persistent or parameter) reference
<EIT> else if clause of if instruction
<CSE> case clause of test instruction
<EXP> expression
<ARG> procedure call argument
<ID> identifier

1.8 File header

A program file starts with the following file header:
%%%
VERSION:1 (Program version M94 or M94A)
LANGUAGE:ENGLISH (or some other language:
%%% GERMAN or FRENCH)

RAPID Reference Manual 5-5

Basic Elements Basic Characteristics RAPID

1.9 Syntax

Identifiers

<identifier> ::=
<ident>
| <ID>
<ident> ::= <letter> {<letter> | <digit> | ’_’}

Numeric values

<num literal> ::=

<integer> [ <exponent> ]
| <integer> ’.’ [ <integer> ] [ <exponent> ]
| [ <integer> ] ’.’ <integer> [ <exponent> ]
<integer> ::= <digit> {<digit>}
<exponent> ::= (’E’ | ’e’) [’+’ | ’-’] <integer>

Logical values

<bool literal> ::= TRUE | FALSE

String values

<string literal> ::= ’"’ {<character> | <character code> } ’"’

<character code> ::= ’\’ <hex digit> <hex digit>
<hex digit> ::= <digit> | A | B | C | D | E | F | a | b | c | d | e | f

Comments

<comment> ::=
’!’ {<character> | <tab>} <newline>

Characters

<character> ::= -- ISO 8859-1 --

<newline> ::= -- newline control character --
<digit> ::= 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9
<letter> ::=
<upper case letter>
| <lower case letter>

5-6 RAPID Reference Manual

Basic Characteristics RAPID Basic Elements

<upper case letter> ::=

A|B|C|D|E|F|G|H|I|J
|K|L|M|N|O|P|Q|R|S|T
|U|V|W|X|Y|Z|À|Á|Â|Ã
|Ä|Å|Æ|Ç|È|É|Ê|Ë|Ì|Í
| Î | Ï | 1) | Ñ | Ò | Ó | Ô | Õ | Ö | Ø
| Ù | Ú | Û | Ü | 2) | 3) | ß
<lower case letter> ::=
a|b|c|d|e|f|g|h|i|j 1) Icelandic letter eth.
|k|l|m|n|o|p|q|r|s|t 2) Letter Y with acute accent.
|u|v|w|x|y|z|ß|à|á|â 3) Icelandic letter thorn.
| ã| ä | å | æ | ç | è | é | ê | ë | ì
| í | î | ï | 1) | ñ | ò | ó | ô | õ | ö
| ø | ù | ú | û | ü | 2) | 3) | ÿ

RAPID Reference Manual 5-7

Modules Basic Characteristics RAPID

2 Modules
The program is divided into program and system modules. The program can also be
divided into modules (see Figure 1).

Program memory
Program
Program data
Main routine
Main module
Routine1
Module1
Routine2
Module2
Routine3
Module3

Module4
Program data
Routine4

Routine5

System module1
Program data

System module2 Routine6

Routine7

Figure 1 The program can be divided into modules.

2.1 Program modules

A program module can consist of different data and routines. Each module, or the
whole program, can be copied to diskette, RAM disk, etc., and vice versa.

One of the modules contains the entry procedure, a global procedure called main. Exe-
cuting the program means, in actual fact, executing the main procedure. The program
can include many modules, but only one of these will have a main procedure.

A module may, for example, define the interface with external equipment or contain
geometrical data that is either generated from CAD systems or created on-line by dig-
itizing (teach programming).

Whereas small installations are often contained in one module, larger installations may
have a main module that references routines and/or data contained in one or several
other modules.

5-8 RAPID Reference Manual

Basic Characteristics RAPID Modules

2.2 System modules

System modules are used to define common, system-specific data and routines, such
as tools. They are not included when a program is saved, meaning that any update made
to a system module will affect all existing programs currently in, or loaded at a later
stage into the program memory.

2.3 Module declarations

A module declaration specifies the name and attributes of that module. These attributes
can only be added off-line, not using the teach pendant. The following are examples of
the attributes of a module:

Attribute If specified, the module:

SYSMODULE is a system module, otherwise a program module
NOSTEPIN cannot be entered during stepwise execution
VIEWONLY cannot be modified
READONLY cannot be modified, but the attribute can be removed
NOVIEW cannot be viewed, only executed. Global routines can be
reached from other modules and are always run as NOS-
TEPIN. The current values for global data can be reached from
other modules or from the data window on the teach pendant.
A module or a program containing a NOVIEW program mod-
ule cannot be saved. Therefore, NOVIEW should primarily be
used for system modules. NOVIEW can only be defined off-
line from a PC.
e.g. MODULE module_name (SYSMODULE, VIEWONLY)
!data type definition
!data declarations
!routine declarations
ENDMODULE

A module may not have the same name as another module or a global routine or data.

2.4 Syntax

Module declaration

<module declaration> ::=

MODULE <module name> [ <module attribute list> ]
<type definition list>
<data declaration list>
<routine declaration list>
ENDMODULE

RAPID Reference Manual 5-9

Modules Basic Characteristics RAPID

<module name> ::= <identifier>

<module attribute list> ::= ‘(‘ <module attribute> { ‘,’ <module attribute> } ‘)’
<module attribute> ::=
SYSMODULE
| NOVIEW
| NOSTEPIN
| VIEWONLY
| READONLY

(Note. If two or more attributes are used they must be in the above order, the
NOVIEW attribute can only be specified alone or together with the attribute
SYSMODULE.)

<type definition list> ::= { <type definition> }

<data declaration list> ::= { <data declaration> }
<routine declaration list> ::= { <routine declaration> }

5-10 RAPID Reference Manual

Basic Characteristics RAPID Routines

3 Routines
There are three types of routines (subprograms): procedures, functions and traps.

- Procedures do not return a value and are used in the context of instructions.
- Functions return a value of a specific type and are used in the context of
expressions.
- Trap routines provide a means of dealing with interrupts. A trap routine can be
associated with a specific interrupt and then, if that particular interrupt occurs
at a later stage, will automatically be executed. A trap routine can never be
explicitly called from the program.

3.1 Routine scope

The scope of a routine denotes the area in which the routine is visible. The optional
local directive of a routine declaration classifies a routine as local (within the module),
otherwise it is global.

Example: LOCAL PROC local_routine (...

PROC global_routine (...

The following scope rules apply to routines (see the example in Figure 2):

- The scope of a global routine may include any module.

- The scope of a local routine comprises the module in which it is contained.
- Within its scope, a local routine hides any global routine or data with the same
name.
- Within its scope, a routine hides instructions and predefined routines and data
with the same name.

Module1 Module2

Local Routine a Local Routine a

Local Routine b Local Routine e

Routine c Routine f

Routine d Routine g
Routine e Routine h

Figure 2 Example: The following routines can be called from Routine h:

Module1 - Routine c, d.
Module2 - All routines.

A routine may not have the same name as another routine or data in the same module.
A global routine may not have the same name as a module or a global routine or global
data in another module.

RAPID Reference Manual 5-11

Routines Basic Characteristics RAPID

3.2 Parameters
The parameter list of a routine declaration specifies the arguments (actual parameters)
that must/can be supplied when the routine is called.

There are four different types of parameters (in the access mode):

- Normally, a parameter is used only as an input and is treated as a routine

variable. Changing this variable will not change the corresponding argument.
- An INOUT parameter specifies that a corresponding argument must be a
variable (entire, element or component) or an entire persistent which can be
changed by the routine.
- A VAR parameter specifies that a corresponding argument must be a variable
(entire, element or component) which can be changed by the routine.
- A PERS parameter specifies that a corresponding argument must be an entire
persistent which can be changed by the routine.

If an INOUT, VAR or PERS parameter is updated, this means, in actual fact, that the
argument itself is updated, i.e. it makes it possible to use arguments to return values to the
calling routine.

Example: PROC routine1 (num in_par, INOUT num inout_par,

VAR num var_par, PERS num pers_par)

A parameter can be optional and may be omitted from the argument list of a routine
call. An optional parameter is denoted by a backslash “\” before the parameter.

Example: PROC routine2 (num required_par \num optional_par)

The value of an optional parameter that is omitted in a routine call may not be
referenced. This means that routine calls must be checked for optional parameters
before an optional parameter is used.

Two or more optional parameters may be mutually exclusive (i.e. declared to exclude
each other), which means that only one of them may be present in a routine call. This
is indicated by a stroke “|” between the parameters in question.

Example: PROC routine3 (\num exclude1 | num exclude2)

The special type, switch, may (only) be assigned to optional parameters and provides a
means to use switch arguments, i.e. arguments that are only specified by names (not
values). A value cannot be transferred to a switch parameter. The only way to use a
switch parameter is to check for its presence using the predefined function, Present.

Example: PROC routine4 (\switch on | switch off)

...
IF Present (off ) THEN
...
ENDPROC

Arrays may be passed as arguments. The degree of an array argument must comply

5-12 RAPID Reference Manual

Basic Characteristics RAPID Routines

with the degree of the corresponding formal parameter. The dimension of an array
parameter is “conformant” (marked with “*”). The actual dimension thus depends on
the dimension of the corresponding argument in a routine call. A routine can determine
the actual dimension of a parameter using the predefined function, Dim.

Example: PROC routine5 (VAR num pallet{*,*})

3.3 Routine termination

The execution of a procedure is either explicitly terminated by a RETURN instruction
or implicitly terminated when the end (ENDPROC, BACKWARD or ERROR) of the
procedure is reached.

The evaluation of a function must be terminated by a RETURN instruction.

The execution of a trap routine is explicitly terminated using the RETURN instruction
or implicitly terminated when the end (ENDTRAP or ERROR) of that trap routine is
reached. Execution continues from the point where the interrupt occurred.

3.4 Routine declarations

A routine can contain routine declarations (including parameters), data, a body, a
backward handler (only procedures) and an error handler (see Figure 3). Routine
declarations cannot be nested, i.e. it is not possible to declare a routine within a routine.

Module

Data declarations

Routine a
Routine declaration
Routine b
Data declarations
Routine c
Body (Instructions)
Routine d
Backward handler
Routine e
Error handler

Figure 3 A routine can contain declarations, data, a body, a backward handler and an error
handler.

RAPID Reference Manual 5-13

Routines Basic Characteristics RAPID

Procedure declaration

Example: Multiply all elements in a num array by a factor;

PROC arrmul( VAR num array{*}, num factor)

FOR index FROM 1 TO dim( array, 1 ) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC

Function declaration

A function can return any data type value, but not an array value.

Example: Return the length of a vector;

FUNC num veclen (pos vector)

RETURN Sqrt(Pow(vector.x,2)+Pow(vector.y,2)+Pow(vector.z,2));
ENDFUNC

Trap declaration

Example: Respond to feeder empty interrupt;

TRAP feeder_empty
wait_feeder;
RETURN;
ENDTRAP

3.5 Procedure call

When a procedure is called, the arguments that correspond to the parameters of the
procedure shall be used:

- Mandatory parameters must be specified. They must also be specified in the

correct order.
- Optional arguments can be omitted.
- Conditional arguments can be used to transfer parameters from one routine call
to another.

See the Chapter Using function calls in expressions on page 29 for more details.

The procedure name may either be statically specified by using an identifier (early
binding) or evaluated during runtime from a string type expression (late binding). Even
though early binding should be considered to be the “normal” procedure call form, late
binding sometimes provides very efficient and compact code. Late binding is defined
by putting percent signs before and after the string that denotes the name of the
procedure.

5-14 RAPID Reference Manual

Basic Characteristics RAPID Routines

Example: ! early binding

TEST products_id
CASE 1:
proc1 x, y, z;
CASE 2:
proc2 x, y, z;
CASE 3:
...
! same example using late binding
% “proc” + NumToStr(product_id, 0) % x, y, z;
...
! same example again using another variant of late binding
VAR string procname {3} :=[“proc1”, “proc2”, “proc3”];
...
% procname{product_id} % x, y, z;
...

Note that the late binding is available for procedure calls only, and not for function
calls. If a reference is made to an unknown procedure using late binding, the system
variable ERRNO is set to ERR_REFUNKPRC. If a reference is made to a procedure
call error (syntax, not procedure) using late binding, the system variable ERRNO is set
to ERR_CALLPROC.

3.6 Syntax

Routine declaration

<routine declaration> ::=

[LOCAL] ( <procedure declaration>
| <function declaration>
| <trap declaration> )
| <comment>
| <RDN>

Parameters

<parameter list> ::=

<first parameter declaration> { <next parameter declaration> }
<first parameter declaration> ::=
<parameter declaration>
| <optional parameter declaration>
| <PAR>
<next parameter declaration> ::=
’,’ <parameter declaration>
| <optional parameter declaration>
| ’,’ <PAR>

RAPID Reference Manual 5-15

Routines Basic Characteristics RAPID

<optional parameter declaration> ::=

’\’ ( <parameter declaration> | <ALT> )
{ ’|’ ( <parameter declaration> | <ALT> ) }
<parameter declaration> ::=
[ VAR | PERS | INOUT] <data type>
<identifier> [ ’{’ ( ’*’ { ’,’ ’*’ } ) | <DIM>] ’}’
| ’switch’ <identifier>

Procedure declaration

<procedure declaration> ::=

PROC <procedure name>
’(’ [ <parameter list> ] ’)’
<data declaration list>
<instruction list>
[ BACKWARD <instruction list> ]
[ ERROR <instruction list> ]
ENDPROC
<procedure name> ::= <identifier>
<data declaration list> ::= {<data declaration>}

Function declaration

<function declaration> ::=

FUNC <value data type>
<function name>
’(’ [ <parameter list> ] ’)’
<data declaration list>
<instruction list>
[ ERROR <instruction list> ]
ENDFUNC
<function name> ::= <identifier>

Trap routine declaration

<trap declaration> ::=

TRAP <trap name>
<data declaration list>
<instruction list>
[ ERROR <instruction list> ]
ENDTRAP
<trap name> ::= <identifier>

Procedure call

<procedure call> ::= <procedure> [ <procedure argument list> ] ’;’

<procedure> ::=
<identifier>
| ’%’ <expression> ’%’

5-16 RAPID Reference Manual

Basic Characteristics RAPID Routines

<procedure argument list> ::= <first procedure argument> { <procedure argument> }

<first procedure argument> ::=
<required procedure argument>
| <optional procedure argument>
| <conditional procedure argument>
| <ARG>
<procedure argument> ::=
’,’ <required procedure argument>
| <optional procedure argument>
| <conditional procedure argument>
| ’,’ <ARG>
<required procedure argument> ::= [ <identifier> ’:=’ ] <expression>
<optional procedure argument> ::= ’\’ <identifier> [ ’:=’ <expression> ]
<conditional procedure argument> ::= ’\’ <identifier> ’?’ ( <parameter> | <VAR> )

RAPID Reference Manual 5-17

Data Types Basic Characteristics RAPID

4 Data Types
There are two different kinds of data types:

- An atomic type is atomic in the sense that it is not defined based on any other
type and cannot be divided into parts or components, e.g. num.
- A record data type is a composite type with named, ordered components, e.g.
pos. A component may be of an atomic or record type.

A record value can be expressed using an aggregate representation;

e.g. [ 300, 500, depth ] pos record aggregate value.

A specific component of a record data can be accessed by using the name of that
component;

e.g. pos1.x := 300; assignment of the x-component of pos1.

4.1 Non-value data types

Each available data type is either a value data type or a non-value data type. Simply
speaking, a value data type represents some form of “value”. Non-value data cannot be
used in value-oriented operations:

- Initialisation
- Assignment (:=)
- Equal to (=) and not equal to (<>) checks
- TEST instructions
- IN (access mode) parameters in routine calls
- Function (return) data types

The input data types (signalai, signaldi, signalgi) are of the data type semi value. These
data can be used in value-oriented operations, except initialisation and assignment.

In the description of a data type it is only specified when it is a semi value or a non-
value data type.

4.2 Equal (alias) data types

An alias data type is defined as being equal to another type. Data with the same data
types can be substituted for one another.

Example: VAR dionum high:=1;

VAR num level; This is OK since dionum is an alias
level:= high; data type for num

5-18 RAPID Reference Manual

Basic Characteristics RAPID Data Types

4.3 Syntax
<type definition>::=
[LOCAL] ( <record definition>
| <alias definition> )
| <comment>
| <TDN>

<record definition>::=
RECORD <identifier>
<record component list> ’;’
ENDRECORD

<record component list> ::=

<record component definition> |
<record component definition> <record component list>

<record component definition> ::=

<data type> <record component name>

<alias definition> ::=

ALIAS <data type> <identifier> ’;’

<data type> ::= <identifier>

RAPID Reference Manual 5-19

Data Basic Characteristics RAPID

5 Data
There are three kinds of data: variables, persistents and constants.

- A variable can be assigned a new value during program execution.

- A persistent can be described as a “persistent” variable. This is accomplished
by letting an update of the value of a persistent automatically cause the
initialisation value of the persistent declaration to be updated. (When a program
is saved the initialisation value of any persistent declaration reflects the current
value of the persistent.)
- A constant represents a static value and cannot be assigned a new value.

A data declaration introduces data by associating a name (identifier) with a data type.
Except for predefined data and loop variables, all data used must be declared.

5.1 Data scope

The scope of data denotes the area in which the data is visible. The optional local
directive of a data declaration classifies data as local (within the module), otherwise it
is global. Note that the local directive may only be used at module level, not inside a
routine.

Example: LOCAL VAR num local_variable;

VAR num global_variable;

Data declared outside a routine is called program data. The following scope rules apply
to program data:

- The scope of predefined or global program data may include any module.
- The scope of local program data comprises the module in which it is contained.
- Within its scope, local program data hides any global data or routine with the
same name (including instructions and predefined routines and data).

Program data may not have the same name as other data or a routine in the same
module. Global program data may not have the same name as other global data or a
routine in another module. A persistent may not have the same name as another
persistent in the same program.

Data declared inside a routine is called routine data. Note that the parameters of a
routine are also handled as routine data. The following scope rules apply to routine
data:

- The scope of routine data comprises the routine in which it is contained.

- Within its scope, routine data hides any other routine or data with the same
name.

See the example in Figure 4.

5-20 RAPID Reference Manual

Basic Characteristics RAPID Data

Module1 Module2

Local Data a Local Data a

Local Data b Local Data f

Data c Data g

Data d Local Routine e

Data e1
Data e
Routine h
Data h1
Data c

Figure 4 Example: The following data can be called from routine e:

Module1: Data c, d.
Module2: Data a, f, g, e1.
The following data can be called from routine h:
Module1: Data d.
Module2: Data a, f, g, h1, c.

Routine data may not have the same name as other data or a label in the same routine.

5.2 Variable declaration

A variable is introduced by a variable declaration.

Example: VAR num x;

Variables of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.

Example: VAR pos pallet{14, 18};

Variables with value types may be initialised (given an initial value). The expression
used to initialise a program variable must be constant. Note that the value of an
uninitialized variable may be used, but it is undefined, i.e. set to zero.

Example: VAR string author_name := "John Smith";

VAR pos start := [100, 100, 50];
VAR num maxno{10} := [1, 2, 3, 9, 8, 7, 6, 5, 4, 3];

The initialisation value is set when:

- the program is opened,

- the program is executed from the beginning of the program.

RAPID Reference Manual 5-21

Data Basic Characteristics RAPID

5.3 Persistent declaration

Persistents can only be declared at module level, not inside a routine, and must be given
an initial value. The initialisation value must be a single value (without data or
operands), or a single aggregate with members which, in turn, are single values or
single aggregates.

Example: PERS pos refpnt := [100.23, 778.55, 1183.98];

Persistents of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.

Example: PERS pos pallet{14, 18};

Note that if the value of a persistent is updated, this automatically causes the
initialisation value of the persistent declaration to be updated.

Example: PERS num reg1 := 0;

...
reg1 := 5;
After execution, the program looks like this:
PERS num reg1 := 5;
...
reg1 := 5;

5.4 Constant declaration

A constant is introduced by a constant declaration. The value of a constant cannot be
modified.
Example: CONST num pi := 3.141592654;

A constant of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.

Example: CONST pos seq{3} := [[614, 778, 1020],

[914, 998, 1021],
[814, 998, 1022]];

5.5 Initiating data

In the table below, you can see what is happening in various activities such as warm
start, new program, program start etc.

5-22 RAPID Reference Manual

Basic Characteristics RAPID Data

Table1

Start Start Start Start Start

System Power on Open, Close Start
program program program program program
event (Warm or New program
(Move PP to (Move PP to (Move PP to (Call (After
Affects start) program (After stop)
main) Routine) cursor) Routine) cycle)

Constant Unchanged Init Init Init Unchanged Unchanged Unchanged Unchanged

Variable Unchanged Init Init Init Unchanged Unchanged Unchanged Unchanged

Persistent Unchanged Init Init Init Unchanged Unchanged Unchanged Unchanged

Commanded Re-ordered Disappears Disappears Disappears Unchanged Unchanged Unchanged Unchanged

interrupts

Start up Not run Run* Run Not run Not run Not run Not run Not run
routine
SYS_RESET
(with motion
settings)

Files Closes Closes Closes Closes Unchanged Unchanged Unchanged Unchanged

Path Recreated at Disappears Disappears Disappears Disappears Unchanged Unchanged Unchanged

power on

* Generates an error when there is a semantic error in the actual task program.

5.6 Syntax

Data declaration

<data declaration> ::=

[LOCAL] ( <variable declaration>
| <persistent declaration>
| <constant declaration> )
| <comment>
| <DDN>

Variable declaration

<variable declaration> ::=

VAR <data type> <variable definition> ’;’
<variable definition> ::=
<identifier> [ ’{’ <dim> { ’,’ <dim> } ’}’ ]
[ ’:=’ <constant expression> ]
<dim> ::= <constant expression>

Persistent declaration

<persistent declaration> ::=

PERS <data type> <persistent definition> ’;’

RAPID Reference Manual 5-23

Data Basic Characteristics RAPID

<persistent definition> ::=

<identifier> [ ’{’ <dim> { ’,’ <dim> } ’}’ ]
’:=’ <literal expression>

Constant declaration

<constant declaration> ::=

CONST <data type> <constant definition> ’;’
<constant definition> ::=
<identifier> [ ’{’ <dim> { ’,’ <dim> } ’}’ ]
’:=’ <constant expression>
<dim> ::= <constant expression>

5-24 RAPID Reference Manual

Basic Characteristics RAPID Instructions

6 Instructions
Instructions are executed in succession unless a program flow instruction or an inter-
rupt or error causes the execution to continue at some other place.

Most instructions are terminated by a semicolon “;”. A label is terminated by a colon

“:”. Some instructions may contain other instructions and are terminated by specific
keywords:

Instruction Termination word

IF ENDIF
FOR ENDFOR
WHILE ENDWHILE
TEST ENDTEST

Example: WHILE index < 100 DO

.
index := index + 1;
ENDWHILE

6.1 Syntax
<instruction list> ::= { <instruction> }
<instruction> ::=
[<instruction according to separate chapter in this manual>
| <SMT>

RAPID Reference Manual 5-25

Expressions Basic Characteristics RAPID

7 Expressions
An expression specifies the evaluation of a value. It can be used, for example:

- in an assignment instruction e.g. a:=3*b/c;

- as a condition in an IF instruction e.g. IF a>=3 THEN ...
- as an argument in an instruction e.g. WaitTime time;
- as an argument in a function call e.g. a:=Abs(3*b);

7.1 Arithmetic expressions

An arithmetic expression is used to evaluate a numeric value.

Example: 2*pi*radius

Table 2 shows the different types of operations possible.

Table 2

Operator Operation Operand types Result type

+ addition num + num num3)

+ unary plus; keep sign +num or +pos same1)3)

+ vector addition pos + pos pos

- subtraction num - num num3)

- unary minus; change sign -num or -pos same1)3)

- vector subtraction pos - pos pos

* multiplication num * num num3)

* scalar vector multiplication num * pos or pos * num pos

* vector product pos * pos pos

* linking of rotations orient * orient orient

/ division num / num num

DIV 2) integer division num DIV num num

MOD 2) integer modulo; remainder num MOD num num

1. The result receives the same type as the operand. If the operand has an alias
data type, the result receives the alias "base" type (num or pos).

2. Integer operations, e.g. 14 DIV 4=3, 14 MOD 4=2.

(Non-integer operands are illegal.)

3. Preserves integer (exact) representation as long as operands and result are kept
within the integer subdomain of the num type.

5-26 RAPID Reference Manual

Basic Characteristics RAPID Expressions

7.2 Logical expressions

A logical expression is used to evaluate a logical value (TRUE/FALSE).

Example: a>5 AND b=3

Table 3 shows the different types of operations possible.

Table 3

Operator Operation Operand types Result type

< less than num < num bool

<= less than or equal to num <= num bool

= equal to any 1)= any 1) bool

>= greater than or equal to num >= num bool

> greater than num > num bool

<> not equal to any 1) <> any 1) bool

AND and bool AND bool bool

XOR exclusive or bool XOR bool bool

OR or bool OR bool bool

NOT unary not; negation NOT bool bool

1) Only value data types. Operands must have equal types.

a AND b a XOR b
a True False a True False
b b
True True False True False True
False False False False True False

a OR b NOT b
a True False
b b
True True True True False
False True False False True

7.3 String expressions

A string expression is used to carry out operations on strings.

Example: “IN” + “PUT” gives the result “INPUT”

RAPID Reference Manual 5-27

Expressions Basic Characteristics RAPID

Table 4 shows the one operation possible.

.

Table 4

Operator Operation Operand types Result type

+ string concatenation string + string string

7.4 Using data in expressions

An entire variable, persistent or constant can be a part of an expression.

Example: 2*pi*radius

Arrays

A variable, persistent or constant declared as an array can be referenced to the whole

array or a single element.

An array element is referenced using the index number of the element. The index is an
integer value greater than 0 and may not violate the declared dimension. Index value 1
selects the first element. The number of elements in the index list must fit the declared
degree (1, 2 or 3) of the array.

Example: VAR num row{3};

VAR num column{3};
VAR num value;
.
value := column{3}; only one element in the array
row := column; all elements in the array

Records

A variable, persistent or constant declared as a record can be referenced to the whole

record or a single component.

A record component is referenced using the component name.

Example: VAR pos home;

VAR pos pos1;
VAR num yvalue;
..
yvalue := home.y; the Y component only
pos1 := home; the whole position

5-28 RAPID Reference Manual

Basic Characteristics RAPID Expressions

7.5 Using aggregates in expressions

An aggregate is used for record or array values.

Example: pos := [x, y, 2*x]; pos record aggregate

posarr := [[0, 0, 100], [0,0,z]]; pos array aggregate

It must be possible to determine the data type of an aggregate by the context. The data
type of each aggregate member must be equal to the type of the corresponding member
of the determined type.

Example VAR pos pl;

p1 :=[1, -100, 12]; aggregate type pos - determined
by p1
IF [1, -100, 12] = [a,b,b,] THEN illegal since the data type of nei-
ther of the aggregates can be
determined by the context.

7.6 Using function calls in expressions

A function call initiates the evaluation of a specific function and receives the value
returned by the function.

Example: Sin(angle)

The arguments of a function call are used to transfer data to (and possibly from) the
called function. The data type of an argument must be equal to the type of the corre-
sponding parameter of the function. Optional arguments may be omitted but the order
of the (present) arguments must be the same as the order of the formal parameters. In
addition, two or more optional arguments may be declared to exclude each other, in
which case, only one of them may be present in the argument list.

A required (compulsory) argument is separated from the preceding argument by a

comma “,”. The formal parameter name may be included or omitted.

Example: Polar(3.937, 0.785398) two required arguments

Polar(Dist:=3.937, Angle:=0.785398)... using names

An optional argument must be preceded by a backslash “\” and the formal parameter
name. A switch type argument is somewhat special; it may not include any argument
expression. Instead, such an argument can only be either "present" or "not present".

Example: Cosine(45) one required argument

Cosine(0.785398\Rad) ... and one switch
Dist(p2) one required argument
Dist(\distance:=pos1, p2) ... and one optional

Conditional arguments are used to support smooth propagation of optional arguments

through chains of routine calls. A conditional argument is considered to be “present”
if the specified optional parameter (of the calling function) is present, otherwise it is

RAPID Reference Manual 5-29

Expressions Basic Characteristics RAPID

simply considered to be omitted. Note that the specified parameter must be optional.

Example: PROC Read_from_file (iodev File \num Maxtime)

..
character:=ReadBin (File \Time?Maxtime);
! Max. time is only used if specified when calling the routine
! Read_from_file
..
ENDPROC

The parameter list of a function assigns an access mode to each parameter. The access
mode can be either in, inout, var or pers:

- An IN parameter (default) allows the argument to be any expression. The called

function views the parameter as a constant.
- An INOUT parameter requires the corresponding argument to be a variable
(entire, array element or record component) or an entire persistent. The called
function gains full (read/write) access to the argument.
- A VAR parameter requires the corresponding argument to be a variable (entire,
array element or record component). The called function gains full (read/write)
access to the argument.
- A PERS parameter requires the corresponding argument to be an entire persis-
tent. The called function gains full (read/update) access to the argument.

7.7 Priority between operators

The relative priority of the operators determines the order in which they are evaluated.
Parentheses provide a means to override operator priority. The rules below imply the
following operator priority:

* / DIV MOD - highest

+-
< > <> <= >= =
AND
XOR OR NOT - lowest

An operator with high priority is evaluated prior to an operator with low priority. Oper-
ators of the same priority are evaluated from left to right.

Example

Expression Evaluation order Comment

a+b+c (a + b) + c left to right rule
a+b*c a + (b * c) * higher than +
a OR b OR c (a OR b) OR c Left to right rule

5-30 RAPID Reference Manual

Basic Characteristics RAPID Expressions

a AND b OR c AND d (a AND b) OR (c AND d) AND higher than

OR
a < b AND c < d (a < b) AND (c < d) < higher than AND

7.8 Syntax

Expressions

<expression> ::=
<expr>
| <EXP>
<expr> ::= [ NOT ] <logical term> { ( OR | XOR ) <logical term> }
<logical term> ::= <relation> { AND <relation> }
<relation> ::= <simple expr> [ <relop> <simple expr> ]
<simple expr> ::= [ <addop> ] <term> { <addop> <term> }
<term> ::= <primary> { <mulop> <primary> }
<primary> ::=
<literal>
| <variable>
| <persistent>
| <constant>
| <parameter>
| <function call>
| <aggregate>
| ’(’ <expr> ’)’

Operators

<relop> ::= ’<’ | ’<=’ | ’=’ | ’>’ | ’>=’ | ’<>’

<addop> ::= ’+’ | ’-’
<mulop> ::= ’*’ | ’/’ | DIV | MOD

Constant values

<literal> ::= <num literal>

| <string literal>
| <bool literal>

Data

<variable> ::=
<entire variable>
| <variable element>
| <variable component>
<entire variable> ::= <ident>
<variable element> ::= <entire variable> ’{’ <index list> ’}’

RAPID Reference Manual 5-31

Expressions Basic Characteristics RAPID

<index list> ::= <expr> { ’,’ <expr> }

<variable component> ::= <variable> ’.’ <component name>
<component name> ::= <ident>
<persistent> ::=
<entire persistent>
| <persistent element>
| <persistent component>
<constant> ::=
<entire constant>
| <constant element>
| <constant component>

Aggregates

<aggregate> ::= ’[’ <expr> { ’,’ <expr> } ’]’

Function calls

<function call> ::= <function> ’(’ [ <function argument list> ] ’)’

<function> ::= <ident>
<function argument list> ::= <first function argument> { <function argument> }
<first function argument> ::=
<required function argument>
| <optional function argument>
| <conditional function argument>
<function argument> ::=
’,’ <required function argument>
| <optional function argument>
| <conditional function argument>
<required function argument> ::= [ <ident> ’:=’ ] <expr>
<optional function argument> ::= ’\’ <ident> [ ’:=’ <expr> ]
<conditional function argument> ::= ’\’ <ident> ’?’ <parameter>

Special expressions

<constant expression> ::= <expression>

<literal expression> ::= <expression>
<conditional expression> ::= <expression>

Parameters

<parameter> ::=
<entire parameter>
| <parameter element>
| <parameter component>

5-32 RAPID Reference Manual

Basic Characteristics RAPID Error Recovery

8 Error Recovery
An execution error is an abnormal situation, related to the execution of a specific piece
of a program. An error makes further execution impossible (or at least hazardous).
“Overflow” and “division by zero” are examples of errors. Errors are identified by their
unique error number and are always recognized by the robot. The occurrence of an
error causes suspension of the normal program execution and the control is passed to
an error handler. The concept of error handlers makes it possible to respond to and,
possibly, recover from errors that arise during program execution. If further execution
is not possible, the error handler can at least assure that the program is given a graceful
abortion.

8.1 Error handlers

Any routine may include an error handler. The error handler is really a part of the
routine, and the scope of any routine data also comprises the error handler of the
routine. If an error occurs during the execution of the routine, control is transferred to
its error handler.

Example: FUNC num safediv( num x, num y)

RETURN x / y;
ERROR
IF ERRNO = ERR_DIVZERO THEN
TPWrite "The number cannot be equal to 0";
RETURN x;
ENDIF
ENDFUNC

The system variable ERRNO contains the error number of the (most recent) error and
can be used by the error handler to identify that error. After any necessary actions have
been taken, the error handler can:

- Resume execution, starting with the instruction in which the error occurred.
This is done using the RETRY instruction. If this instruction causes the same
error again, up to four error recoveries will take place; after that execution will
stop.
- Resume execution, starting with the instruction following the instruction in
which the error occurred. This is done using the TRYNEXT instruction.
- Return control to the caller of the routine using the RETURN instruction. If the
routine is a function, the RETURN instruction must specify an appropriate
return value.
- Propagate the error to the caller of the routine using the RAISE instruction.

When an error occurs in a routine that does not contain an error handler or when the
end of the error handler is reached (ENDFUNC, ENDPROC or ENDTRAP), the
system error handler is called. The system error handler just reports the error and stops
the execution.

RAPID Reference Manual 5-33

Error Recovery Basic Characteristics RAPID

In a chain of routine calls, each routine may have its own error handler. If an error
occurs in a routine with an error handler, and the error is explicitly propagated using
the RAISE instruction, the same error is raised again at the point of the call of the
routine - the error is propagated. When the top of the call chain (the entry routine of the
task) is reached without any error handler being found or when the end of any error
handler is reached within the call chain, the system error handler is called. The system
error handler just reports the error and stops the execution. Since a trap routine can only
be called by the system (as a response to an interrupt), any propagation of an error from
a trap routine is made to the system error handler.

Error recovery is not available for instructions in the backward handler. Such errors are
always propagated to the system error handler.

In addition to errors detected and raised by the robot, a program can explicitly raise
errors using the RAISE instruction. This facility can be used to recover from complex
situations. It can, for example, be used to escape from deeply-nested code positions.
Error numbers 1-90 may be used in the raise instruction. Explicitly-raised errors are
treated exactly like errors raised by the system.

Note that it is not possible to recover from or respond to errors that occur within an error
clause. Such errors are always propagated to the system error handler.

5-34 RAPID Reference Manual

Basic Characteristics RAPID Interrupts

9 Interrupts
Interrupts are program-defined events, identified by interrupt numbers. An interrupt
occurs when an interrupt condition is true. Unlike errors, the occurrence of an interrupt
is not directly related to (synchronous with) a specific code position. The occurrence
of an interrupt causes suspension of the normal program execution and control is
passed to a trap routine.

Even though the robot immediately recognizes the occurrence of an interrupt (only
delayed by the speed of the hardware), its response – calling the corresponding trap
routine – can only take place at specific program positions, namely:

- when the next instruction is entered,

- any time during the execution of a waiting instruction, e.g. WaitUntil,
- any time during the execution of a movement instruction, e.g. MoveL.

This normally results in a delay of 5-120 ms between interrupt recognition and

response, depending on what type of movement is being performed at the time of the
interrupt.

The raising of interrupts may be disabled and enabled. If interrupts are disabled, any
interrupt that occurs is queued and not raised until interrupts are enabled again. Note
that the interrupt queue may contain more than one waiting interrupt. Queued
interrupts are raised in FIFO order. Interrupts are always disabled during the execution
of a trap routine.

When running stepwise and when the program has been stopped, no interrupts will be
handled. Interrupts that are generated under these circumstances are not dealt with.

The maximum number of interrupts at any one time are 40 per task. The total
limitation set by the I/O CPU is 100 interrupts.

9.1 Interrupt manipulation

Defining an interrupt makes it known to the robot. The definition specifies the interrupt
condition and enables the interrupt.

Example: VAR intnum sig1int;

.
ISignalDI di1, high, sig1int;

An enabled interrupt may in turn be disabled (and vice versa).

Example: ISleep sig1int; disabled

.
IWatch sig1int; enabled

Deleting an interrupt removes its definition. It is not necessary to explicitly remove an

interrupt definition, but a new interrupt cannot be defined to an interrupt variable until

RAPID Reference Manual 5-35

Interrupts Basic Characteristics RAPID

the previous definition has been deleted.

Example: IDelete sig1int;

9.2 Trap routines

Trap routines provide a means of dealing with interrupts. A trap routine can be
connected to a particular interrupt using the CONNECT instruction. When an interrupt
occurs, control is immediately transferred to the associated trap routine (if any). If an
interrupt occurs, that does not have any connected trap routine, this is treated as a fatal
error, i.e. causes immediate termination of program execution.

Example: VAR intnum empty;

VAR intnum full;

.PROC main()

CONNECT empty WITH etrap; connect trap routines

CONNECT full WITH ftrap;
ISignalDI di1, high, empty; define feeder interrupts
ISignalDI di3, high, full;
.
IDelete empty;
IDelete full;
ENDPROC

TRAP etrap responds to "feeder

open_valve; empty" interrupt
RETURN;
ENDTRAP

TRAP ftrap responds to "feeder full"

close_valve; interrupt
RETURN;
ENDTRAP

Several interrupts may be connected to the same trap routine. The system variable
INTNO contains the interrupt number and can be used by a trap routine to identify an
interrupt. After the necessary action has been taken, a trap routine can be terminated
using the RETURN instruction or when the end (ENDTRAP or ERROR) of the trap
routine is reached. Execution continues from the place where the interrupt occurred.

5-36 RAPID Reference Manual

 Basic Characteristics RAPID Backward execution

10 Backward execution
A program can be executed backwards one instruction at a time. The following general
restrictions are valid for backward execution:

- The instructions IF, FOR, WHILE and TEST cannot be executed backwards.
- It is not possible to step backwards out of a routine when reaching the beginning
of the routine.

10.1 Backward handlers

Procedures may contain a backward handler that defines the backward execution of a
procedure call.

The backward handler is really a part of the procedure and the scope of any routine data
also comprises the backward handler of the procedure.

Example: PROC MoveTo ()

MoveL p1,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
MoveL p4,v500,z10,tool1;
BACKWARD
MoveL p4,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
MoveL p1,v500,z10,tool1;
ENDPROC
When the procedure is called during forward execution, the following occurs:

PROC MoveTo ()
.. MoveL p1,v500,z10,tool1;
MoveTo; MoveC p2,p3,v500,z10,tool1;
.. MoveL p4,v500,z10,tool1;
BACKWARD
MoveL p4,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
MoveL p1,v500,z10,tool1;
ENDPROC

RAPID Reference Manual 5-37

Backward execution Basic Characteristics RAPID

When the procedure is called during backwards execution, the following occurs:

PROC MoveTo ()
.. MoveL p1,v500,z10,tool1;
MoveTo; MoveC p2,p3,v500,z10,tool1;
.. MoveL p4,v500,z10,tool1;
BACKWARD
MoveL p4,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
MoveL p1,v500,z10,tool1;
ENDPROC
Instructions in the backward or error handler of a routine may not be executed
backwards. Backward execution cannot be nested, i.e. two instructions in a call chain
may not simultaneously be executed backwards.

A procedure with no backward handler cannot be executed backwards. A procedure

with an empty backward handler is executed as “no operation”.

10.2 Limitation of move instructions in the backward handler

The move instruction type and sequence in the backward handler must be a mirror of
the move instruction type and sequence for forward execution in the same routine:

PROC MoveTo ()
MoveL p1,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1; Mirror plane
MoveL p4,v500,z10,tool1;
BACKWARD
MoveL p4,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
MoveL p1,v500,z10,tool1;
ENDPROC

Note that the order of CirPoint p2 and ToPoint p3 in the MoveC should be the same.

By move instructions is meant all instructions that result in some movement of the
robot or external axes such as MoveL, SearchC, TriggJ, ArcC, PaintL ...

Any departures from this programming limitation in the backward handler can
result in faulty backward movement. Linear movement can result in circular
movement and vice versa, for some part of the backward path.

5-38 RAPID Reference Manual

 Basic Characteristics RAPID Multitasking

11 Multitasking
The events in a robot cell are often in parallel, so why are the programs not in parallel?

Multitasking RAPID is a way to execute programs in (pseudo) parallel with the nor-
mal execution. The execution is started at power on and will continue for ever, unless
an error occurs in that program. One parallel program can be placed in the background
or foreground of another program. It can also be on the same level as another program.

To use this function the robot must be configured with one extra TASK for each back-
ground program.

Up to 10 different tasks can be run in pseudo parallel. Each task consists of a set of
modules, in the same way as the normal program. All the modules are local in each
task.

Variables and constants are local in each task, but persistents are not. A persistent with
the same name and type is reachable in all tasks. If two persistents have the same name,
but their type or size (array dimension) differ, a runtime error will occur.

A task has its own trap handling and the event routines are triggered only on its own
task system states (e.g. Start/Stop/Restart....).

There are a few restrictions on the use of Multitasking RAPID.

- Do not mix up parallel programs with a PLC. The response time is the same as
the interrupt response time for one task. This is true, of course, when the task is
not in the background of another busy program
- There is only one physical Teach Pendent, so be careful that a TPWrite request
is not mixed in the Operator Window for all tasks.
- When running a Wait instruction in manual mode, a simulation box will come
up after 3 seconds. This will only occur in the main task.
- Move instructions can only be executed in the main task (the task bind to pro-
gram instance 0, see User’s guide - System parameters).
- The execution of a task will halt during the time that some other tasks are
accessing the file system, that is if the operator chooses to save or open a pro-
gram, or if the program in a task uses the load/erase/read/write instructions.
- The Teach Pendent cannot access other tasks than the main task. So, the devel-
opment of RAPID programs for other tasks can only be done if the code is
loaded into the main task, or off-line.

For all settings, see User’s Guide - System parameters.

11.1 Synchronising the tasks

In many applications a parallel task only supervises some cell unit, quite independently
of the other tasks being executed. In such cases, no synchronisation mechanism is nec-
essary. But there are other applications which need to know what the main task is doing,

RAPID Reference Manual 5-39

Multitasking Basic Characteristics RAPID

for example.

Synchronising using polling

This is the easiest way to do it, but the performance will be the slowest.

Persistents are then used together with the instructions WaitUntil, IF, WHILE or GOTO.

If the instruction WaitUntil is used, it will poll internally every 100 ms. Do not poll
more frequently in other implementations.

Example

TASK 0

MODULE module1
PERS bool startsync:=FALSE;
PROC main()

startsync:= TRUE;
.

ENDPROC
ENDMODULE

TASK 1

MODULE module2
PERS bool startsync:=FALSE;
PROC main()

WaitUntil startsync;
.

ENDPROC
ENDMODULE

Synchronising using an interrupt

The instruction SetDO and ISignalDO are used.

Example

TASK 0

MODULE module1
PROC main()

SetDO do1,1;
.

5-40 RAPID Reference Manual

Basic Characteristics RAPID Multitasking

ENDPROC
ENDMODULE

TASK 1

MODULE module2
VAR intnum isiint1;
PROC main()

CONNECT isiint1 WITH isi_trap;

ISignalDO do1, 1, isiint1;

WHILE TRUE DO
WaitTime 200;
ENDWHILE

IDelete isiint1;

ENDPROC

TRAP isi_trap

ENDTRAP
ENDMODULE

11.2 Intertask communication

All types of data can be sent between two (or more) tasks with persistent variables.

A persistent variable is global in all tasks. The persistent variable must be of the same
type and size (array dimension) in all tasks that declared it. Otherwise a runtime error
will occur.

All declarations must specify an init value to the persistent variable, but only the first
module loaded with the declaration will use it.

Example

TASK 0

MODULE module1
PERS bool startsync:=FALSE;
PERS string stringtosend:=””;
PROC main()

stringtosend:=”this is a test”;

startsync:= TRUE

RAPID Reference Manual 5-41

Multitasking Basic Characteristics RAPID

ENDPROC
ENDMODULE

TASK 1

MODULE module2
PERS bool startsync:=FALSE;
PERS string stringtosend:=””;
PROC main()

WaitUntil startsync;

!read string
IF stringtosend = “this is a test” THEN

ENDPROC
ENDMODULE

11.3 Type of task

Each extra task (not 0) is started in the system start sequence. If the task is of type
STATIC, it will be restarted at the current position (where PP was when the system was
powered off), but if the type is set to SEMISTATIC, it will be restarted from the begin-
ning each time the power is turned on.

It is also possible to set the task to type NORMAL, then it will behave in the same was
as task 0 (the main task, controlling the robot movement). The teach pendent can only
be used to start task 0, so the only way to start other NORMAL tasks is to use Commu-
nicationWare.

11.4 Priorities
The way to run the tasks as default is to run all tasks at the same level in a round rob-
bin way (one basic step on each instance). But it is possible to change the priority of
one task by putting the task in the background of another. Then the background will
only execute when the foreground is waiting for some events, or has stopped the exe-
cution (idle). A robot program with move instructions will be in an idle state most of
the time.

The example below describes some situations where the system has 10 tasks (see Fig-
ure 5)

Round robbin chain 1: tasks 0, 1, and 8 are busy

Round robbin chain 2: tasks 0, 3, 4, 5 and 8 are busy

tasks 1 and 2 are idle

Round robbin chain 3: tasks 2, 4 and 5 are busy

tasks 0, 1, 8 and 9 are idle.

5-42 RAPID Reference Manual

Basic Characteristics RAPID Multitasking

Round robbin chain 4: tasks 6 and 7 are busy

tasks 0, 1, 2, 3, 4, 5, 8 and 9 are idle

chain 1 chain 2
task 0

task 1 task 2 task 3

task 4

task 5 task 6

task 7
chain 4
chain 3

task 8 task 9

Figure 5 The tasks can have different priorities.

11.5 Task sizes

The system will supply a memory area with an installation depending on size. That
area is shared by all tasks.

The value of a persistent variable will be stored in a separate part of the system, and
not affect the memory area above. See System parameters - AveragePers.

11.6 Something to think about

When you specify task priorities, you must think about the following:

RAPID Reference Manual 5-43

Multitasking Basic Characteristics RAPID

- Always use the interrupt mechanism or loops with delays in supervision tasks.
Otherwise the teach pendent will never get any time to interact with the user.
And if the supervision task is in foreground, it will never allow another task in
background to execute.

5-44 RAPID Reference Manual

 Motion and I/O Principles

CONTENTS
Page

1 Coordinate Systems......................................................................................................... 3
1.1 The robot’s tool centre point (TCP)........................................................................ 3
1.2 Coordinate systems used to determine the position of the TCP ............................. 3
1.2.1 Base coordinate system ................................................................................ 3
1.2.2 World coordinate system.............................................................................. 4
1.2.3 User coordinate system ................................................................................ 5
1.2.4 Object coordinate system ............................................................................. 5
1.2.5 Displacement coordinate system.................................................................. 6
1.2.6 Coordinated external axes ............................................................................ 7
1.3 Coordinate systems used to determine the direction of the tool............................. 8
1.3.1 Wrist coordinate system ............................................................................... 9
1.3.2 Tool coordinate system ................................................................................ 9
1.3.3 Stationary TCPs ........................................................................................... 10
1.4 Related information ................................................................................................ 12
2 Positioning during Program Execution......................................................................... 13
2.1 General.................................................................................................................... 13
2.2 Interpolation of the position and orientation of the tool......................................... 13
2.2.1 Joint interpolation ........................................................................................ 13
2.2.2 Linear interpolation...................................................................................... 14
2.2.3 Circular interpolation ................................................................................... 15
2.2.4 SingArea\Wrist............................................................................................. 16
2.3 Interpolation of corner paths................................................................................... 16
2.3.1 Joint interpolation in corner paths................................................................ 17
2.3.2 Linear interpolation of a position in corner paths ........................................ 18
2.3.3 Linear interpolation of the orientation in corner paths ................................ 18
2.3.4 Interpolation of external axes in corner paths.............................................. 19
2.3.5 Corner paths when changing the interpolation method ............................... 19
2.3.6 Interpolation when changing coordinate system.......................................... 20
2.3.7 Corner paths with overlapping zones........................................................... 20
2.3.8 Planning time for fly-by points .................................................................... 21
2.4 Independent axes .................................................................................................... 22
2.4.1 Program execution ....................................................................................... 22
2.4.2 Stepwise execution....................................................................................... 22
2.4.3 Jogging ......................................................................................................... 23
2.4.4 Working range.............................................................................................. 23
2.4.5 Speed and acceleration................................................................................. 24
2.4.6 Robot axes.................................................................................................... 24

RAPID Reference Manual 6-1

Motion and I/O Principles

2.5 Soft Servo ............................................................................................................... 24

2.6 Stop and restart ....................................................................................................... 25
2.7 Related information ................................................................................................ 26
3 Synchronization with logical instructions..................................................................... 27
3.1 Sequential program execution at stop points.......................................................... 27
3.2 Sequential program execution at fly-by points....................................................... 27
3.3 Concurrent program execution............................................................................... 28
3.4 Path synchronization .............................................................................................. 31
3.5 Related information ................................................................................................ 32
4 Robot Configuration ....................................................................................................... 33
4.1 Robot configuration data for 6400C....................................................................... 35
4.2 Related information ................................................................................................ 36
5 Singularities ..................................................................................................................... 37
5.1 Singularity points/IRB 6400C ................................................................................ 38
5.2 Program execution through singularities................................................................ 38
5.3 Jogging through singularities ................................................................................. 38
5.4 Related information ................................................................................................ 38
6 World Zones .................................................................................................................... 39
6.1 Using global zones ................................................................................................. 39
6.2 Using World Zones ................................................................................................ 39
6.3 Definition of World Zones in the world coordinate system ................................... 39
6.4 Supervision of the Robot TCP................................................................................ 40
6.4.1 Stationary TCPs ........................................................................................... 40
6.5 Actions.................................................................................................................... 41
6.5.1 Set a digital output when the tcp is inside a World Zone. ........................... 41
6.5.2 Set a digital output before the tcp reaches a World Zone. ........................... 41
6.5.3 Stop the robot before the tcp reaches a World Zone.................................... 41
6.6 Minimum size of World Zones. ............................................................................. 42
6.7 Power failure, restart, and run on ........................................................................... 42
6.8 Related information ................................................................................................ 43
7 I/O Principles................................................................................................................... 44
7.1 Signal characteristics .............................................................................................. 44
7.2 System signals ........................................................................................................ 45
7.3 Cross connections................................................................................................... 45
7.4 Limitations.............................................................................................................. 46
7.5 Related information ................................................................................................ 46

6-2 RAPID Reference Manual

Motion and I/O Principles Coordinate Systems

1 Coordinate Systems

1.1 The robot’s tool centre point (TCP)

The position of the robot and its movements are always related to the tool centre point.
This point is normally defined as being somewhere on the tool, e.g. in the muzzle of a
glue gun, at the centre of a gripper or at the end of a grading tool.

Several TCPs (tools) may be defined, but only one may be active at any one time.
When a position is recorded, it is the position of the TCP that is recorded. This is also
the point that moves along a given path, at a given velocity.

If the robot is holding a work object and working on a stationary tool, a stationary TCP
is used. If that tool is active, the programmed path and speed are related to the work
object. See Stationary TCPs on page 10.

1.2 Coordinate systems used to determine the position of the TCP

The tool (TCP’s) position can be specified in different coordinate systems to facilitate
programming and readjustment of programs.

The coordinate system defined depends on what the robot has to do. When no
coordinate system is defined, the robot’s positions are defined in the base coordinate
system.

1.2.1 Base coordinate system

In a simple application, programming can be done in the base coordinate system; here
the z-axis is coincident with axis 1 of the robot (see Figure 1).

Z
Y

Figure 1 The base coordinate system.

RAPID Reference Manual 6-3

Coordinate Systems Motion and I/O Principles

The base coordinate system is located on the base of the robot:

- The origin is situated at the intersection of axis 1 and the base mounting surface.
- The xy plane is the same as the base mounting surface.
- The x-axis points forwards.
- The y-axis points to the left (from the perspective of the robot).
- The z-axis points upwards.

1.2.2 World coordinate system

If the robot is floor-mounted, programming in the base coordinate system is easy. If,
however, the robot is mounted upside down (suspended), programming in the base
coordinate system is more difficult because the directions of the axes are not the same
as the principal directions in the working space. In such cases, it is useful to define a
world coordinate system. The world coordinate system will be coincident with the base
coordinate system, if it is not specifically defined.

Sometimes, several robots work within the same working space at a plant. A common
world coordinate system is used in this case to enable the robot programs to
communicate with one another. It can also be advantageous to use this type of system
when the positions are to be related to a fixed point in the workshop. See the example
in Figure 2.

Base coordinate system robot 2

X

Y
Z
Z
Y

X
Base coordinate system robot 1

World coordinate system

x
Figure 2 Two robots (one of which is suspended) with a common world coordinate system.

6-4 RAPID Reference Manual

Motion and I/O Principles Coordinate Systems

1.2.3 User coordinate system

A robot can work with different fixtures or working surfaces having different positions
and orientations. A user coordinate system can be defined for each fixture. If all
positions are stored in object coordinates, you will not need to reprogram if a fixture
must be moved or turned. By moving/turning the user coordinate system as much as
the fixture has been moved/turned, all programmed positions will follow the fixture
and no reprogramming will be required.

The user coordinate system is defined based on the world coordinate system (see Figure 3).

Z
User coordinate system 1

X
Z
User coordinate system 2

Z
Y z

X
Base coordinate system
y

World coordinate system

x
Figure 3 Two user coordinate systems describe the position of two different fixtures.

1.2.4 Object coordinate system

The user coordinate system is used to get different coordinate systems for different fixtures
or working surfaces. A fixture, however, may include several work objects that are to be
processed or handled by the robot. Thus, it often helps to define a coordinate system for each
object in order to make it easier to adjust the program if the object is moved or if a new
object, the same as the previous one, is to be programmed at a different location. A
coordinate system referenced to an object is called an object coordinate system. This
coordinate system is also very suited to off-line programming since the positions specified
can usually be taken directly from a drawing of the work object. The object coordinate
system can also be used when jogging the robot.

RAPID Reference Manual 6-5

Coordinate Systems Motion and I/O Principles

The object coordinate system is defined based on the user coordinate system (see Figure 4).

z
z
z Object coordinate system 1

y
User coordinate system y x
y
x
x Object coordinate system 2

World coordinate system

x
Figure 4 Two object coordinate systems describe the position of two different work objects
located in the same fixture.

The programmed positions are always defined relative to an object coordinate system.
If a fixture is moved/turned, this can be compensated for by moving/turning the user
coordinate system. Neither the programmed positions nor the defined object coordinate
systems need to be changed. If the work object is moved/turned, this can be
compensated for by moving/turning the object coordinate system.

If the user coordinate system is movable, that is, coordinated external axes are used,
then the object coordinate system moves with the user coordinate system. This makes
it possible to move the robot in relation to the object even when the workbench is being
manipulated.

1.2.5 Displacement coordinate system

Sometimes, the same path is to be performed at several places on the same object. To
avoid having to re-program all positions each time, a coordinate system, known as the
displacement coordinate system, is defined. This coordinate system can also be used in
conjunction with searches, to compensate for differences in the positions of the
individual parts.

The displacement coordinate system is defined based on the object coordinate system
(see Figure 5).

6-6 RAPID Reference Manual

Motion and I/O Principles Coordinate Systems

y New position

y
Original position
x

Displacement coordinate system

x
Object coordinate system

Figure 5 If program displacement is active, all positions are displaced.

1.2.6 Coordinated external axes

Coordination of user coordinate system

If a work object is placed on an external mechanical unit, that is moved whilst the robot
is executing a path defined in the object coordinate system, a movable user coordinate
system can be defined. The position and orientation of the user coordinate system will,
in this case, be dependent on the axes rotations of the external unit. The programmed
path and speed will thus be related to the work object (see Figure 6) and there is no
need to consider the fact that the object is moved by the external unit.

z
User coordinate system

y
x
joint 2 joint 3

joint 1

World coordinate system

x
Figure 6 A user coordinate system, defined to follow the movements of a 3-axis external mechan-
ical unit.

RAPID Reference Manual 6-7

Coordinate Systems Motion and I/O Principles

Coordination of base coordinate system

A movable coordinate system can also be defined for the base of the robot. This is of
interest for the installation when the robot is mounted on a track or a gantry, for
example. The position and orientation of the base coordinate system will, as for the
moveable user coordinate system, be dependent on the movements of the external unit.
The programmed path and speed will be related to the object coordinate system (Figure
7) and there is no need to think about the fact that the robot base is moved by an external
unit. A coordinated user coordinate system and a coordinated base coordinate system
can both be defined at the same time.

User coordinate system

Object coordinate system

World coordinate
system

Track

Base coordinate system

Figure 7 Coordinated interpolation with a track moving the base coordinate system of the robot.

To be able to calculate the user and the base coordinate systems when involved units
are moved, the robot must be aware of:

- The calibration positions of the user and the base coordinate systems
- The relations between the angles of the external axes and the translation/rotation
of the user and the base coordinate systems.

These relations are defined in the system parameters.

1.3 Coordinate systems used to determine the direction of the tool

The orientation of a tool at a programmed position is given by the orientation of the tool
coordinate system. The tool coordinate system is referenced to the wrist coordinated
system, defined at the mounting flange on the wrist of the robot.

6-8 RAPID Reference Manual

Motion and I/O Principles Coordinate Systems

1.3.1 Wrist coordinate system

In a simple application, the wrist coordinate system can be used to define the
orientation of the tool; here the z-axis is coincident with axis 6 of the robot
(see Figure 8).

z
x
Figure 8 The wrist coordinate system.

The wrist coordinate system cannot be changed and is always the same as the mounting
flange of the robot in the following respects:

- The origin is situated at the centre of the mounting flange (on the mounting surface).
- The x-axis points in the opposite direction, towards the control hole of the
mounting flange.
- The z-axis points outwards, at right angles to the mounting flange.

1.3.2 Tool coordinate system

The tool mounted on the mounting flange of the robot often requires its own coordinate
system to enable definition of its TCP, which is the origin of the tool coordinate system.
The tool coordinate system can also be used to get appropriate motion directions when
jogging the robot.

If a tool is damaged or replaced, all you have to do is redefine the tool coordinate
system. The program does not normally have to be changed.

The TCP (origin) is selected as the point on the tool that must be correctly positioned,
e.g. the muzzle on a glue gun. The tool coordinate axes are defined as those natural for
the tool in question.

RAPID Reference Manual 6-9

Coordinate Systems Motion and I/O Principles

Top
x

Top
x
z

Figure 9 Tool coordinate system, as usually defined for an arc-welding gun (left) and
a spot welding gun (right).

The tool coordinate system is defined based on the wrist coordinate system
(see Figure 10).

Tool coordinate system

x z
Figure 10 The tool coordinate system is defined relative to the wrist coordinate system,
here for a gripper.

1.3.3 Stationary TCPs

If the robot is holding a work object and working on a stationary tool, a stationary TCP
is used. If that tool is active, the programmed path and speed are related to the work
object held by the robot.

This means that the coordinate systems will be reversed, as in Figure 11.

6-10 RAPID Reference Manual

Motion and I/O Principles Coordinate Systems

Z
Object coordinate system

Y Z
X
Y

X
Tool coordinate system

Z
Y z
X

Base coordinate system y

World coordinate system

x
Figure 11 If a stationary TCP is used, the object coordinate system is usually based on the wrist
coordinate system.

In the example in Figure 11, neither the user coordinate system nor program
displacement is used. It is, however, possible to use them and, if they are used, they
will be related to each other as shown in Figure 12.

y
z
Object coordinate system z

x
y
y
z User coordinate system
Displacement coordinate system

x
x
y

Wrist coordinate system

x
Figure 12 Program displacement can also be used together with stationary TCPs.

RAPID Reference Manual 6-11

Coordinate Systems Motion and I/O Principles

1.4 Related information

Described in:
Definition of the world coordinate system User’s Guide - System Parameters
Definition of the user coordinate system User’s Guide - Calibration
Data Types - wobjdata
Definition of the object coordinate system User’s Guide - Calibration
Data Types - wobjdata
Definition of the tool coordinate system User’s Guide - Calibration
Data Types - tooldata
Definition of a tool centre point User’s Guide - Calibration
Data Types - tooldata
Definition of displacement frame User’s Guide - Calibration
RAPID Summary - Motion Settings
Jogging in different coordinate systems User’s Guide - Jogging

6-12 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

2 Positioning during Program Execution

2.1 General
During program execution, positioning instructions in the robot program control all
movements. The main task of the positioning instructions is to provide the following
information on how to perform movements:

- The destination point of the movement (defined as the position of the tool
centre point, the orientation of the tool, the configuration of the robot and the
position of the external axes).
- The interpolation method used to reach the destination point, e.g. joint
interpolation, linear interpolation or circle interpolation.
- The velocity of the robot and external axes.
- The zone data (defines how the robot and the external axes are to pass the
destination point).
- The coordinate systems (tool, user and object) used for the movement.

As an alternative to defining the velocity of the robot and the external axes, the time
for the movement can be programmed. This should, however, be avoided if the
weaving function is used. Instead the velocities of the orientation and external axes
should be used to limit the speed, when small or no TCP-movements are made.

In material handling and pallet applications with intensive and frequent

movements, the drive system supervision may trip out and stop the robot in order
to prevent overheating of drives or motors. If this occurs, the cycle time needs to
be slightly increased by reducing programmed speed or acceleration.

2.2 Interpolation of the position and orientation of the tool

2.2.1 Joint interpolation

When path accuracy is not too important, this type of motion is used to move the tool
quickly from one position to another. Joint interpolation also allows an axis to move from
any location to another within its working space, in a single movement.

All axes move from the start point to the destination point at constant axis velocity (see
Figure 13).

RAPID Reference Manual 6-13

Positioning during Program Execution Motion and I/O Principles

Destination point
Joint interpolated
Start point path

Figure 13 Joint interpolation is often the fastest way to move between two points as the robot
axes follow the closest path between the start point and the destination point (from the
perspective of the axis angles).

The velocity of the tool centre point is expressed in mm/s (in the object coordinate
system). As interpolation takes place axis-by-axis, the velocity will not be exactly the
programmed value.

During interpolation, the velocity of the limiting axis, i.e. the axis that travels fastest
relative to its maximum velocity in order to carry out the movement, is determined.
Then, the velocities of the remaining axes are calculated so that all axes reach the
destination point at the same time.

All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is automatically optimised to the max performance of the robot.

2.2.2 Linear interpolation

During linear interpolation, the TCP travels along a straight line between the start and
destination points (see Figure 14).
e

Start point Destination point

Figure 14 Linear interpolation without reorientation of the tool.

To obtain a linear path in the object coordinate system, the robot axes must follow a
non-linear path in the axis space. The more non-linear the configuration of the robot is,
the more accelerations and decelerations are required to make the tool move in a
straight line and to obtain the desired tool orientation. If the configuration is extremely
non-linear (e.g. in the proximity of wrist and arm singularities), one or more of the axes
will require more torque than the motors can give. In this case, the velocity of all axes
will automatically be reduced.

The orientation of the tool remains constant during the entire movement unless a
reorientation has been programmed. If the tool is reorientated, it is rotated at constant
velocity.
6-14 RAPID Reference Manual
Motion and I/O Principles Positioning during Program Execution

A maximum rotational velocity (in degrees per second) can be specified when rotating
the tool. If this is set to a low value, reorientation will be smooth, irrespective of the
velocity defined for the tool centre point. If it is a high value, the reorientation velocity
is only limited by the maximum motor speeds. As long as no motor exceeds the limit for
the torque, the defined velocity will be maintained. If, on the other hand, one of the
motors exceeds the current limit, the velocity of the entire movement (with respect to
both the position and the orientation) will be reduced.

All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is optimised automatically.

2.2.3 Circular interpolation

A circular path is defined using three programmed positions that define a circle
segment. The first point to be programmed is the start of the circle segment. The next
point is a support point (circle point) used to define the curvature of the circle, and the
third point denotes the end of the circle (see Figure 15).

The three programmed points should be dispersed at regular intervals along the arc of
the circle to make this as accurate as possible.

The orientation defined for the support point is used to select between the short and the
long twist for the orientation from start to destination point.

If the programmed orientation is the same relative to the circle at the start and the
destination points, and the orientation at the support is close to the same orientation
relative to the circle, the orientation of the tool will remain constant relative to the path.

Circle point

Destination point

Start point
Figure 15 Circular interpolation with a short twist for part of a circle (circle segment) with a
start point, circle point and destination point.

However, if the orientation at the support point is programmed closer to the orientation
rotated 180°, the alternative twist is selected (see Figure 16).

RAPID Reference Manual 6-15

Positioning during Program Execution Motion and I/O Principles

Circle point

Destination point

Start point
Figure 16 Circular interpolation with a long twist for orientation is achieved by defining the
orientation in the circle point in the opposite direction compared to the start point.

As long as all motor torques do not exceed the maximum permitted values, the tool will
move at the programmed velocity along the arc of the circle. If the torque of any of the
motors is insufficient, the velocity will automatically be reduced at those parts of the
circular path where the motor performance is insufficient.

All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is optimised automatically.

2.2.4 SingArea\Wrist

During execution in the proximity of a singular point, linear or circular interpolation

may be problematic. In this case, it is best to use modified interpolation, which means
that the wrist axes are interpolated axis-by-axis, with the TCP following a linear or
circular path. The orientation of the tool, however, will differ somewhat from the
programmed orientation.

In the SingArea\Wrist case the orientation in the circle support point will be the same
as programmed. However, the tool will not have a constant direction relative to the
circle plane as for normal circular interpolation. If the circle path passes a singularity,
the orientation in the programmed positions sometimes must be modified to avoid big
wrist movements, which can occur if a complete wrist reconfiguration is generated
when the circle is executed (joints 4 and 6 moved 180 degrees each).

2.3 Interpolation of corner paths

The destination point is defined as a stop point in order to get point-to-point movement.
This means that the robot and any external axes will stop and that it will not be possible
to continue positioning until the velocities of all axes are zero and the axes are close to
their destinations.

Fly-by points are used to get continuous movements past programmed positions. In this
way, positions can be passed at high speed without having to reduce the speed
unnecessarily. A fly-by point generates a corner path (parabola path) past the programmed

6-16 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

position, which generally means that the programmed position is never reached. The
beginning and end of this corner path are defined by a zone around the programmed
position (see Figure 17).

The zone for the path

of the TCP Programmed
position

Corner path

Figure 17 A fly-by point generates a corner path to pass the programmed position.

All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is optimised automatically.

2.3.1 Joint interpolation in corner paths

The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 18). Since the interpolation is performed axis-by-axis, the size of the zones (in
mm) must be recalculated in axis angles (radians). This calculation has an error factor
(normally max. 10%), which means that the true zone will deviate somewhat from the
one programmed.

If different speeds have been programmed before or after the position, the transition
from one speed to the other will be smooth and take place within the corner path
without affecting the actual path.

Programmed Zone
fly-by point

Start point
Destination point

Corner path
Figure 18 During joint interpolation, a corner path is generated in order to pass a fly-by point.

RAPID Reference Manual 6-17

Positioning during Program Execution Motion and I/O Principles

2.3.2 Linear interpolation of a position in corner paths

The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 19).

Programmed Zone
corner position

Start point
Corner path
Destination point
Figure 19 During linear interpolation, a corner path is generated in order to pass a fly-by point.

If different speeds have been programmed before or after the corner position, the
transition will be smooth and take place within the corner path without affecting the
actual path.

If the tool is to carry out a process (such as arc-welding, gluing or water cutting) along
the corner path, the size of the zone can be adjusted to get the desired path. If the shape
of the parabolic corner path does not match the object geometry, the programmed
positions can be placed closer together, making it possible to approximate the desired
path using two or more smaller parabolic paths.

2.3.3 Linear interpolation of the orientation in corner paths

Zones can be defined for tool orientations, just as zones can be defined for tool
positions. The orientation zone is usually set larger than the position zone. In this case,
the reorientation will start interpolating towards the orientation of the next position
before the corner path starts. The reorientation will then be smoother and it will
probably not be necessary to reduce the velocity to perform the reorientation.

The tool will be reorientated so that the orientation at the end of the zone will be the
same as if a stop point had been programmed (see Figure 20a-c).

Figure 20a Three positions with different tool orientations are programmed as above.

6-18 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

Figure 20b If all positions were stop points, program execution would look like this.

Operation zone size

Figure 20c If the middle position was a fly-by point, program execution would look like this.

The orientation zone for the tool movement is normally expressed in mm. In this way,
you can determine directly where on the path the orientation zone begins and ends. If
the tool is not moved, the size of the zone is expressed in angle of rotation degrees
instead of TCP-mm.

If different reorientation velocities are programmed before and after the fly-by point,
and if the reorientation velocities limit the movement, the transition from one velocity
to the other will take place smoothly within the corner path.

2.3.4 Interpolation of external axes in corner paths

Zones can also be defined for external axes, in the same manner as for orientation. If
the external axis zone is set to be larger than the TCP zone, the interpolation of the
external axes towards the destination of the next programmed position, will be started
before the TCP corner path starts. This can be used for smoothing external axes
movements in the same way as the orientation zone is used för the smoothing of the
wrist movements.

2.3.5 Corner paths when changing the interpolation method

Corner paths are also generated when one interpolation method is exchanged for
another. The interpolation method used in the actual corner paths is chosen in such a
way as to make the transition from one method to another as smooth as possible. If the
corner path zones for orientation and position are not the same size, more than one
interpolation method may be used in the corner path (see Figure 21).

RAPID Reference Manual 6-19

Positioning during Program Execution Motion and I/O Principles

Linear Sing Area\Wrist

interpolation interpolation p4
p1
Joint interpolation

p2 p3

Sing Area\Wrist
interpolation
Position zone Orientation zone
Figure 21 Interpolation when changing from one interpolation method to another. Linear
interpolation has been programmed between p1 and p2; joint interpolation between
p2 and p3; and Sing Area\Wrist interpolation between p3 and p4.

If the interpolation is changed from a normal TCP-movement to a reorientation without

a TCP-movement or vice versa, no corner zone will be generated. The same will be the
case if the interpolation is changed to or from an external joint movement without TCP-
movement.

2.3.6 Interpolation when changing coordinate system

When there is a change of coordinate system in a corner path, e.g. a new TCP or a new
work object, joint interpolation of the corner path is used. This is also applicable when
changing from coordinated operation to non-coordinated operation, or vice versa.

2.3.7 Corner paths with overlapping zones

If programmed positions are located close to each other, it is not unusual for the
programmed zones to overlap. To get a well-defined path and to achieve optimum
velocity at all times, the robot reduces the size of the zone to half the distance from one
overlapping programmed position to the other (see Figure 22). The same zone radius is
always used for inputs to or outputs from a programmed position, in order to obtain
symmetrical corner paths.

6-20 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

Generated
path
p4

p2

p1
Programmed
position zones p3

Corner zones as
calculated by the robot

Figure 22 Interpolation with overlapping position zones. The zones around p2 and p3 are larger
than half the distance from p2 to p3. Thus, the robot reduces the size of the zones to
make them equal to half the distance from p2 to p3, thereby generating symmetrical
corner paths within the zones.

Both position and orientation corner path zones can overlap. As soon as one of these
corner path zones overlap, that zone is reduced (see Figure 23).

Programmed
orientation zone
Generated path
p4
Generated
orientation zone
p2

p1

Position zones p3

Orientation zone
Figure 23 Interpolation with overlapping orientation zones. The orientation zone at p2 is larger
than half the distance from p2 to p3 and is thus reduced to half the distance from p2
to p3. The position zones do not overlap and are consequently not reduced; the
orientation zone at p3 is not reduced either.

2.3.8 Planning time for fly-by points

Occasionally, if the next movement is not planned in time, programmed fly-by points
can give rise to a stop point. This may happen when:

- A number of logical instructions with long program execution times are

RAPID Reference Manual 6-21

Positioning during Program Execution Motion and I/O Principles

programmed between short movements.

- The points are very close together at high speeds.

If stop points are a problem then use concurrent program execution.

2.4 Independent axes

An independent axis is an axis moving independently of other axes in the robot system.
It is possible to change an axis to independent mode and later back to normal mode
again.

A special set of instructions handles the independent axes. Four different move
instructions specify the movement of the axis. For instance, the IndCMove instruction
starts the axis for continuous movement. The axis then keeps moving at a constant
speed (regardless of what the robot does) until a new independent-instruction is
executed.

To change back to normal mode a reset instruction, IndReset, is used. The reset
instruction can also set a new reference for the measurement system - a type of new
synchronization of the axis. Once the axis is changed back to normal mode it is possible
to run it as a normal axis.

2.4.1 Program execution

An axis is immediately change to independent mode when an Ind_Move instruction is

executed. This takes place even if the axis is being moved at the time, such as when a
previous point has been programmed as a fly-by point, or when simultaneous program
execution is used.

If a new Ind_Move instruction is executed before the last one is finished, the new
instruction immediately overrides the old one.

If a program execution is stopped when an independent axis is moving, that axis will
stop. When the program is restarted the independent axis starts automatically. No active
coordination between independent and other axes in normal mode takes place.

If a loss of voltage occurs when an axis is in independent mode, the program cannot be
restarted. An error message is then displayed, and the program must be started from the
beginning.

Note that a mechanical unit may not be deactivated when one of its axes is in
independent mode.

2.4.2 Stepwise execution

During stepwise execution, an independent axis is executed only when another

instruction is being executed. The movement of the axis will also be stepwise in line
with the execution of other instruments, see Figure 24.

6-22 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

Independent axis
reaches final position
IndAMove WaitTime 10 MoveL MoveL

10 s

Independent axis
speed

Normal axis speed

Figure 24 Stepwise execution of independent axes.

2.4.3 Jogging

Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually, the axis does not move and an error message is displayed. Execute an
IndReset instruction or move the program pointer to main, in order to leave the
independent mode.

2.4.4 Working range

The physical working range is the total movement of the axis.

The logical working range is the range used by RAPID instructions and read in the
jogging window.

After synchronization (updated revolution counter), the physical and logical working
range coincide. By using the IndReset instruction the logical working area can be
moved, see Figure 25.

Logical working range

0 after IndReset
Logical working range
after synchronization 0

Physical working range

Logical working range

Figure 25 The logical working range can be moved, using the instruction IndReset.

The resolution of positions is decreased when moving away from logical position 0.

RAPID Reference Manual 6-23

Positioning during Program Execution Motion and I/O Principles

Low resolution together with stiff tuned controller can result in unacceptable torque,
noise and controller instability. Check the controller tuning and axis performance close
to the working range limit at installation. Also check if the position resolution and path
performance are acceptable.

2.4.5 Speed and acceleration

In manual mode with reduced speed, the speed is reduced to the same level as if the axis
was running as non-independent. Note that the IndSpeed\InSpeed function will not be
TRUE if the axis speed is reduced.

The VelSet instruction and speed correction in percentage via the production window,
are active for independent movement. Note that correction via the production window
inhibits TRUE value from the IndSpeed\InSpeed function.

In independent mode, the lowest value of acceleration and deceleration, specified in the
configuration file, is used both for acceleration and deceleration. This value can be
reduced by the ramp value in the instruction (1 - 100%). The AccSet instruction does
not affect axes in independent mode.

2.4.6 Robot axes

Only robot axis 6 can be used as an independent axis. Normally the IndReset instruction
is used only for this axis. However, the IndReset instruction can also be used for axis 4
on IRB 2400 and 4400 models. If IndReset is used for robot axis 4, then axis 6 must not
be in the independent mode.

If axis 6 is used as an independent axis, singularity problems may occur because the
normal 6-axes coordinate transform function is still used. If a problem occurs, execute
the same program with axis 6 in normal mode. Modify the points or use SingArea\Wrist
or MoveJ instructions.

The axis 6 is also internally active in the path performance calculation. A result of this
is that an internal movement of axis 6 can reduce the speed of the other axes in the
system.

The independent working range for axis 6 is defined with axis 4 and 5 in home position.
If axis 4 or 5 is out of home position the working range for axis 6 is moved due to the
gear coupling. However, the position read from teach pendant for axis 6 is compensated
with the positions of axis 4 and 5 via the gear coupling.

2.5 Soft Servo

In some applications there is a need for a servo, which acts like a mechanical spring.
This means that the force from the robot on the work object will increase as a function
of the distance between the programmed position (behind the work object) and the
contact position (robot tool - work object).

6-24 RAPID Reference Manual

Motion and I/O Principles Positioning during Program Execution

The relationship between the position deviation and the force, is defined by a
parameter called softness. The higher the softness parameter, the larger the position
deviation required to obtain the same force.

The softness parameter is set in the program and it is possible to change the softness
values anywhere in the program. Different softness values can be set for different joints
and it is also possible to mix joints having normal servo with joints having soft servo.

Activation and deactivation of soft servo as well as changing of softness values can be
made when the robot is moving. When this is done, a tuning will be made between the
different servo modes and between different softness values to achieve smooth
transitions. The tuning time can be set from the program with the parameter ramp. With
ramp = 1, the transitions will take 0.5 seconds, and in the general case the transition
time will be ramp x 0.5 in seconds.

Note that deactivation of soft servo should not be done when there is a force between
the robot and the work object.

With high softness values there is a risk that the servo position deviations may be so
big that the axes will move outside the working range of the robot.

2.6 Stop and restart

A movement can be stopped in three different ways:

1. For a normal stop the robot will stop on the path, which makes a restart easy.

2. For a stiff stop the robot will stop in a shorter time than for the normal stop, but the
deceleration path will not follow the programmed path. This stop method is, for
example, used for search stop when it is important to stop the motion as soon as
possible.

3. For a quick-stop the mechanical brakes are used to achieve a deceleration distance,
which is as short as specified for safety reasons. The path deviation will usually be
bigger for a quick-stop than for a stiff stop.

After a stop (any of the types above) a restart can always be made on the interrupted
path. If the robot has stopped outside the programmed path, the restart will begin with
a return to the position on the path, where the robot should have stopped.

A restart following a power failure is equivalent to a restart after a quick-stop. It should

be noted that the robot will always return to the path before the interrupted program
operation is restarted, even in cases when the power failure occurred while a logical
instruction was running. When restarting, all times are counted from the beginning; for
example, positioning on time or an interruption in the instruction WaitTime.

RAPID Reference Manual 6-25

Positioning during Program Execution Motion and I/O Principles

2.7 Related information

Described in:
Definition of speed Data Types - speeddata
Definition of zones (corner paths) Data Types - zonedata
Instruction for joint interpolation Instructions - MoveJ
Instruction for linear interpolation Instructions - MoveL
Instruction for circular interpolation Instructions - MoveC
Instruction for modified interpolation Instructions - SingArea
Singularity Motion and I/O Principles- Singularity
Concurrent program execution Motion and I/O Principles-
Synchronisation with logical
instructions
CPU Optimization User’s Guide - System parameters

6-26 RAPID Reference Manual

Motion and I/O Principles Synchronization with logical instructions

3 Synchronization with logical instructions

Instructions are normally executed sequentially in the program. Nevertheless, logical
instructions can also be executed at specific positions or during an ongoing
movement.

A logical instruction is any instruction that does not generate a robot movement or
an external axis movement, e.g. an I/O instruction.

3.1 Sequential program execution at stop points

If a positioning instruction has been programmed as a stop point, the subsequent
instruction is not executed until the robot and the external axes have come to a
standstill, i.e. when the programmed position has been attained (see Figure 26).

p1

Execution of SetDO
MoveL p1, v1000, fine, tool1;
SetDO do1, on;
MoveL p2, v1000, z30, tool1;

Figure 26 A logical instruction after a stop point is not executed until the destination position
has been reached.

3.2 Sequential program execution at fly-by points

If a positioning instruction has been programmed as a fly-by point, the subsequent
logical instructions are executed some time before reaching the largest zone (for
position, orientation or external axes). See Figure 27 and Figure 28. These
instructions are then executed in order.

Execution of SetDO

DT
p1

Position zone
MoveL p1, v1000, z30, tool1;
SetDO do1, on;
MoveL p2, v1000, z30, tool1; Orientation zone

Figure 27 A logical instruction following a fly-by point is executed before reaching the largest zone.

RAPID Reference Manual 6-27

Synchronization with logical instructions Motion and I/O Principles

Execution
of SetDO
Position zone

DT

p2
p1

MoveL p1, v1000, z30, tool1; Orientation zone

MoveL p2, v1000, z30, tool1;
SetDO do1, on;
MoveL p3, v1000, z30, tool1;

Figure 28 A logical instruction following a fly-by point is executed before reaching the largest zone.

The time at which they are executed (DT) comprises the following time components:

- The time it takes for the robot to plan the next move: approx. 0.1 seconds.
- The robot delay (servo lag) in seconds: 0 - 1.0 seconds depending on the
velocity and the actual deceleration performance of the robot.

3.3 Concurrent program execution

Concurrent program execution can be programmed using the argument \Conc in the
positioning instruction. This argument is used to:

- Execute one or more logical instructions at the same time as the robot moves in order
to reduce the cycle time (e.g. used when communicating via serial channels).
When a positioning instruction with the argument \Conc is executed, the following

6-28 RAPID Reference Manual

Motion and I/O Principles Synchronization with logical instructions

logical instructions are also executed (in sequence):

- If the robot is not moving, or if the previous positioning instruction ended with a
stop point, the logical instructions are executed as soon as the current positioning
instruction starts (at the same time as the movement). See Figure 29.
- If the previous positioning instruction ends at a fly-by point, the logical
instructions are executed at a given time (DT) before reaching the largest zone
(for position, orientation or external axes). See Figure 30.

Execution of SetDO

p2
p1

MoveL p1, v1000, fine, tool1;

MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
MoveL p3, v1000, z30, tool1;

Figure 29 In the case of concurrent program execution after a stop point, a positioning
instruction and subsequent logical instructions are started at the same time.

RAPID Reference Manual 6-29

Synchronization with logical instructions Motion and I/O Principles

Execution
of SetDO
Largest zone
DT

p2
p1

MoveL p1, v1000, z30, tool1;

MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
MoveL p3, v1000, z30, tool1;

Figure 30 In the case of concurrent program execution after a fly-by point, the logical
instructions start executing before the positioning instructions with the argument
\Conc are started.

Instructions which indirectly affect movements, such as ConfL and SingArea, are
executed in the same way as other logical instructions. They do not, however, affect
the movements ordered by previous positioning instructions.

If several positioning instructions with the argument \Conc and several logical
instructions in a long sequence are mixed, the following applies:

- Logical instructions are executed directly, in the order they were programmed.
This takes place at the same time as the movement (see Figure 31) meaning that
logical instructions are executed at an earlier stage on the path than they were
programmed.

6-30 RAPID Reference Manual

Motion and I/O Principles Synchronization with logical instructions

Execution of
SetDO and SetAO
Largest zone
DT

p2
p1

MoveL p1, v1000, z30, tool1;

MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
MoveL \Conc, p3, v1000, z30, tool1;
SetAO ao2, 5;

Figure 31 If several positioning instructions with the argument \Conc are programmed in
sequence, all connected logical instructions are executed at the same time as the first
position is executed.

During concurrent program execution, the following instructions are programmed to

end the sequence and subsequently re-synchronize positioning instructions and
logical instructions:

- a positioning instruction without the argument \Conc,

- the instruction WaitTime or WaitUntil with the argument \Inpos.

3.4 Path synchronization

In order to synchronize process equipment (for applications such as gluing, painting
and arc welding) with the robot movements, different types of path synchronization
signals can be generated.

With a so-called positions event, a trig signal will be generated when the robot passes
a predefined position on the path. With a time event, a signal will be generated in a
predefined time before the robot stops in a stop position. Moreover, the control system
also handles weave events, which generate pulses at predefined phase angles of a
weave motion.

All the position synchronized signals can be achieved both before (look ahead time)
and after (delay time) the time that the robot passes the predefined position. The

RAPID Reference Manual 6-31

Synchronization with logical instructions Motion and I/O Principles

position is given by a programmed position and can be tuned as a path distance before
the programmed position.

Typical repeat accuracy for set of digital outputs on the path is +/-2ms.

If power failure, restart in a Trigg instruction, all trigg events will be generated once
again on the remaining movment path for the trigg instruction .

3.5 Related information

Described in:
Positioning instructions RAPID Summary - Motion
Definition of zone size Data Types - zonedata

6-32 RAPID Reference Manual

Motion and I/O Principles Robot Configuration

4 Robot Configuration
It is usually possible to attain the same robot tool position and orientation in several
different ways, using different sets of axis angles. We call these different robot
configurations. If, for example, a position is located approximately in the middle of a
work cell, some robots can get to that position from above and from below (see Figure
32). This can also be achieved by turning the front part of the robot upper arm (axis 4)
upside down while rotating axes 5 and 6 to the desired position and orientation (see
Figure 33).

Figure 32 Two different arm configurations used to attain the same position and orientation.
In one of the configurations, the arms point upwards and to attain the other
configuration, axis 1 must be rotated 180 degrees.

axis 6

axis 4

axis 5

Figure 33 Two different wrist configurations used to attain the same position and orientation.
In the configuration in which the front part of the upper arm points upwards (lower),
axis 4 has been rotated 180 degrees, axis 5 through 180 degrees and axis 6 through
180 degrees in order to attain the configuration in which the front part of the upper
arm points downwards (upper).

RAPID Reference Manual 6-33

Robot Configuration Motion and I/O Principles

Usually you want the robot to attain the same configuration during program execution as
the one you programmed. To do this, you can make the robot check the configuration
and, if the correct configuration is not attained, program execution will stop. If the
configuration is not checked, the robot may unexpectedly start to move its arms and
wrists which, in turn, may cause it to collide with peripheral equipment.

The robot configuration is specified by defining the appropriate quarter revolutions of

axes 1, 4 and 6. If both the robot and the programmed position have the same quarter
revolution for these axes, the robot configuration is correct.

1 0

2 3

Figure 34 Quarter revolution for a positive joint angle: int  joint – --------------  .
angle
π⁄2

-3 -4

-2 -1

Figure 35 Quarter revolution for a negative joint angle: int joint – -------------- – 1  .
angle
π⁄2

The configuration check involves comparing the configuration of the programmed

position with that of the robot.

During linear movement, the robot always moves to the closest possible configuration.
If, however, the configuration check is active, program execution stops as soon as any
one of the axes deviates more than the specified number of degrees.

During axis-by-axis or modified linear movement using a configuration check, the

robot always moves to the programmed axis configuration. If the programmed position
and orientation are not achieved, program execution stops before starting the
movement. If the configuration check is not active, the robot moves to the specified
position and orientation with the closest configuration.

When the execution of a programmed position is stopped because of a configuration

6-34 RAPID Reference Manual

Motion and I/O Principles Robot Configuration

error, it may often be caused by one or more of the following reasons:

- The position is programmed off-line with a faulty configuration.

- The robot tool has been changed causing the robot to take another configuration
than was programmed.
- The position is subject to an active frame operation (displacement, user, object,
base).

The correct configuration in the destination position can be found by positioning the
robot near it and reading the configuration on the teach pendant.

If the configuration parameters change because of active frame operation, the

configuration check can be deactivated.

4.1 Robot configuration data for 6400C

The IRB 6400C is slightly different in its way of unambiguously denoting one robot
configuration. The difference is the interpretation of the confdata cf1.

cf1 is used to select one of two possible main axes (axis 1, 2 and 3) configurations:

- cf1 = 0 is the forward configuration

- cf1 = 1 is the backward configuration.

Figure 36 shows an example of a forward configuration and a backward configuration

giving the same position and orientation.

FORWARD,
cf1 = 0
BACKWARD,
cf1 = 1.

Figure 36 Same position and orientation with two different main axes configuration.

The forward configuration is the front part of the robot’s working space with the arm
directed forward. The backward configuration is the service part for the working space

RAPID Reference Manual 6-35

Robot Configuration Motion and I/O Principles

with the arm directed backwards.

4.2 Related information

Described in:
Definition of robot configuration Data Types - confdata
Activating/deactivating the configuration RAPID Summary - Motion Settings
check

6-36 RAPID Reference Manual

Motion and I/O Principles Singularities

5 Singularities
Some positions in the robot working space can be attained using an infinite number
of robot configurations to position and orient the tool. These positions, known as
singular points (singularities), constitute a problem when calculating the robot arm
angles based on the position and orientation of the tool.

Generally speaking, a robot has two types of singularities: arm singularities and wrist
singularities. Arm singularities are all configurations where the wrist centre (the
intersection of axes 4, 5 and 6) ends up directly above axis 1 (see Figure 37).
Wrist singularities are configurations where axis 4 and axis 6 are on the same line,
i.e. axis 5 has an angle equal to 0 (see Figure 38).

Singularity at the intersection of the

wrist centre and axis 1

Rotation centre of axis 1

Z base

X base

Figure 37 Arm singularity occurs where the wrist centre and axis 1 intersect.

Axis 5 with an angle of 0 degrees

Axis 6 parallel
to axis 4

Figure 38 Wrist singularity occurs when axis 5 is 0 degrees.

RAPID Reference Manual 6-37

Singularities Motion and I/O Principles

5.1 Singularity points/IRB 6400C

Between the robot’s working space, with the arm directed forward and the arm
directed backward, there is a singularity point above the robot. There is also a
singularity point on the sides of the robot. These points contain a singularity and have
kinematic limitations. A position in these points cannot be specified as forward/
backward and can only be reached with MoveAbsJ. When the robot is in a singular
point:

- It is only possible to use MoveAbsJ or to jog the robot axis by axis.

5.2 Program execution through singularities

During joint interpolation, the robot never has any problem passing singular points.

When executing a linear or circular path close to a singularity, the velocities in some
joints (1 and 6/4 and 6) may be very high. In order not to exceed the maximum joint
velocities, the linear path velocity is reduced.

The high joint velocities may be reduced by using the mode (Sing Area\Wrist) when the
wrist axes are interpolated in joint angles while still maintaining the linear path of the
robot tool. An orientation error compared to the full linear interpolation is however
introduced.

Note that the robot configuration changes dramatically when the robot passes close to
a singularity with linear or circular interpolation. In order to avoid the reconfiguration,
the first position on the other side of the singularity should be programmed with an
orientation that makes the reconfiguration unnecessary.

Also note that the robot should not be in its singularity when external joints only are
moved, as this may cause robot joints to make unnecessary movements.

5.3 Jogging through singularities

During joint interpolation, the robot never has any problem passing singular points.

During linear interpolation the robot can pass singular points but at a decreased speed.

5.4 Related information

Described in:
Controlling how the robot is to act on Instructions - SingArea
execution near singular points

6-38 RAPID Reference Manual

Motion and I/O Principles World Zones

6 World Zones

6.1 Using global zones

When using this function, the robot stops or an output is automatically set if the robot
is inside a special user-defined area. Here are some examples of applications:

- When two robots share a part of their respective work areas. The possibility of
the two robots colliding can be safely eliminated by the supervision of these
signals.
- When external equipment is located inside the robot’s work area. A forbidden
work area can be created to prevent the robot colliding with this equipment.
- Indication that the robot is at a position where it is permissible to start program
execution from a PLC.

6.2 Using World Zones

To indicate that the tool centre point is in a specific part of the working area.
To limit the working area of the robot in order to avoid collision with the tool.
To make a common work area for two robots available to only one robot at a time.

6.3 Definition of World Zones in the world coordinate system

All World Zones are to be defined in the world coordinate system.
The sides of the Boxes are parallel to the coordinate axes and Cylinder axis is parallel
to the Z axis of the world coordinate system.

RAPID Reference Manual 6-39

World Zones Motion and I/O Principles

Base coordinate system robot

X

Y
Sphere
Z
Radius

TCP
Cylinder
Radius
z Box
Height

World coordinate system x

A World Zone can be defined to be inside or outside the shape of the Box, Sphere or
the Cylinder.

6.4 Supervision of the Robot TCP

Not supervised
The movement of the tool centre
point is supervised and not any other
points on the robot.
TCP
The TCP is always supervised
irrespective of the mode of operation,
for example, program execution and
jogging.

6.4.1 Stationary TCPs

If the robot is holding a work object and working on a stationary tool, a stationary TCP
is used. If that tool is active, the tool will not move and if it is inside a World Zone then
it is always inside.

6-40 RAPID Reference Manual

Motion and I/O Principles World Zones

6.5 Actions

6.5.1 Set a digital output when the tcp is inside a World Zone.

This action sets a digital output when the tcp is inside a World Zone. It is useful to indicate
that the robot has stopped in a specified area.
Time between checks World Zone
against World Zones
Movement of TCP

Status of digital output

6.5.2 Set a digital output before the tcp reaches a World Zone.

This action sets a digital output before the tcp reaches a World Zone. It can be used to
stop the robot just inside a World Zone
Stop Time for Robot World Zone

Movement of TCP

Status of digital output

6.5.3 Stop the robot before the tcp reaches a World Zone.

A World Zone can be defined to be outside the work area. The robot will then stop with
the Tool Centre Point just outside the World Zone, when heading towards the Zone
Stop Time for Robot
Time between checks
against World Zones
Movement of TCP

When the robot has been moved into a World Zone defined as an outside work area,
for example, by releasing the brakes and manually pushing, then the only ways to get
out of the Zone are by jogging or by manual pushing with the brakes released.

RAPID Reference Manual 6-41

World Zones Motion and I/O Principles

6.6 Minimum size of World Zones.

Supervision of the movement of the tool centre points is done at discrete points with
a time interval between them that depends on the path resolution.
It is up to the user to make the zones large enough so the robot cannot move right
through a zone without being checked inside the Zone.

Min. size of zone

for used path_resolution and max. speed
Speed
1000 mm/s 2000 mm/s 4000 mm/s
Resol.
1 25 mm 50 mm 100 mm

2 50 mm 100 mm 200 mm

3 75 mm 150 mm 300 mm

If the same digital output is used for more than one World Zone, the distance between
the Zones must exceed the minimum size, as shown in the table above, to avoid an
incorrect status for the output.

It is possible that the robot can pass right

Time between checks through a corner of a zone without it being
against World Zones
noticed, if the time that the robot is inside the
zone is too short. Therefore, make the size of
the zone larger than the dangerous area.

6.7 Power failure, restart, and run on

Stationary World Zones will be deleted at power off and must be reinserted at power
on by an event routine connected to the event POWER ON.

Temporary World Zones will survive a power failure but will be erased when a new
program is loaded or when a program is started from the main program.

The digital outputs for the World Zones will be updated first at Motors on.

6-42 RAPID Reference Manual

Motion and I/O Principles World Zones

6.8 Related information

RAPID Reference Manual
Motion and I/O Principles: Coordinate Systems
Data Types: wztemporary
wzstationary
shapedata
Instructions: WZBoxDef
WZSphDef
WZCylDef
WZLimSup
WZDOSet
WZDisable
WZEnable
WZFree
WZTempFree

RAPID Reference Manual 6-43

I/O Principles Motion and I/O Principles

7 I/O Principles
The robot generally has one or more I/O boards. Each of the boards has several digital
and/or analog channels which must be connected to logical signals before they can be
used. This is carried out in the system parameters and has usually already been done
using standard names before the robot is delivered. Logical names must always be
used during programming.

A physical channel can be connected to several logical names, but can also have no
logical connections (see Figure 39).

Physical channel Logical signal

IN1 do1
IN2 feeder
.
.
.
.
IN16
I/O board
OUT1 gripper
OUT2 do2
.
. feeder2
.
.
OUT16 do16

Figure 39 To be able to use an I/O board, its channels must be given logical names. In the above
example, the physical output 2 is connected to two different logical names. IN16, on
the other hand, has no logical name and thus cannot be used.

7.1 Signal characteristics

The characteristics of a signal are depend on the physical channel used as well as how
the channel is defined in the system parameters. The physical channel determines
time delays and voltage levels (see the Product Specification). The characteristics,
filter times and scaling between programmed and physical values, are defined in the
system parameters.

When the power supply to the robot is switched on, all signals are set to zero. They
are not, however, affected by emergency stops or similar events.

6-44 RAPID Reference Manual

Motion and I/O Principles I/O Principles

An output can be set to one or zero from within the program. This can also be done using
a delay or in the form of a pulse. If a pulse or a delayed change is ordered for an output,
program execution continues. The change is then carried out without affecting the rest
of the program execution. If, on the other hand, a new change is ordered for the same
output before the given time elapses, the first change is not carried out (see Figure 40).

SetDO \SDelay:=1, do1;

WaitTime 0.5;
PulseDO do1;

Signal value

Time
0 0.5 1
Figure 40 The instruction SetDO is not carried out at all because a new command is given before
the time delay has elapsed.

7.2 System signals

Logical signals can be interconnected by means of special system functions. If, for
example, an input is connected to the system function Start, a program start is
automatically generated as soon as this input is enabled. These system functions are
generally only enabled in automatic mode. For more information, see Chapter 9,
System Parameters, or the chapter on Installation and Commissioning - PLC
Communication in the Product Manual.

7.3 Cross connections

Digital signals can be interconnected in such a way that they automatically affect one
another:

- An output signal can be connected to one or more input or output signals.

- An input signal can be connected to one or more input or output signals.
- If the same signal is used in several cross connections, the value of that signal
is the same as the value that was last enabled (changed).
- Cross connections can be interlinked, in other words, one cross connection can
affect another. They must not, however, be connected in such a way so as to
form a ”vicious circle”, e.g. cross-connecting di1 to di2 whilst di2 is cross-
connected to di1.
- If there is a cross connection on an input signal, the corresponding physical
connection is automatically disabled. Any changes to that physical channel will
thus not be detected.

RAPID Reference Manual 6-45

I/O Principles Motion and I/O Principles

- Pulses or delays are not transmitted over cross connections.

- Logical conditions can be defined using NOT, AND and OR (Option:
Advanced functions).
Examples:

- di2=di1
- di3=di2
- do4=di2
If di1 changes, di2, di3 and do4 will be changed to the corresponding value.

- do8=do7
- do8=di5

If do7 is set to 1, do8 will also be set to 1. If di5 is then set to 0, do8 will also be
changed (in spite of the fact that do7 is still 1).

- do5=di6 and do1

Do5 is set to 1 if both di6 and do1 is set to 1.

7.4 Limitations
A maximum of 10 signals can be pulsed at the same time and a maximum of 20
signals can be delayed at the same time.

7.5 Related information

Described in:
Definition of I/O boards and signals User’s Guide - System Parameters
Instructions for handling I/O RAPID Summary - Input and Output
Signals
Manual manipulation of I/O User’s Guide - Inputs and Outputs

6-46 RAPID Reference Manual

 Data Types
CONTENTS

bool Logical values

clock Time measurement
confdata Robot configuration data
corrdescr Correction generator descriptor
dionum Digital values 0 - 1
errnum Error number
extjoint Position of external joints
intnum Interrupt identity
iodev Serial channels and files
jointtarget Joint position data
loaddata Load data
mecunit Mechanical unit
motsetdata Motion settings data
num Numeric values (registers)
orient Orientation
o_jointtarget Original joint position data
o_robtarget Original position data
pos Positions (only X, Y and Z)
pose Coordinate transformations
progdisp Program displacement
robjoint Joint position of robot axes
robtarget Position data
shapedata World zone shape data
signalxx Digital and analog signals
speeddata Speed data
string Strings
symnum Symbolic number
tooldata Tool data
tpnum Teach Pendant Window number
triggdata Positioning events - trigg
tunetype Servo tune type
wobjdata Work object data
wzstationary Stationary world zone data
wztemporary Temporary world zone data
zonedata Zone data
System Data

RAPID Reference Manual 7-1

Data Types

7-2 RAPID Reference Manual

Data Types bool

bool Logical values

Bool is used for logical values (true/false).

Description
The value of data of the type bool can be either TRUE or FALSE.

Examples
flag1 := TRUE;

flag is assigned the value TRUE.

VAR bool highvalue;

VAR num reg1;
.
highvalue := reg1 > 100;

highvalue is assigned the value TRUE if reg1 is greater than 100; otherwise,
FALSE is assigned.

IF highvalue Set do1;

The do1 signal is set if highvalue is TRUE.

highvalue := reg1 > 100;

mediumvalue := reg1 > 20 AND NOT highvalue;

mediumvalue is assigned the value TRUE if reg1 is between 20 and 100.

Related information
Described in:
Logical expressions Basic Characteristics - Expressions
Operations using logical values Basic Characteristics - Expressions

RAPID Reference Manual 7-bool-1

bool Data Types

7-bool-2 RAPID Reference Manual

Data Types clock

clock Time measurement

Clock is used for time measurement. A clock functions like a stopwatch used for tim-
ing.

Description
Data of the type clock stores a time measurement in seconds and has a resolution of
0.01 seconds.

Example
VAR clock clock1;

ClkReset clock1;

The clock, clock1, is declared and reset. Before using ClkReset, ClkStart, ClkStop and
ClkRead, you must declare a variable of data type clock in your program.

Limitations
The maximum time that can be stored in a clock variable is approximately 49 days
(4,294,967 seconds). The instructions ClkStart, ClkStop and ClkRead report clock
overflows in the very unlikely event that one occurs.

A clock must be declared as a VAR variable type, not as a persistent variable type.

Characteristics
Clock is a non-value data type and cannot be used in value-oriented operations.

Related Information
Described in:
Summary of Time and Date Instructions RAPID Summary - System & Time
Non-value data type characteristics Basic Characteristics - Data Types

RAPID Reference Manual 7-clock-1

clock Data Types

7-clock-2 RAPID Reference Manual

Data Types confdata

confdata Robot configuration data

Confdata is used to define the axis configurations of the robot.

Description
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is
in the same position and with the same orientation, with several different positions or
configurations of the robots axes.

To unambiguously denote one of these possible configurations, the robot configuration

is specified using four axis values. These values define the current quadrant of four
robot axes. The quadrants are numbered 0, 1, 2, etc. (they can also be negative). The
quadrant number is connected to the current joint angle of the axis. For each axis,
quadrant 0 is the first quarter revolution, 0 to 90°, in a positive direction from the zero
position; quadrant 1 is the next revolution, 90 to 180°, etc. Quadrant -1 is the revolution
0° to (-90°), etc. (see Figure 1).

-4 -1 0 3

-3 -2 1 2

Figure 1 The configuration quadrants for axis 6.

Robot Configuration data for IRB540

Only the configuration parameter cf6 is used.

Robot Configuration data for IRB1400, 2400, 3400, 4400, 6400

Only the three configuration parameters cf1, cf4 and cf6 are used.

RAPID Reference Manual 7-confdata-1

confdata Data Types

Robot Configuration data for IRB5400

All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6
respectively and cfx for joint 5.

Robot configuration data for 6400C

The IRB 6400C requires a slightly different way of unambiguously denoting one robot
configuration. The difference lies in the interpretation of the confdata cf1.

cf1 is used to select one of two possible main axes (axis 1, 2 and 3) configurations:

- cf1 = 0 is the forward configuration

- cf1 = 1 is the backward configuration.

Figure 2 shows an example of a forward configuration and a backward configuration

giving the same position and orientation.

FORWARD,
cf1 = 0
BACKWARD,
cf1 = 1.

Figure 2 Same position and orientation with two different main axes configurations.

The forward configuration is the front part of the robot’s working area with the arm
directed forward. The backward configuration is the service part of the working area
with the arm directed backwards.

Components
cf1 Data type: num

The current quadrant of axis 1, expressed as a positive or negative integer.

7-confdata-2 RAPID Reference Manual

Data Types confdata

cf4 Data type: num

The current quadrant of axis 4, expressed as a positive or negative integer.

cf6 Data type: num

The current quadrant of axis 6, expressed as a positive or negative integer.

cfx Data type: num

The current quadrant of axis 5 for IRB5400 robot, expressed as a positive or

negative integer.

Example
VAR confdata conf15 := [1, -1, 0, 0]

A robot configuration conf15 is defined as follows:

- The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180o.

- The axis configuration of the robot axis 4 is quadrant -1, i.e. 0-(-90o).
- The axis configuration of the robot axis 6 is quadrant 0, i.e. 0 - 90o.
- The axis configuration of the robot axis 5 is quadrant 0, i.e. 0 - 90o.

Structure
< dataobject of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >

Related information
Described in:
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Handling configuration data Motion and I/O Principles - Robot
Configuration

RAPID Reference Manual 7-confdata-3

confdata Data Types

7-confdata-4 RAPID Reference Manual

Data Types corrdescr

corrdescr Correction generator descriptor

Corrdescr (Correction generator descriptor) is used by correction generators. A

correction generator adds geometric offsets in the path coordinate system.

Description
Data of the type corrdescr contains a reference to a correction generator.

Connection to a correction generator is done by the instruction CorrCon and the

descriptor (the reference to the correction generator) can be used to deliver geometric
offsets in the path coordinate system with the instruction CorrWrite.

Offsets provided earlier can be removed by disconnecting a correction generator with

the instruction CorrDiscon. All connected correction generators can be removed with
the instruction CorrClear.

The function CorrRead returns the sum of all the delivered offsets so far (includes all
connected correction generators).

Example
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;

A correction generator is connected with the instruction CorrCon and referenced by

the descriptor id. Offsets are then delivered to the correction generator (with reference
id) using the instruction CorrWrite.

Characteristics
Corrdescr is a non-value data type.

RAPID Reference Manual 7-corrdescr-1

corrdescr Data Types

Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Disconnects from a correction generator Instructions - CorrDiscon
Writes to a correction generator Instructions - CorrWrite
Reads the current total offsets Functions - CorrRead
Removes all correction generators Instructions - CorrClear
Characteristics of non-value data types Basic Characteristics - Data Types

7-corrdescr-2 RAPID Reference Manual

Data Types dionum

dionum Digital values 0 - 1

Dionum (digital input output numeric) is used for digital values (0 or 1).

This data type is used in conjunction with instructions and functions that handle digital
input or output signals.

Description
Data of the type dionum represents a digital value 0 or 1.

Examples
CONST dionum close := 1;

Definition of a constant close with a value equal to 1.

SetDO grip1, close;

The signal grip1 is set to close, i.e. 1.

Error handling
If an argument of the type dionum has a value that is neither equal to 0 nor 1, an error
is returned on program execution.

Characteristics
Dionum is an alias data type for num and consequently inherits its characteristics.

Related information
Described in:
Summary input/output instructions RAPID Summary -
Input and Output Signals
Configuration of I/O User’s Guide - System Parameters
Alias data types Basic Characteristics- Data Types

RAPID Reference Manual 7-dionum-1

dionum Data Types

7-dionum-2 RAPID Reference Manual

Data Types errnum

errnum Error number

Errnum is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.

Description
If the robot detects an error during program execution, this can be dealt with in the
error handler of the routine. Examples of such errors are values that are too high and
division by zero. The system variable ERRNO, of type errnum, is thus assigned
different values depending on the nature of an error. The error handler may be able to
correct an error by reading this variable and then program execution can continue in
the correct way.

An error can also be created from within the program using the RAISE instruction.
This particular type of error can be detected in the error handler by specifying an error
number (within the range 1-90 or booked with instruction BookErrNo) as an argument
to RAISE.

Examples
reg1 := reg2 / reg3;
.
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg3 := 1;
RETRY;
ENDIF

If reg3 = 0, the robot detects an error when division is taking place. This error,
however, can be detected and corrected by assigning reg3 the value 1. Following
this, the division can be performed again and program execution can continue.

CONST errnum machine_error := 1;

.
IF di1=0 RAISE machine_error;
.
ERROR
IF ERRNO=machine_error RAISE;

An error occurs in a machine (detected by means of the input signal di1). A jump
is made to the error handler in the routine which, in turn, calls the error handler
of the calling routine where the error may possibly be corrected. The constant,
machine_error, is used to let the error handler know exactly what type of error
has occurred.

RAPID Reference Manual 7-errnum-1

errnum Data Types

Predefined data
The system variable ERRNO can be used to read the latest error that occurred. A
number of predefined constants can be used to determine the type of error that has
occurred.

Name Cause of error

ERR_ALRDYCNT The interrupt variable is already connected to a
TRAP routine
ERR_ARGDUPCND More than one present conditional argument for
the same parameter
ERR_ARGNAME Argument is expression, not present or of type switch
when executing ArgName
ERR_ARGNOTPER Argument is not a persistent reference
ERR_ARGNOTVAR Argument is not a variable reference
ERR_AXIS_ACT Axis is not active
ERR_AXIS_IND Axis is not independent
ERR_AXIS_MOVING Axis is moving
ERR_AXIS_PAR Parameter axis in instruction TestSign and
SetCurrRef is wrong.
ERR_CALLIO_INTER If an IOEnable or IODisable request is interrupted
by another request to the same unit
ERR_CALLPROC Procedure call error (not procedure)
at runtime (late binding)
ERR_CNTNOTVAR CONNECT target is not a variable reference

ERR_CNV_NOT_ACT The conveyor is not activated.

ERR_CNV_CONNECT The WaitWobj instruction is already active.

ERR_CNV_DROPPED The object that the instruction WaitWobj was

waiting for has been dropped.

ERR_DEV_MAXTIME Timeout when executing a ReadBin, ReadNum or a

ReadStr instruction
ERR_DIVZERO Division by zero
ERR_EXCRTYMAX Max. number of retries exceeded
ERR_EXECPHR An attempt was made to execute an instruction using
a place holder
ERR_FILEACC A file is accessed incorrectly
ERR_FILNOTFND File not found
ERR_FILEOPEN A file cannot be opened
ERR_FNCNORET No return value
ERR_ILLDIM Incorrect array dimension
ERR_ILLQUAT Attempt to use illegal orientation (quaternion) valve
ERR_ILLRAISE Error number in RAISE out of range

7-errnum-2 RAPID Reference Manual

Data Types errnum

ERR_INOMAX No more interrupt numbers available

ERR_IOENABLE Timeout when executing IOEnable
ERR_IODISABLE Timeout when executing IODisable
ERR_MAXINTVAL The integer value is too large
ERR_NAME_INVALID If the unit name does not exist or if the unit is not
allowed to be disabled
ERR_NEGARG Negative argument is not allowed
ERR_NOTARR Data is not an array
ERR_NOTEQDIM The array dimension used when calling the routine
does not coincide with its parameters
ERR_NOTINTVAL Not an integer value
ERR_NOTPRES A parameter is used, despite the fact that the
corresponding argument was not used at the routine
call
ERR_OUTOFBND The array index is outside the permitted limits
ERR_REFUNKDAT Reference to unknown entire data object
ERR_REFUNKFUN Reference to unknown function
ERR_REFUNKPRC Reference to unknown procedure at linking time or
at run time (late binding)
ERR_REFUNKTRP Reference to unknown trap
ERR_PATHDIST Too long regain distance for StartMove instruction
ERR_RCVDATA An attempt was made to read non numeric data with
ReadNum
ERR_SC_WRITE Error when sending to external computer
ERR_SIGSUPSEARCH The signal has already a positive value at the
beginning of the search process
ERR_STEP_PAR Parameter Step in SetCurrRef is wrong
ERR_STRTOOLNG The string is too long
ERR_SYM_ACCESS Symbol read/write access error
ERR_TP_DIBREAK A TPRead instruction was interrupted by a digital
input
ERR_TP_MAXTIME Timeout when executing a TPRead instruction
ERR_UNIT_PAR Parameter Mech_unit in TestSign and SetCurrRef is
wrong
ERR_UNKINO Unknown interrupt number
ERR_UNLOAD Unload error
ERR_WAIT_MAXTIME Timeout when executing a WaitDI or WaitUntil
instruction
ERR_WHLSEARCH No search stop

Characteristics
Errnum is an alias data type for num and consequently inherits its characteristics.

RAPID Reference Manual 7-errnum-3

errnum Data Types

Related information
Described in:
Error recovery RAPID Summary - Error Recovery
Basic Characteristics - Error Recovery
Data types in general, alias data types Basic Characteristics - Data Types

7-errnum-4 RAPID Reference Manual

Data Types extjoint

extjoint Position of external joints

Extjoint is used to define the axis positions of external axes, positioners or workpiece
manipulators.

Description
The robot can control up to six external axes in addition to its six internal axes, i.e. a
total of twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each
such logical axis can be connected to a physical axis and, in this case, the connection
is defined in the system parameters.

Data of the type extjoint is used to hold position values for each of the logical axes a - f.

For each logical axis connected to a physical axis, the position is defined as follows:

- For rotating axes – the position is defined as the rotation in degrees from the
calibration position.
- For linear axes – the position is defined as the distance in mm from the calibra-
tion position.

If a logical axis is not connected to a physical one, the value 9E9 is used as a position
value, indicating that the axis is not connected. At the time of execution, the position
data of each axis is checked and it is checked whether or not the corresponding axis is
connected. If the stored position value does not comply with the actual axis connection,
the following applies:

- If the position is not defined in the position data (value is 9E9), the value will
be ignored if the axis is connected and not activated. But if the axis is activated,
it will result in an error.
- If the position is defined in the position data, although the axis is not connected,
the value will be ignored.

If an external axis offset is used (instruction EOffsOn or EOffsSet), the positions are
specified in the ExtOffs coordinate system.

Components
eax_a (external axis a) Data type: num

The position of the external logical axis “a”, expressed in degrees or mm

(depending on the type of axis).

eax_b (external axis b) Data type: num

The position of the external logical axis “b”, expressed in degrees or mm

(depending on the type of axis).

RAPID Reference Manual 7-extjoint-1

extjoint Data Types

...

eax_f (external axis f) Data type: num

The position of the external logical axis “f”, expressed in degrees or mm (depend-
ing on the type of axis).

Example
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;

The position of an external positioner, axpos10, is defined as follows:

- The position of the external logical axis “a” is set to 11, expressed in degrees or
mm (depending on the type of axis).
- The position of the external logical axis “b” is set to 12.3, expressed in degrees
or mm (depending on the type of axis).
- Axes c to f are undefined.

Structure
< dataobject of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Related information
Described in:
Position data Data Types - robtarget
ExtOffs coordinate system Instructions - EOffsOn

7-extjoint-2 RAPID Reference Manual

Data Types intnum

intnum Interrupt identity

Intnum (interrupt numeric) is used to identify an interrupt.

Description
When a variable of type intnum is connected to a trap routine, it is given a specific
value identifying the interrupt. This variable is then used in all dealings with the inter-
rupt, such as when ordering or disabling an interrupt.

More than one interrupt identity can be connected to the same trap routine. The system
variable INTNO can thus be used in a trap routine to determine the type of interrupt that
occurs.

Examples
VAR intnum feeder_error;
.
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;

An interrupt is generated when the input di1 is set to 1. When this happens, a call
is made to the correct_feeder trap routine.

RAPID Reference Manual 7-intnum-1

intnum Data Types

VAR intnum feeder1_error;

VAR intnum feeder2_error;
.
PROC init_interrupt();
.
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
.
ENDPROC
.
TRAP correct_feeder
IF INTNO=feeder1_error THEN
.
ELSE
.
ENDIF
.
ENDTRAP

An interrupt is generated when either of the inputs di1 or di2 is set to 1. A call is
then made to the correct_feeder trap routine. The system variable INTNO is used
in the trap routine to find out which type of interrupt has occurred.

Limitations
The maximum number of active variables of type intnum at any one time (between
CONNECT and IDelete) is limited to 40.The maximum number of interrupts, in the
queue for execution of TRAP routine at any one time, is limited to 30.

Characteristics
Intnum is an alias data type for num and thus inherits its properties.

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Alias data types Basic Characteristics-
Data Types

7-intnum-2 RAPID Reference Manual

Data Types iodev

iodev Serial channels and files

Iodev (I/O device) is used for serial channels, such as printers and files.

Description
Data of the type iodev contains a reference to a file or serial channel. It can be linked
to the physical unit by means of the instruction Open and then used for reading and
writing.

Example
VAR iodev file;
.
Open "flp1:LOGDIR/INFILE.DOC", file\Read;
input := ReadNum(file);

The file INFILE.DOC is opened for reading. When reading from the file, file is
used as a reference instead of the file name.

Characteristics
Iodev is a non-value data type.

Related information
Described in:
Communication via serial channels RAPID Summary - Communication
Configuration of serial channels User’s Guide - System Parameters
Characteristics of non-value data types Basic Characteristics - Data Types

RAPID Reference Manual 7-iodev-1

iodev Data Types

7-iodev-2 RAPID Reference Manual

Data Types jointtarget

jointtarget Joint position data

Jointtarget is used to define the position that the robot and the external axes will move
to with the instruction MoveAbsJ.

Description
Jointtarget defines each individual axis position, for both the robot and the external
axes.

Components
robax (robot axes) Data type: robjoint

Axis positions of the robot axes in degrees.

Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.

extax (external axes) Data type: extjoint

The position of the external axes.

The position is defined as follows for each individual axis (eax_a, eax_b ...
eax_f):

- For rotating axes, the position is defined as the rotation in degrees from the cal-
ibration position.
- For linear axes, the position is defined as the distance in mm from the calibra-
tion position.

External axes eax_a ... are logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system parame-
ters.

The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program exe-
cution, the following applies:

- If the position is not defined in the position data (value 9E9) the value will be
ignored, if the axis is connected and not activated. But if the axis is activated it
will result in error.
- If the position is defined in the position data yet the axis is not connected, the
value is ignored.

RAPID Reference Manual 7-jointtarget-1

jointtarget Data Types

Examples
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];

The normal calibration position for IRB2400 is defined in calib_pos by the data
type jointtarget. The normal calibration position 0 (degrees or mm) is also
defined for the external logical axis a. The external axes b to f are undefined.

Structure
< dataobject of jointtarget >
< robax of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Related information
Described in:
Move to joint position Instructions - MoveAbsJ
Positioning instructions RAPID Summary - Motion
Configuration of external axes User’s Guide - System Parameters

7-jointtarget-2 RAPID Reference Manual

Data Types loaddata

loaddata Load data

Loaddata is used to describe loads attached to the mechanical interface of the robot
(the robot’s mounting flange).

Load data usually defines the payload (grip load is defined by the instruction
GripLoad) of the robot, i.e. the load held in the robot gripper. The tool load is specified
in the tool data (tooldata) which includes load data.

Description
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.

It is important to always define the actual tool load and when used, the payload
of the robot too. Incorrect definitions of load data can result in overloading of the
robot mechanical structure.

When incorrect load data is specified, it can often lead to the following consequences:

- If the value in the specified load data is greater than 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
-> Risk of overloading the mechanical structure
- 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

The payload is connected/disconnected using the instruction GripLoad.

Components
mass Data type: num

The weight of the load in kg.

cog (centre of gravity) Data type: pos

The centre of gravity of a tool load expressed in the wrist coordinate system.
If a stationary tool is used, it means the centre of gravity for the tool holding the
work object.

The centre of gravity of a payload expressed in the tool coordinate system. The
object coordinate system when a stationary tool is used.

RAPID Reference Manual 7-loaddata-1

loaddata Data Types

aom (axes of moment) Data type: orient

The orientation of the coordinate system defined by the inertial axes of the tool
load. It should always be set to 1, 0, 0, 0. Expressed in the wrist coordinate
system as a quaternion (q1, q2, q3, q4). If a stationary tool is used, it means the
inertial axes for the tool holding the work object.

The orientation of the coordinate system defined by the inertial axes of the
payload. It should always be set to 1, 0, 0, 0. Expressed in the tool coordinate
system as a quaternion (q1, q2, q3, q4). The object coordinate system if a
stationary tool is used.

Restriction on orientation of tool load and payload coordinate system (axes

of moment - aom):

The orientation of the tool load coordinate system must coincide with the
orientation of the wrist coordinate system.

The orientation of the payload coordinate system must coincide with the
orientation of the wrist coordinate system. Because of this, the best way is to
define the orientation of the tool coordinate system (tool frame) to coincide with
the orientation of the wrist coordinate system.

The wrist coordinate system

Y
Z IY Tool load coordinate system -
Inertial axes of tool load
IZ
Y’
Z’
IX
X Tool coordinate system
TCP X’

IY

IZ
Payload coordinate system -
Inertial axes of payload
IX
Figure 1 Restriction on the orientation of tool load and payload coordinate system.

ix (inertia x) Data type: num

The moment of inertia of the load about the x’-axis relative to its centre of mass
about the axes of the tool load or payload coordinate system in kgm2.

Correct definition of the inertial moments of inertia will allow optimal utilisation
of the path planner and axes control. This may be of special importance when
handling large sheets of metal, etc. All inertial moments of inertia ix, iy and iz
equal to 0 kgm2 implies a point mass.
7-loaddata-2 RAPID Reference Manual
Data Types loaddata

Wrist coordinate system

Z Gripper
Y
Tool coordinate system
Z
Y’
Payload coordinate
X
Z’ system -
Inertial axes of payload

X
Payload

X’ The centre of gravity of the payload

Figure 2 The centre of gravity and inertial axes of the payload.

Normally, the inertial moments of inertia must only be defined when the distance
from the mounting flange to the centre of gravity is less than the dimension of
the load (see Figure 3).

payload
distance
x
dimension

Figure 3 The moment of inertia must normally be defined when the distance is less than the load
dimension.

iy (inertia y) Data type: num

The inertial moment of inertia of the load about the y’-axis, expressed in kgm2.

For more information, see ix.

iz (inertia z) Data type: num

The inertial moment of inertia of the load about the z’-axis, expressed in kgm 2.

For more information, see ix.

RAPID Reference Manual 7-loaddata-3

loaddata Data Types

Examples
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];

The payload in Figure 1 is described using the following values:

- Weight 5 kg.
- The centre of gravity is x = 50, y = 0 and z = 50 mm in the tool coordinate
system.
- The payload is a point mass.

Set gripper;
WaitTime 0.3;
GripLoad piece1;

Connection of the payload, piece1, specified at the same time as the robot grips
the load piece1.

Reset gripper;
WaitTime 0.3;
GripLoad load0;

Disconnection of a payload, specified at the same time as the robot releases a

payload.

Limitations
The payload should only be defined as a persistent variable (PERS) and not within a
routine. Current values are then saved when storing the program on diskette and are
retrieved on loading.

Arguments of the type load data in the GripLoad instruction should only be an entire
persistent (not array element or record component).

Predefined data
The load load0 defines a payload, the weight of which is equal to 0 kg, i.e. no load at
all. This load is used as the argument in the instruction GripLoad to disconnect a
payload.

The load load0 can always be accessed from the program, but cannot be changed (it is
stored in the system module BASE).

PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0 ,0 ];

7-loaddata-4 RAPID Reference Manual

Data Types loaddata

Structure
< dataobject of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >

Related information
Described in:
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Definition of tool loads Data Types - tooldata
Activation of payload Instructions - GripLoad

RAPID Reference Manual 7-loaddata-5

loaddata Data Types

7-loaddata-6 RAPID Reference Manual

Data Types mecunit

mecunit Mechanical unit

Mecunit is used to define the different mechanical units which can be controlled and
accessed from the robot and the program.

The names of the mechanical units are defined in the system parameters and, conse-
quently, must not be defined in the program.

Description
Data of the type mecunit only contains a reference to the mechanical unit.

Limitations
Data of the type mecunit must not be defined in the program. The data type can, on the
other hand, be used as a parameter when declaring a routine.

Predefined data
The mechanical units defined in the system parameters can always be accessed from
the program (installed data).

Characteristics
Mecunit is a non-value data type. This means that data of this type does not permit
value-oriented operations.

Related information
Described in:
Activating/Deactivating mechanical units Instructions - ActUnit, DeactUnit
Configuration of mechanical units User’s Guide - System Parameters
Characteristics of non-value data types Basic Characteristics - Data Types

RAPID Reference Manual 7-mecunit-1

mecunit Data Types

7-mecunit-2 RAPID Reference Manual

Data Types motsetdata

motsetdata Motion settings data

Motsetdata is used to define a number of motion settings that affect all positioning
instructions in the program:

- Max. velocity and velocity override

- Acceleration data
- Behaviour around singular points
- Management of different robot configurations
- Payload
- Override of path resolution

This data type does not normally have to be used since these settings can only be set
using the instructions VelSet, AccSet, SingArea, ConfJ, ConfL, GripLoad and
PathResol.

The current values of these motion settings can be accessed using the system variable
C_MOTSET.

Description
The current motion settings (stored in the system variable C_MOTSET) affect all
movements.

Components
vel.oride Data type: veldata/num

Velocity as a percentage of programmed velocity.

vel.max Data type: veldata/num

Maximum velocity in mm/s.

acc.acc Data type: accdata/num

Acceleration and deceleration as a percentage of the normal values.

acc.ramp Data type: accdata/num

The rate by which acceleration and deceleration increases as a percentage of the

normal values.

RAPID Reference Manual 7-motsetdata-1

motsetdata Data Types

sing.wrist Data type: singdata/bool

The orientation of the tool is allowed to deviate somewhat in order to prevent

wrist singularity.

sing.arm Data type: singdata/bool

The orientation of the tool is allowed to deviate somewhat in order to prevent arm
singularity (not implemented).

sing.base Data type: singdata/bool

The orientation of the tool is not allowed to deviate.

conf.jsup Data type: confsupdata/bool

Supervision of joint configuration is active during joint movement.

conf.lsup Data type: confsupdata/bool

Supervision of joint configuration is active during linear and circular movement.

conf.ax1 Data type: confsupdata/num

Maximum permitted deviation in degrees for axis 1 (not used in this version).

conf.ax4 Data type: confsupdata/num

Maximum permitted deviation in degrees for axis 4 (not used in this version).

conf.ax6 Data type: confsupdata/num

Maximum permitted deviation in degrees for axis 6 (not used in this version).

grip.load Data type:gripdata/loaddata

The payload of the robot (not including the gripper).

pathresol Data type: num

Current override in percentage of the configured path resolution.

Limitations
One and only one of the components sing.wrist, sing.arm or sing.base may have a value
equal to TRUE.

7-motsetdata-2 RAPID Reference Manual

Data Types motsetdata

Example
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF

Different parts of the program are executed depending on the current velocity
override.

Predefined data
C_MOTSET describes the current motion settings of the robot and can always be
accessed from the program (installed data). C_MOTSET, on the other hand, can only
be changed using a number of instructions, not by assignment.

The following default values for motion parameters are set

- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.

PERS motsetdata C_MOTSET := [

[ 100, 500 ], -> veldata
[ 100, 100 ], -> accdata
[ FALSE, FALSE, TRUE ], -> singdata
[ TRUE, TRUE, 30, 45, 90], -> confsupdata
[ [ 0, [ 0, 0, 0 ], [ 1, 0, 0, 0 ], 0, 0, 0] ], -> gripdata
100 ] -> path resolution

RAPID Reference Manual 7-motsetdata-3

motsetdata Data Types

Structure
<dataobject of motsetdata>
<vel of veldata > -> Affected by instruction VelSet
< oride of num >
< max of num >
<acc of accdata > -> Affected by instruction AccSet
< acc of num >
< ramp of num >
<sing of singdata > -> Affected by instruction SingArea
< wrist of bool >
< arm of bool >
< base of bool >
<conf of confsupdata > -> Affected by instructions ConfJ and ConfL
< jsup of bool >
<lsup of bool >
< ax1 of num >
< ax4 of num >
< ax6 of num >
<grip of gripdata > -> Affected by instruction GripLoad
< load of loaddata >
< mass of num>
< cog of pos >
< x of num >
< y of num >
< z of num >
<aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num>
< iz of num >
<pathresol of num> -> Affected by instruction PathResol

Related information
Described in:

Instructions for setting motion parameters RAPID Summary -

Motion Settings

7-motsetdata-4 RAPID Reference Manual

Data Types num

num Numeric values (registers)

Num is used for numeric values; e.g. counters.

Description
The value of the num data type may be

- an integer; e.g. -5,

- a decimal number; e.g. 3.45.

It may also be written exponentially; e.g.2E3 (= 2*103 = 2000), 2.5E-2 (= 0.025).

Integers between -8388607 and +8388608 are always stored as exact integers.

Decimal numbers are only approximate numbers and should not, therefore, be used in
is equal to or is not equal to comparisons. In the case of divisions, and operations using
decimal numbers, the result will also be a decimal number; i.e. not an exact integer.

E.g. a := 10;
b := 5;
IF a/b=2 THEN As the result of a/b is not an integer,
this condition is not necessarily
... satisfied.

Example
VAR num reg1;
.
reg1 := 3;

reg1 is assigned the value 3.

a := 10 DIV 3;
b := 10 MOD 3;

Integer division where a is assigned an integer (=3) and b is assigned the

remainder (=1).

Predefined data
The constant pi (π) is already defined in the system module BASE.

CONST num pi := 3.1415926;

RAPID Reference Manual 7-num-1

num Data Types

Related information
Described in:
Numeric expressions Basic Characteristics - Expressions
Operations using numeric values Basic Characteristics - Expressions

7-num-2 RAPID Reference Manual

Data Types o_jointtarget

o_jointtarget Original joint position data

o_jointtarget (original joint target) is used in combination with the function Absolute
Limit Modpos. When this function is used to modify a position, the original position is
stored as a data of the type o_jointtarget.

Description
If the function Absolute Limit Modpos is activated and a named position in a movement
instruction is modified with the function Modpos, then the original programmed posi-
tion is saved.

Example of a program before Modpos:

CONST jointtarget jpos40 := [[0, 0, 0, 0, 0, 0],

[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
...
MoveAbsJ jpos40, v1000, z50, tool1;

The same program after ModPos in which the point jpos40 is corrected to 2 degrees for
robot axis 1:

CONST jointtarget jpos40 := [[2, 0, 0, 0, 0, 0],

[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
CONST o_jointtarget o_jpos40 := [[0, 0, 0, 0, 0, 0],
[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
...
MoveAbsJ jpos40, v1000, z50, tool1;

The original programmed point has now been saved in o_jpos40 (by the data type
o_jointtarget) and the modified point saved in jpos40 (by the data type jointtarget).

By saving the original programmed point, the robot can monitor that further Modpos
of the point in question are within the acceptable limits from the original pro-
grammed point.

The fixed name convention means that an original programmed point with the name
xxxxx is saved with the name o_xxxxx by using Absolute Limit Modpos.

Components
robax (robot axes) Data type: robjoint

Axis positions of the robot axes in degrees.

RAPID Reference Manual 7-o_jointtarget-1

o_jointtarget Data Types

extax (external axes) Data type: extjoint

The position of the external axes.

Structure
< dataobject of o_jointtarget >
< robax of robjoint>
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Related information
Described in:
Position data Data Types - Jointtarget
Configuration of Limit Modpos User’s Guide - System Parameters

7-o_jointtarget-2 RAPID Reference Manual

Data Types orient

orient Orientation

Orient is used for orientations (such as the orientation of a tool) and rotations (such as
the rotation of a coordinate system).

Description
The orientation is described in the form of a quaternion which consists of four ele-
ments: q1, q2, q3 and q4. For more information on how to calculate these, see below.

Components
q1 Data type: num

Quaternion 1.

q2 Data type: num

Quaternion 2.

q3 Data type: num

Quaternion 3.

q4 Data type: num

Quaternion 4.

Example
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];

The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to
no rotation.

Limitations
The orientation must be normalised; i.e. the sum of the squares must equal 1:
q 12 + q 22 + q 32 + q 42 = 1

RAPID Reference Manual 7-orient-1

orient Data Types

What is a Quaternion?
The orientation of a coordinate system (such as that of a tool) can be described by a
rotational matrix that describes the direction of the axes of the coordinate system in
relation to a reference system (see Figure 1).

z
z

x
y Rotated
Reference
coordinate
coordinate
system
x system
y
Figure 1 The rotation of a coordinate system is described by a quaternion.

The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the
reference coordinate system as follows:

x = (x1, x2, x3)

y = (y1, y2, y3)
z = (z1, z2, z3)

This means that the x-component of the x-vector in the reference coordinate system
will be x1, the y-component will be x2, etc.

These three vectors can be put together in a matrix, a rotational matrix, where each of
the vectors form one of the columns:

x1 y1 z1
x2 y2 z2
x3 y3 z3

A quaternion is just a more concise way to describe this rotational matrix; the
quaternions are calculated based on the elements of the rotational matrix:
x1 + y2 + z3 + 1
q1 = -----------------------------------------
2
x 1 – y2 – z3 + 1
q2 = ----------------------------------------
2
sign q2 = sign (y3-z2)
y 2 – x1 – z3 + 1
q3 = ----------------------------------------
2
sign q3 = sign (z1-x3)
z3 – x 1 – y2 + 1
q4 = ----------------------------------------
2
sign q4 = sign (x2-y1)

7-orient-2 RAPID Reference Manual

Data Types orient

Example 1

A tool is orientated so that its Z’-axis points straight ahead (in the same direction as the
X-axis of the base coordinate system). The Y’-axis of the tool corresponds to the Y-
axis of the base coordinate system (see Figure 2). How is the orientation of the tool
defined in the position data (robtarget)?

The orientation of the tool in a programmed position is normally related to the coordi-
nate system of the work object used. In this example, no work object is used and the
base coordinate system is equal to the world coordinate system. Thus, the orientation
is related to the base coordinate system.

Z´

X´

X
Figure 2 The direction of a tool in accordance with example 1.

The axes will then be related as follows:

x’ = -z = (0, 0, -1)
y’ = y = (0, 1, 0)
z’ = x = (1, 0, 0)
0 0 1
Which corresponds to the following rotational matrix: 0 1 0
–1 0 0
The rotational matrix provides a corresponding quaternion:

0+1+0+1 2
q1 = ----------------------------------- = ------- = 0,707
2 2

0–1–0+1
q2 = ---------------------------------- = 0
2

1–0–0+1 2
q3 = ---------------------------------- = ------- = 0,707
2 2
sign q3 = sign (1+1) = +

0–0–1+1
q4 = ---------------------------------- = 0
2

Example 2

The direction of the tool is rotated 30o about the X’- and Z’-axes in relation to the wrist
coordinate system (see Figure 2). How is the orientation of the tool defined in the tool
data?

RAPID Reference Manual 7-orient-3

orient Data Types

X Z´
X´

Figure 3 The direction of the tool in accordance with example 2.

The axes will then be related as follows:

x’ = (cos30o, 0, -sin30o)
x’ = (0, 1, 0)
x’ = (sin30o, 0, cos30o)
cos 30 ° 0 sin 30 °
Which corresponds to the following rotational matrix: 0 1 0
– sin 30 ° 0 cos 30 °
The rotational matrix provides a corresponding quaternion:
cos 30 ° + 1 + cos 30° + 1
q1 = ---------------------------------------------------------------- = 0,965926
2

cos 30° – 1 – cos 30° + 1

q2 = ---------------------------------------------------------------- = 0
2

1 – cos 30° – cos 30° + 1

q3 = ---------------------------------------------------------------- = 0,258819 sign q3 = sign (sin30o+sin30o) = +
2

cos 30° – cos 30° – 1 + 1

q4 = ---------------------------------------------------------------- = 0
2

Structure
<dataobject of orient>
<q1 of num>
<q2 of num>
<q3 of num>
<q4 of num>

Related information
Described in:
Operations on orientations Basic Characteristics - Expressions

7-orient-4 RAPID Reference Manual

Data Types o_robtarget

o_robtarget Original position data

o_robtarget (original robot target) is used in combination with the function Absolute
Limit Modpos. When this function is used to modify a position, the original position is
stored as a data of the type o_robtarget.

Description
If the function Absolute Limit Modpos is activated and a named position in a movement
instruction is modified with the function Modpos, then the original programmed posi-
tion is saved.

Example of a program before Modpos:

CONST robtarget p50 := [[500, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],
[500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
MoveL p50, v1000, z50, tool1;

The same program after ModPos in which the point p50 is corrected to 502 in the x-
direction:

CONST robtarget p50 := [[502, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],
[500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST o_robtarget o_p50 := [[500, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],
[ 500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
MoveL p50, v1000, z50, tool1;

The original programmed point has now been saved in o_p50 (by the data type
o_robtarget) and the modified point saved in p50 (by the data type robtarget).

By saving the original programmed point, the robot can monitor that further Modpos
of the point in question are within the acceptable limits from the original programmed
point.

The fixed name convention means that an original programmed point with the name
xxxxx is saved with the name o_xxxxx by using Absolute Limit Modpos.

Components
trans (translation) Data type: pos

The position (x, y and z) of the tool centre point expressed in mm.

RAPID Reference Manual 7-o_robtarget-1

o_robtarget Data Types

rot (rotation) Data type: orient

The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).

robconf (robot configuration) Data type: confdata

The axis configuration of the robot (cf1, cf4, cf6 and cfx).

extax (external axes) Data type: extjoint

The position of the external axes.

Structure
< dataobject of o_robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Related information
Described in:
Position data Data Types - Robtarget
Configuration of Limit Modpos User’s Guide - System Parameters

7-o_robtarget-2 RAPID Reference Manual

Data Types pos

pos Positions (only X, Y and Z)

Pos is used for positions (only X, Y and Z).

The robtarget data type is used for the robot’s position including the orientation of the
tool and the configuration of the axes.

Description
Data of the type pos describes the coordinates of a position: X, Y and Z.

Components
x Data type: num

The X-value of the position.

y Data type: num

The Y-value of the position.

z Data type: num

The Z-value of the position.

Examples
VAR pos pos1;
.
pos1 := [500, 0, 940];

The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.

pos1.x := pos1.x + 50;

The pos1 position is shifted 50 mm in the X-direction.

Structure
<dataobject of pos>
<x of num>
<y of num>
<z of num>

RAPID Reference Manual 7-pos-1

pos Data Types

Related information
Described in:
Operations on positions Basic Characteristics - Expressions
Robot position including orientation Data Types- robtarget

7-pos-2 RAPID Reference Manual

Data Types pose

pose Coordinate transformations

Pose is used to change from one coordinate system to another.

Description
Data of the type pose describes how a coordinate system is displaced and rotated
around another coordinate system. The data can, for example, describe how the tool
coordinate system is located and oriented in relation to the wrist coordinate system.

Components
trans (translation) Data type: pos

The displacement in position (x, y and z) of the coordinate system.

rot (rotation) Data type: orient

The rotation of the coordinate system.

Example
VAR pose frame1;
.
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];

The frame1 coordinate transformation is assigned a value that corresponds to a

displacement in position, where X=50 mm, Y=0 mm, Z=40 mm; there is, how-
ever, no rotation.

Structure
<dataobject of pose>
<trans of pos>
<rot of orient>

Related information
Described in:
What is a Quaternion? Data Types - orient

RAPID Reference Manual 7-pose-1

pose Data Types

7-pose-2 RAPID Reference Manual

Data Types progdisp

progdisp Program displacement

Progdisp is used to store the current program displacement of the robot and the exter-
nal axes.

This data type does not normally have to be used since the data is set using the instruc-
tions PDispSet, PDispOn, PDispOff, EOffsSet, EOffsOn and EOffsOff. It is only used
to temporarily store the current value for later use.

Description
The current values for program displacement can be accessed using the system variable
C_PROGDISP.

For more information, see the instructions PDispSet, PDispOn, EOffsSet and EOffsOn.

Components
pdisp (program displacement) Data type: pose

The program displacement for the robot, expressed using a translation and an ori-
entation. The translation is expressed in mm.

eoffs (external offset) Data type: extjoint

The offset for each of the external axes. If the axis is linear, the value is expressed
in mm; if it is rotating, the value is expressed in degrees.

Example
VAR progdisp progdisp1;
.
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
.
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
.
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;

First, a program displacement is activated from a searched position. Then, it is

temporarily deactivated by storing the value in the variable progdisp1 and, later
on, re-activated using the instructions PDispSet and EOffsSet.

RAPID Reference Manual 7-progdisp-1

progdisp Data Types

Predefined data
The system variable C_PROGDISP describes the current program displacement of the
robot and external axes, and can always be accessed from the program (installed data).
C_PROGDISP, on the other hand, can only be changed using a number of instructions,
not by assignment.

Structure
< dataobject of progdisp >
<pdisp of pose>
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< eoffs of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Related information
Described in:

Instructions for defining program displacement RAPID Summary - Motion Settings

Coordinate systems Motion and I/O Principles -

Coordinate Systems

7-progdisp-2 RAPID Reference Manual

Data Types robjoint

robjoint Joint position of robot axes

Robjoint is used to define the axis position in degrees of the robot axes.

Description
Data of the type robjoint is used to store axis positions in degrees of the robot axes 1
to 6. Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.

Components
rax_1 (robot axis 1) Data type: num

The position of robot axis 1 in degrees from the calibration position.

...

rax_6 (robot axis 6) Data type: num

The position of robot axis 6 in degrees from the calibration position.

Structure
< dataobject of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >

Related information
Described in:
Joint position data Data Types - jointtarget
Move to joint position Instructions - MoveAbsJ

RAPID Reference Manual 7-robjoint-1

robjoint Data Types

7-robjoint-2 RAPID Reference Manual

Data Types robtarget

robtarget Position data

Robtarget (robot target) is used to define the position of the robot and external axes.

Description
Position data is used to define the position in the positioning instructions to which the
robot and external axes are to move.

As the robot is able to achieve the same position in several different ways, the axis
configuration is also specified. This defines the axis values if these are in any way
ambiguous, for example:

- if the robot is in a forward or backward position,

- if axis 4 points downwards or upwards,
- if axis 6 has a negative or positive revolution.

The position is defined based on the coordinate system of the work object,
including any program displacement. If the position is programmed with some
other work object than the one used in the instruction, the robot will not move in
the expected way. Make sure that you use the same work object as the one used
when programming positioning instructions. Incorrect use can injure someone or
damage the robot or other equipment.

Components
trans (translation) Data type: pos

The position (x, y and z) of the tool centre point expressed in mm.

The position is specified in relation to the current object coordinate system,

including program displacement. If no work object is specified, this is the world
coordinate system.

rot (rotation) Data type: orient

The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).

The orientation is specified in relation to the current object coordinate system,

including program displacement. If no work object is specified, this is the world
coordinate system.

robconf (robot configuration) Data type: confdata

The axis configuration of the robot (cf1, cf4, cf6 and cfx). This is defined in the
form of the current quarter revolution of axis 1, axis 4 and axis 6. The first

RAPID Reference Manual 7-robtarget-1

robtarget Data Types

positive quarter revolution 0 to 90 o is defined as 0. The component cfx is only

used for the robot model IRB5400.

For more information, see data type confdata.

extax (external axes) Data type: extjoint

The position of the external axes.

The position is defined as follows for each individual axis (eax_a, eax_b ...
eax_f):

- For rotating axes, the position is defined as the rotation in degrees from the
calibration position.
- For linear axes, the position is defined as the distance in mm from the
calibration position.

External axes eax_a ... are logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system
parameters.

The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program
execution, the following applies:

- If the position is not defined in the position data (value 9E9), the value will be
ignored, if the axis is connected and not activated. But if the axis is activated, it
will result in an error.
- If the position is defined in the position data although the axis is not connected,
the value is ignored.

Examples
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0],
[ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];

A position p15 is defined as follows:

- The position of the robot: x = 600, y = 500 and z = 225.3 mm in the object
coordinate system.
- The orientation of the tool in the same direction as the object coordinate system.
- The axis configuration of the robot: axes 1 and 4 in position 90-180o, axis 6 in
position 0-90o.
- The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.

7-robtarget-2 RAPID Reference Manual

Data Types robtarget

VAR robtarget p20;

...
p20 := CRobT();
p20 := Offs(p20,10,0,0);

The position p20 is set to the same position as the current position of the robot by
calling the function CRobT. The position is then moved 10 mm in the x-direction.

Limitations
When using the configurable edit function Absolute Limit Modpos, the number of
characters in the name of the data of the type robtarget, is limited to 14 (in other cases
16).

Structure
< dataobject of robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

RAPID Reference Manual 7-robtarget-3

robtarget Data Types

Related information
Described in:
Positioning instructions RAPID Summary - Motion
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Handling configuration data Motion and I/O Principles - Robot
Configuration
Configuration of external axes User’s Guide - System Parameters
What is a quaternion? Data Types - Orient

7-robtarget-4 RAPID Reference Manual

Data Types shapedata

shapedata World zone shape data

shapedata is used to describe the geometry of a world zone.

Description
World zones can be defined in 3 different geometrical shapes:

- a straight box, with all sides parallel to the world coordinate system and defined
by a WZBoxDef instruction
- a sphere, defined by a WZSphDef instruction
- a cylinder, parallel to the z axis of the world coordinate system and defined by
a WZCylDef instruction

The geometry of a world zone is defined by one of the previous instructions and the
action of a world zone is defined by the instruction WZLimSup or WZDOSet.

Example
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC

A conveyor is defined as a box and the supervision for this area is activated. A
pole is defined as a cylinder and the supervision of this zone is also activated. If
the robot reaches one of these areas, the motion is stopped.

Characteristics
shapedata is a non-value data type.

RAPID Reference Manual 7-shapedata-1

shapedata Data Types

Related information
Described in:
Define box-shaped world zone Instructions - WZBoxDef
Define sphere-shaped world zone Instructions - WZSphDef
Define cylinder-shaped world zone Instructions - WZCylDef
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digital output set Instructions - WZDOSet

7-shapedata-2 RAPID Reference Manual

Data Types signalxx

signalxx Digital and analog signals

Data types within signalxx are used for digital and analog input and output signals.

The names of the signals are defined in the system parameters and are consequently
not to be defined in the program.

Description
Data type Used for
signalai analog input signals
signalao analog output signals
signaldi digital input signals
signaldo digital output signals
signalgi groups of digital input signals
signalgo groups of digital output signals

Variables of the type signalxo only contain a reference to the signal. The value is set
using an instruction, e.g. DOutput.

Variables of the type signalxi contain a reference to a signal as well as a method to

retrieve the value. The value of the input signal is returned when a function is called,
e.g. DInput, or when the variable is used in a value context, e.g. IF signal_y=1 THEN.

Limitations
Data of the data type signalxx may not be defined in the program. However, if this is
in fact done, an error message will be displayed as soon as an instruction or function
that refers to this signal is executed. The data type can, on the other hand, be used as a
parameter when declaring a routine.

Predefined data
The signals defined in the system parameters can always be accessed from the program
by using the predefined signal variables (installed data). It should however be noted
that if other data with the same name is defined, these signals cannot be used.

Characteristics
Signalxo is a non-value data type. Thus, data of this type does not permit value-
oriented operations.
Signalxi is a semi-value data type.
RAPID Reference Manual 7-signalxx-1
signalxx Data Types

Related information
Described in:
Summary input/output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters
Characteristics of non-value data types Basic Characteristics - Data Types

7-signalxx-2 RAPID Reference Manual

Data Types speeddata

speeddata Speed data

Speeddata is used to specify the velocity at which both the robot and the external axes
move.

Description
Speed data defines the velocity:

- at which the tool centre point moves,

- of the reorientation of the tool,
- at which linear or rotating external axes move.

When several different types of movement are combined, one of the velocities often
limits all movements. The velocity of the other movements will be reduced in such a
way that all movements will finish executing at the same time.

The velocity is also restricted by the performance of the robot. This differs, depending
on the type of robot and the path of movement.

Components
v_tcp (velocity tcp) Data type: num

The velocity of the tool centre point (TCP) in mm/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.

v_ori (velocity orientation) Data type: num

The velocity of reorientation about the TCP expressed in degrees/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.

v_leax (velocity linear external axes) Data type: num

The velocity of linear external axes in mm/s.

v_reax (velocity rotational external axes) Data type: num

The velocity of rotating external axes in degrees/s.

RAPID Reference Manual 7-speeddata-1

speeddata Data Types

Example
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];

The speed data vmedium is defined with the following velocities:

- 1000 mm/s for the TCP.

- 30 degrees/s for reorientation of the tool.
- 200 mm/s for linear external axes.
- 15 degrees/s for rotating external axes.

vmedium.v_tcp := 900;

The velocity of the TCP is changed to 900 mm/s.

Predefined data
A number of speed data are already defined in the system module BASE.

Name TCP speed Orientation Linear ext. axis Rotating ext. axis
v5 5 mm/s 500o/s 5000 mm/s 1000o/s
v10 10 mm/s 500o/s 5000 mm/s 1000o/s
v20 20 mm/s 500o/s 5000 mm/s 1000o/s
v30 30 mm/s 500o/s 5000 mm/s 1000o/s
v40 40 mm/s 500o/s 5000 mm/s 1000o/s
v50 50 mm/s 500o/s 5000 mm/s 1000o/s
v60 60 mm/s 500o/s 5000 mm/s 1000o/s
v80 80 mm/s 500o/s 5000 mm/s 1000o/s
v100 100 mm/s 500o/s 5000 mm/s 1000o/s
v150 150 mm/s 500o/s 5000 mm/s 1000o/s
v200 200 mm/s 500o/s 5000 mm/s 1000o/s
v300 300 mm/s 500o/s 5000 mm/s 1000o/s
v400 400 mm/s 500o/s 5000 mm/s 1000o/s
v500 500 mm/s 500o/s 5000 mm/s 1000o/s
v600 600 mm/s 500o/s 5000 mm/s 1000o/s
v800 800 mm/s 500o/s 5000 mm/s 1000o/s
v1000 1000 mm/s 500o/s 5000 mm/s 1000o/s
v1500 1500 mm/s 500o/s 5000 mm/s 1000o/s
v2000 2000 mm/s 500o/s 5000 mm/s 1000o/s
v2500 2500 mm/s 500o/s 5000 mm/s 1000o/s
v3000 3000 mm/s 500o/s 5000 mm/s 1000o/s
v4000 4000 mm/s 500o/s 5000 mm/s 1000o/s
v5000 5000 mm/s 500o/s 5000 mm/s 1000o/s
vmax 5000 mm/s 500o/s 5000 mm/s 1000o/s
v6000 6000 mm/s 500o/s 5000 mm/s 1000o/s
v7000 7000 mm/s 500o/s 5000 mm/s 1000o/s

7-speeddata-2 RAPID Reference Manual

Data Types speeddata

Structure
< dataobject of speeddata >
< v_tcp of num >
< v_ori of num >
< v_leax of num >
< v_reax of num >

Related information
Described in:
Positioning instructions RAPID Summary - Motion
Motion/Speed in general Motion and I/O Principles - Position-
ing during Program Execution
Defining maximum velocity Instructions - VelSet
Configuration of external axes User’s Guide - System Parameters
Motion performance Product Specification

RAPID Reference Manual 7-speeddata-3

speeddata Data Types

7-speeddata-4 RAPID Reference Manual

Data Types string

string Strings

String is used for character strings.

Description
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks ("),

e.g. "This is a character string".

If the quotation marks are to be included in the string, they must be written twice,

e.g. "This string contains a ""character".

Example
VAR string text;
.
text := "start welding pipe 1";
TPWrite text;

The text start welding pipe 1 is written on the teach pendant.

Limitations
A string may have from 0 to 80 characters; inclusive of extra quotation marks.

A string may contain any of the characters specified by ISO 8859-1 as well as control
characters (non-ISO 8859-1 characters with a numeric code between 0-255).

RAPID Reference Manual 7-string-1

string Data Types

Predefined data
A number of predefined string constants (installed data) can be used together with
string functions.

Name Character set

STR_DIGIT <digit> ::=

0|1|2|3|4|5|6|7|8|9

STR_UPPER <upper case letter> ::=

A|B|C|D|E|F|G|H|I|J
|K|L|M|N|O|P|Q|R|S|T
|U|V|W|X|Y|Z|À|Á|Â|Ã
|Ä|Å|Æ|Ç|È|É|Ê|Ë|Ì|Í
| Î | Ï | 1) | Ñ | Ò | Ó | Ô | Õ | Ö | Ø
| Ù | Ú | Û | Ü | 2) | 3)

STR_LOWER <lower case letter> ::=

a|b|c|d|e|f|g|h|i|j
|k|l|m|n|o|p|q|r|s|t
|u|v|w|x|y|z|à|á|â|ã
|ä|å|æ|ç|è|é|ê|ë|ì|í
| î | ï | 1) | ñ | ò | ó | ô | õ | ö | ø
| ù | ú | û | ü | 2) | 3) | ß | ÿ

STR_WHITE <blank character> ::=

1) Icelandic letter eth.

2) Letter Y with acute accent.
3) Icelandic letter thorn.

Related information
Described in:
Operations using strings Basic Characteristics - Expressions
String values Basic Characteristics - Basic Elements

7-string-2 RAPID Reference Manual

Data Types symnum

symnum Symbolic number

Symnum is used to represent an integer with a symbolic constant.

Description
A symnum constant is intended to be used when checking the return value from the
functions OpMode and RunMode. See example below.

Example
IF RunMode() = RUN_CONT_CYCLE THEN
.
.
ELSE
.
.
ENDIF

Predefined data
The following symbolic constants of the data type symnum are predefined and can be
used when checking return values from the functions OpMode and RunMode.

Value Symbolic constant Comment

0 RUN_UNDEF Undefined running mode

1 RUN_CONT_CYCLE Continuous or cycle running mode

2 RUN_INSTR_FWD Instruction forward running mode

3 RUN_INSTR_BWD Instruction backward running mode

4 RUN_SIM Simulated running mode

Value Symbolic constant Comment

0 OP_UNDEF Undefined operating mode

1 OP_AUTO Automatic operating mode

2 OP_MAN_PROG Manual operating mode

max. 250 mm/s

3 OP_MAN_TEST Manual operating mode

full speed, 100%

RAPID Reference Manual 7-symnum-1

symnum Data Types

Characteristics
Symnum is an alias data type for num and consequently inherits its characteristics.

Related information
Described in:
Data types in general, alias data types Basic Characteristics - Data Types

7-symnum-2 RAPID Reference Manual

Data Types tooldata

tooldata Tool data

Tooldata is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.

If the tool is fixed in space (a stationary tool), common tool data is defined for this tool
and the gripper holding the work object.

Description
Tool data affects robot movements in the following ways:

- The tool centre point (TCP) refers to a point that will satisfy the specified path
and velocity performance. If the tool is reorientated or if coordinated external
axes are used, only this point will follow the desired path at the programmed
velocity.
- If a stationary tool is used, the programmed speed and path will relate to the
work object.
- Programmed positions refer to the position of the current TCP and the
orientation in relation to the tool coordinate system. This means that if, for
example, a tool is replaced because it is damaged, the old program can still be
used if the tool coordinate system is redefined.

Tool data is also used when jogging the robot to:

- Define the TCP that is not to move when the tool is reorientated.
- Define the tool coordinate system in order to facilitate moving in or rotating
about the tool directions.

It is important to always define the actual tool load and when used, the payload
of the robot too. Incorrect definitions of load data can result in overloading of the
robot mechanical structure.

When incorrect tool load data is specified, it can often lead to the following
consequences:

- If the value in the specified load 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 is less than the value of the true load;
-> Impaired path accuracy including a risk of overshooting
-> Risk of overloading the mechanical structure

RAPID Reference Manual 7-tooldata-1

tooldata Data Types

Components
robhold (robot hold) Data type: bool

Defines whether or not the robot is holding the tool:

- TRUE -> The robot is holding the tool.

- FALSE -> The robot is not holding the tool, i.e. a stationary tool.

tframe (tool frame) Data type: pose

The tool coordinate system, i.e.:

- The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate
system (See figure 1).
- The orientation of the tool coordinate system, expressed in the wrist coordinate
system as a quaternion (q1, q2, q3 and q4) (See figure 1).

If a stationary tool is used, the definition is defined in relation to the world

coordinate system.

If the direction of the tool is not specified, the tool coordinate system and the
wrist coordinate system will coincide.

The control hole

The wrist coordinate system
Y
Z

The tool coordinate system

TCP
Y’
X
X’
Z’
Figure 1 Definition of the tool coordinate system.

7-tooldata-2 RAPID Reference Manual

Data Types tooldata

tload (tool load) Data type: loaddata

The load of the tool, i.e.:

- The weight of the tool in kg.

- The centre of gravity of the tool (x, y and z) in mm, expressed in the wrist
coordinate system
- The orientation of the tool load coordinate system defined by the inertial axes
of the tool, expressed in the wrist coordinate system. This should always be
set to 1, 0, 0, 0.
- The moments of inertia of the tool relative to its centre of mass about the axes
parallel (restriction) with the axes of the wrist coordinate system in kgm2.
If all inertial components are defined as being 0 kgm2, the tool is handled as a
point mass.

The wrist coordinate system

Y IY
Tool load coordinate system -
Z Inertial axes of tool load
IZ

TCP
IX Y’
X Tool coordinate systeem
X’
Z’

Figure 2 Tool load parameter definitions

For more information (such as coordinate system for stationary tool or

restrictions), see the data type loaddata.

If a stationary tool is used, the load of the gripper holding the work object must
be defined.

Note that only the load of the tool is to be specified. The payload handled by a
gripper is connected and disconnected by means of the instruction GripLoad.

RAPID Reference Manual 7-tooldata-3

tooldata Data Types

Examples
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]],
[5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];

The tool in Figure 1 is described using the following values:

- The robot is holding the tool.

- The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm
along the X-axis of the wrist coordinate system.
- The X and Z directions of the tool are rotated 45o in relation to the wrist
coordinate system.
- The tool weighs 5 kg.
- The centre of gravity is located at a point 75 mm straight out from axis 6 and
23 mm along the X-axis of the wrist coordinate system.
- The load can be considered a point mass, i.e. without any moment of inertia.

gripper.tframe.trans.z := 225.2;

The TCP of the tool, gripper, is adjusted to 225.2 in the z-direction.

Limitations
The tool data should be defined as a persistent variable (PERS) and should not be
defined within a routine. The current values are then saved when the program is stored
on diskette and are retrieved on loading.

Arguments of the type tool data in any motion instruction should only be an entire
persistent (not array element or record component).

Predefined data
The tool tool0 defines the wrist coordinate system, with the origin being the centre of
the mounting flange. Tool0 can always be accessed from the program, but can never be
changed (it is stored in system module BASE).

PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],

[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];

7-tooldata-4 RAPID Reference Manual

Data Types tooldata

Structure
< dataobject of tooldata >
< robhold of bool >
< tframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< tload of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >

Related information
Described in:
Positioning instructions RAPID Summary - Motion
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Definition of payload Instructions - Gripload
Definition of load Data types - Load data

RAPID Reference Manual 7-tooldata-5

tooldata Data Types

7-tooldata-6 RAPID Reference Manual

Data Types tpnum

tpnum Teach Pendant Window number

tpnum is used to represent the Teach Pendant Window number with a symbolic
constant.

Description
A tpnum constant is intended to be used in instruction TPShow. See example below.

Example
TPShow TP_PROGRAM;

The Production Window will be active if the system is in AUTO mode and the
Program Window will be active if the system is in MAN mode, after execution of
this instruction.

Predefined data
The following symbolic constants of the data type tpnum are predefined and can be
used in instruction TPShow:

Value Symbolic constant Comment

1 TP_PROGRAM AUTO: Production Window

MAN: Program Window

2 TP_LATEST Latest used Teach Pendant Window

Characteristics
tpnum is an alias data type for num and consequently inherits its characteristics.

Related information
Described in:
Data types in general, alias data types Basic Characteristics - Data Types

Communicating using the teach pendant RAPID Summary - Communication

Switch window on the teach pendant Instructions - TPShow

RAPID Reference Manual 7-tpnum-1

tpnum Data Types

7-tpnum-2 RAPID Reference Manual

Data Types triggdata

triggdata Positioning events - trigg

Triggdata is used to store data about a positioning event during a robot movement.

A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.

Description
To define the conditions for the respective measures at a positioning event, variables
of the type triggdata are used. The data contents of the variable are formed in the pro-
gram using one of the instructions TriggIO or TriggInt, and are used by one of the
instructions TriggL, TriggC or TriggJ.

Example
VAR triggdata gunoff;

TriggIO gunoff, 5 \DOp:=gun, off;

TriggL p1, v500, gunoff, fine, gun1;

The digital output signal gun is set to the value off when the TCP is at a position
5 mm before the point p1.

Characteristics
Triggdata is a non-value data type.

Related information
Described in:
Definition of triggs Instructions - TriggIO, TriggInt
Use of triggs Instructions - TriggL, TriggC,
TriggJ
Characteristics of non-value data types Basic Characteristics- Data Types

RAPID Reference Manual 7-triggdata-1

triggdata Data Types

7-triggdata-2 RAPID Reference Manual

Data Types tunetype

tunetype Servo tune type

Tunetype is used to represent an integer with a symbolic constant.

Description
A tunetype constant is indented to be used as an argument to the instruction TuneServo.
See example below.

Example
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;

Predefined data
The following symbolic constants of the data type tunetype are predefined and can be
used as argument for the instruction TuneServo.

Value Symbolic constant Comment

0 TUNE_DF Reduces overshoots

1 TUNE_KP Affects position control gain

2 TUNE_KV Affects speed control gain

3 TUNE_TI Affects speed control integration time

The following symbolic constants of the data type tunetype are predefined and can be
used as arguments for the instruction SpeedPrioAct (only available on request).

Value Symbolic constant Comment

1 SP_MODE1 Speed priority interpolation mode 1

2 SP_MODE2 Speed priority interpolation mode 2

Characteristics
Tunetype is an alias data type for num and consequently inherits its characteristics.

RAPID Reference Manual 7-tunetype-1

tunetype Data Types

Related information
Described in:
Data types in general, alias data types Basic Characteristics - Data Types

7-tunetype-2 RAPID Reference Manual

Data Types wobjdata

wobjdata Work object data

Wobjdata is used to describe the work object that the robot welds, processes, moves
within, etc.

Description
If work objects are defined in a positioning instruction, the position will be based on
the coordinates of the work object. The advantages of this are as follows:

- If position data is entered manually, such as in off-line programming, the values

can often be taken from a drawing.
- Programs can be reused quickly following changes in the robot installation. If,
for example, the fixture is moved, only the user coordinate system has to be
redefined.
- Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.

If a stationary tool or coordinated external axes are used the work object must be
defined, since the path and velocity would then be related to the work object instead of
the TCP.

Work object data can also be used for jogging:

- The robot can be jogged in the directions of the work object.

- The current position displayed is based on the coordinate system of the work
object.

Components
robhold (robot hold) Data type: bool

Defines whether or not the robot is holding the work object:

- TRUE -> The robot is holding the work object, i.e. using a stationary tool.
- FALSE -> The robot is not holding the work object, i.e. the robot is holding
the tool.

ufprog (user frame programmed) Data type: bool

Defines whether or not a fixed user coordinate system is used:

- TRUE -> Fixed user coordinate system.

- FALSE -> Movable user coordinate system, i.e. coordinated external axes
are used.

RAPID Reference Manual 7-wobjdata-1

wobjdata Data Types

ufmec (user frame mechanical unit) Data type: string

The mechanical unit with which the robot movements are coordinated. Only
specified in the case of movable user coordinate systems (ufprog is FALSE).

Specified with the name that is defined in the system parameters, e.g. "orbit_a".

uframe (user frame) Data type: pose

The user coordinate system, i.e. the position of the current work surface or fixture
(see Figure 1):

- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).

If the robot is holding the tool, the user coordinate system is defined in the world
coordinate system (in the wrist coordinate system if a stationary tool is used).

When coordinated external axes are used (ufprog is FALSE), the user coordinate
system is defined in the system parameters.

oframe (object frame) Data type: pose

The object coordinate system, i.e. the position of the current work object (see Fig-
ure 1):

- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).

The object coordinate system is defined in the user coordinate system.

Tool coordinates
Y
TCP
X

Z Z
Z User coordinates
Y Z Object coordinates

Z X Y
Base coordinates Y X

Y X

X
World coordinates
Figure 1 The various coordinate systems of the robot (when the robot is holding the tool).

7-wobjdata-2 RAPID Reference Manual

Data Types wobjdata

Example
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0, 0 ,0] ],
[ [0, 200, 30], [1, 0, 0 ,0] ] ];

The work object in Figure 1 is described using the following values:

- The robot is not holding the work object.

- The fixed user coordinate system is used.
- The user coordinate system is not rotated and the coordinates of its origin are
x= 300, y = 600 and z = 200 mm in the world coordinate system.
- The object coordinate system is not rotated and the coordinates of its origin are
x= 0, y= 200 and z= 30 mm in the user coordinate system.

wobj2.oframe.trans.z := 38.3;

- The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.

Limitations
The work object data should be defined as a persistent variable (PERS) and should not
be defined within a routine. The current values are then saved when the program is
stored on diskette and are retrieved on loading.

Arguments of the type work object data in any motion instruction should only be an
entire persistent (not array element or record component).

Predefined data
The work object data wobj0 is defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.

Wobj0 can always be accessed from the program, but can never be changed (it is stored
in system module BASE).

PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ],
[ [0, 0, 0], [1, 0, 0 ,0] ] ];

RAPID Reference Manual 7-wobjdata-3

wobjdata Data Types

Structure
< dataobject of wobjdata >
< robhold of bool >
< ufprog of bool>
< ufmec of string >
< uframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< oframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >

Related information
Described in:
Positioning instructions RAPID Summary - Motion
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems
Coordinated external axes Motion and I/O Principles - Coordi-
nate Systems
Calibration of coordinated external axes User’s Guide - System Parameters

7-wobjdata-4 RAPID Reference Manual

Data Types wzstationary

wzstationary Stationary world zone data

wzstationary (world zone stationary) is used to identify a stationary world zone and
can only be used in an event routine connected to the event POWER ON.

A world zone is supervised during robot movements both during program execution
and jogging. If the robot’s TCP reaches this world zone, the movement is stopped or a
digital output signal is set or reset.

Description
A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.

WZLimSup or WZDOSet gives the variable or persistent variable for wzstationary a

numeric value that identifies the world zone.

A stationary world zone is always active and is only erased by a warm start (switch
power off then on, or change system parameters). It is not possible to deactivate,
activate or erase a stationary world zone via RAPID instructions.

Stationary world zones should be active from power on and should be defined in a
POWER ON event routine or a semistatic task.

Example
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC

A conveyor is defined as a straight box (the volume below the belt). If the robot
reaches this volume, the movement is stopped.

Limitations
A wzstationary data can only be defined as a global (not local within module or
routine) variable (VAR) or as a persistent data (PERS).

Arguments of the type wzstationary should only be entire data (not array element or
record component).

RAPID Reference Manual 7-wzstationary-5

wzstationary Data Types

Init value for data of type wzstationary is not used by the system. When using a
persistent variable in a multitasking system, set the init value to 0,
e.g. PERS wzstationary share_workarea := [0];

Example
For a complete example see instruction WZLimSup.

Characteristics
wzstationary is an alias data type of wztemporary and inherits its characteristics.

Related information
Described in:
Temporary world zone Data Types - wztemporary
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digital output set Instructions - WZDOSet

7-wzstationary-6 RAPID Reference Manual

Data Types wztemporary

wztemporary Temporary world zone data

wztemporary (world zone temporary) is used to identify a temporary world zone and
can be used anywhere in the RAPID program for the MAIN task.

A world zone is supervised during robot movements both during program execution
and jogging. If the robot’s TCP reaches this world zone, the movement is stopped or a
digital output signal is set or reset.

Description
A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.

WZLimSup or WZDOSet gives the variable or persistent variable for wztemporary a

numeric value, that identifies the world zone.

Once defined and activated, a temporary world zone can be deactivated by

WZDisable, activated again by WZEnable and erased by WZFree.

All temporary world zones in the system are automatically erased (erased in the system
and all data objects of type wztemporary in MAIN task are set to 0):

- when a new program is loaded in the MAIN task

- when starting program execution from the beginning in the MAIN task

Example
VAR wztemporary roll;
...
PROC ...
VAR shapedata volume;
...
WZCylDef \Inside, volume, p_center, 400, 1000;
WZLimSup \Temp, roll, volume;
ENDPROC

A roll (just being brought into the work area by the application) is defined as a
cylinder. If the robot reaches this volume, the movement is stopped.

Limitations
A wztemporary data can only be defined as global (not local within module or routine)
variable (VAR) or as a persistent data (PERS).

RAPID Reference Manual 7-wztemporary-7

wztemporary Data Types

Arguments of the type wztemporary should only be entire data (not array element or
record component).

A temporary world zone (instructions WZLimSup or WZDOSet) should not be defined

in tasks other than MAIN because such a definition is affected by the program
execution in the MAIN task.

Init value for data of type wztemporary is not used by the system.When using a
persistent variable in a multitasking system, set the init value to 0,
e.g. PERS wztemporary share_workarea := [0];

Example
For a complete example see instruction WZDOSet.

Structure
<dataobject of wztemporary>
<wz of num>

Related information
Described in:
Stationary world zone Data Types - wzstationary
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digital output set Instructions - WZDOSet
Deactivate world zone Instructions - WZDisable
Activate world zone Instructions - WZEnable
Erase world zone Instructions - WZFree

7-wztemporary-8 RAPID Reference Manual

Data Types zonedata

zonedata Zone data

Zonedata is used to specify how a position is to be terminated, i.e. how close to the pro-
grammed position the axes must be before moving towards the next position.

Description
A position can be terminated either in the form of a stop point or a fly-by point.

A stop point means that the robot and external axes must reach the specified position
(stand still) before program execution continues with the next instruction.

A fly-by point means that the programmed position is never attained.

Instead, the direction of motion is changed before the position is reached.
Two different zones (ranges) can be defined for each position:

- The zone for the TCP path.

- The extended zone for reorientation of the tool and for external axes.

The zone for Programmed

the TCP path position

Start of reorientation
towards next position

Start of TCP corner path

The extended zone

Figure 1 The zones for a fly-by point.

Zones function in the same way during joint movement, but the zone size may differ
somewhat from the one programmed.

The zone size cannot be larger than half the distance to the closest position (forwards
or backwards). If a larger zone is specified, the robot automatically reduces it.

The zone for the TCP path

A corner path (parabola) is generated as soon as the edge of the zone is reached
(see Figure 1).

RAPID Reference Manual 7-zonedata-1

zonedata Data Types

The zone for reorientation of the tool

Reorientation starts as soon as the TCP reaches the extended zone. The tool is
reoriented in such a way that the orientation is the same leaving the zone as it
would have been in the same position if stop points had been programmed.
Reorientation will be smoother if the zone size is increased, and there is less of a
risk of having to reduce the velocity to carry out the reorientation.

Figure 2a Three positions are programmed, the last with different tool orientation.

Figure 2b If all positions were stop points, program execution would look like this.

Zone size
Figure 2c If the middle position was a fly-by point, program execution would look like this

The zone for external axes

External axes start to move towards the next position as soon as the TCP reaches
the extended zone. In this way, a slow axis can start accelerating at an earlier stage
and thus execute more evenly.

Reduced zone

With large reorientations of the tool or with large movements of the external axes,
the extended zone and even the TCP zone can be reduced by the robot. The zone
will be defined as the smallest relative size of the zone based upon the zone com-
ponents (see next page) and the programmed motion.
90 mm 60 mm
MoveL with 200 mm movements pzone_ori
o
of the tool, 25 reorientation of pzone_tcp
P1 the tool and with zone z60 P2
The relative sizes of the zone are
pzone_tcp
________________________ = 60/200 = 30%
length of movement P1 - P2 9o
pzone_ori zone_ori
________________________ = 90/200 = 45%
length of movement P1 - P2
zone_ori
________________________ = 9o/25o = 36%
angle of reorientation P1 - P2

Figure 3 Example of reduced zone to 36% of the motion

7-zonedata-2 RAPID Reference Manual

Data Types zonedata

MoveL with 200 mm movements 90 mm 60 mm

o
of the tool, 60 reorientation of pzone_ori pzone_tcp 9o
the tool and with zone z60 zone_ori

P1 P2

The relative sizes of the zone are

pzone_tcp
________________________ = 60/200 = 30%
length of movement P1 - P2
zone_ori
________________________ = 9o/60o = 15%
angle of reorientation P1 - P2

Figure 4 Example of reduced zone to 15% of the motion

Components
finep (fine point) Data type: bool

Defines whether the movement is to terminate as a stop point (fine point) or as a

fly-by point.

- TRUE -> The movement terminates as a stop point.

The remaining components in the zone data are not used.
- FALSE -> The movement terminates as a fly-by point.

pzone_tcp (path zone TCP) Data type: num

The size (the radius) of the TCP zone in mm.

The extended zone will be defined as the smallest relative size of the zone based
upon the following components and the programmed motion.

pzone_ori (path zone orientation) Data type: num

The zone size (the radius) for the tool reorientation. The size is defined as the dis-
tance of the TCP from the programmed point in mm.

The size must be larger than the corresponding value for pzone_tcp.
If a lower value is specified, the size is automatically increased to make it the
same as pzone_tcp.

pzone_eax (path zone external axes) Data type: num

The zone size (the radius) for external axes. The size is defined as the distance of
the TCP from the programmed point in mm.

The size must be larger than the corresponding value for pzone_tcp.
If a lower value is specified, the size is automatically increased to make it the
same as pzone_tcp.

RAPID Reference Manual 7-zonedata-3

zonedata Data Types

zone_ori ( zone orientation) Data type: num

The zone size for the tool reorientation in degrees. If the robot is holding the work
object, this means an angle of rotation for the work object.

zone_leax ( zone linear external axes) Data type: num

The zone size for linear external axes in mm.

zone_reax ( zone rotational external axes) Data type: num

The zone size for rotating external axes in degrees.

Examples
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];

The zone data path is defined by means of the following characteristics:

- The zone size for the TCP path is 25 mm.

- The zone size for the tool reorientation is 40 mm (TCP movement).
- The zone size for external axes is 40 mm (TCP movement).

If the TCP is standing still, or there is a large reorientation, or there is a large

external axis movement, with respect to the zone, the following apply instead:

- The zone size for the tool reorientation is 10 degrees.

- The zone size for linear external axes is 35 mm.
- The zone size for rotating external axes is 5 degrees.

path.pzone_tcp := 40;

The zone size for the TCP path is adjusted to 40 mm.

7-zonedata-4 RAPID Reference Manual

Data Types zonedata

Predefined data
A number of zone data are already defined in the system module BASE.

Stop points

Name
fine 0 mm

Fly-by points

TCP movement Tool reorientation

Name TCP path Orientation Ext. axis Orientation Linear axis Rotating axis
z1 1 mm 1 mm 1 mm 0.1 o 1 mm 0.1 o
z5 5 mm 8 mm 8 mm 0.8 o 8 mm 0.8 o
z10 10 mm 15 mm 15 mm 1.5 o 15 mm 1.5 o
z15 15 mm 23 mm 23 mm 2.3 o 23 mm 2.3 o
z20 20 mm 30 mm 30 mm 3.0 o 30 mm 3.0o
z30 30 mm 45 mm 45 mm 4.5 o 45 mm 4.5 o
z40 40 mm 60 mm 60 mm 6.0 o 60 mm 6.0 o
z50 50 mm 75 mm 75 mm 7.5 o 75 mm 7.5 o
z60 60 mm 90 mm 90 mm 9.0 o 90 mm 9.0 o
z80 80 mm 120 mm 120 mm 12 o 120 mm 12 o
z100 100 mm 150 mm 150 mm 15 o 150 mm 15 o
z150 150 mm 225 mm 225 mm 23 o 225 mm 23 o
z200 200 mm 300 mm 300 mm 30 o 300 mm 30 o

Structure
< data object of zonedata >
< finep of bool >
< pzone_tcp of num >
< pzone_ori of num >
< pzone_eax of num >
< zone_ori of num >
< zone_leax of num >
< zone_reax of num >

RAPID Reference Manual 7-zonedata-5

zonedata Data Types

Related information
Described in:
Positioning instructions RAPID Summary - Motion
Movements/Paths in general Motion and I/O Principles - Position-
ing during Program Execution
Configuration of external axes User’s Guide - System Parameters

7-zonedata-6 RAPID Reference Manual

 System Data

System Data
System data is the internal data of the robot that can be accessed and read by the pro-
gram. It can be used to read the current status, e.g. the current maximum velocity.

The following table contains a list of all system data.

Name Description Data Type Changed by See also

C_MOTSET Current motion settings, i.e.: motsetdata Instructions Data Types - motsetdata
- max. velocity and velocity override - VelSet Instructions - VelSet
- max. acceleration - AccSet Instructions - AccSet
- movement about singular points - SingArea Instructions - SingArea
- monitoring the axis configuration - ConfL,ConfJ Instructions - ConfL, ConfJ
- payload in gripper - GripLoad Instructions - GripLoad
- path resolution - PathResol Instructions - PathResol

C_PROGDISP Current program displacement for robot and exter- progdisp Instructions Data Types - progdisp
nal axes. - PDispSet Instructions - PDispSet
- PDispOn Instructions - PDispOn
- PDispOff Instructions - PDispOff
- EOffsSet Instructions - EOffsSet
- EOffsOn Instructions - EOffsOn
- EOffsOff Instructions - EOffsOff

ERRNO The latest error that occurred errnum The robot Data Types - errnum
RAPID Summary -
Error Recovery

INTNO The latest interrupt that occurred intnum The robot Data Types - intnum
RAPID Summary -Interrupts

RAPID Reference Manual 7-System Data-1

System Data

7-System Data-2 RAPID Reference Manual

 Instructions

“:=” Assigns a value

AccSet Reduces the acceleration
ActUnit Activates a mechanical unit
Add Adds a numeric value
Break Break program execution
CallByVar Call a procedure by a variable
Clear Clears the value
ClkReset Resets a clock used for timing
ClkStart Starts a clock used for timing
ClkStop Stops a clock used for timing
Close Closes a file or serial channel
comment Comment
ConfJ Controls the configuration during joint movement
ConfL Monitors the configuration during linear movement
CONNECT Connects an interrupt to a trap routine
CorrClear Removes all correction generators
CorrCon Connects to a correction generator
CorrDiscon Disconnects from a correction
generator
CorrWrite Writes to a correction generator
DeactUnit Deactivates a mechanical unit
Decr Decrements by 1
EOffsOff Deactivates an offset for external axes
EOffsOn Activates an offset for external axes
EOffsSet Activates an offset for external axes using a value
ErrWrite Write an Error Message
EXIT Terminates program execution
ExitCycle Break current cycle and start next
FOR Repeats a given number of times
GOTO Goes to a new instruction
GripLoad Defines the payload of the robot
IDelete Cancels an interrupt
IDisable Disables interrupts
IEnable Enables interrupts
Compact IF If a condition is met, then... (one instruction)
IF If a condition is met, then ...; otherwise ...

RAPID Reference Manual 8-1

Instructions

Incr Increments by 1
IndAMove Independent Absolute position Movement
IndCMove Independent Continuous Movement
IndDMove Independent Delta position Movement
IndReset Independent Reset
IndRMove Independent Relative position Movement
InvertDO Inverts the value of a digital output signal
IODisable Disable I/O unit
IOEnable Enable I/O unit
ISignalDI Orders interrupts from a digital input signal
ISignalDO Interrupts from a digital output signal
ISleep Deactivates an interrupt
ITimer Orders a timed interrupt
IVarValue Orders a variable value interrupt
IWatch Activates an interrupt
label Line name
Load Load a program module during execution
MoveAbsJ Moves the robot to an absolute joint position
MoveC Moves the robot circularly
MoveJ Moves the robot by joint movement
MoveL Moves the robot linearly
Open Opens a file or serial channel
PathResol Override path resolution
PDispOff Deactivates program displacement
PDispOn Activates program displacement
PDispSet Activates program displacement using a value
ProcCall Calls a new procedure
PulseDO Generates a pulse on a digital output signal
RAISE Calls an error handler
Reset Resets a digital output signal
RestoPath Restores the path after an interrupt
RETRY Restarts following an error
RETURN Finishes execution of a routine
Rewind Rewind file position
SearchC Searches circularly using the robot
SearchL Searches linearly using the robot

8-2 RAPID Reference Manual

 Instructions

Set Sets a digital output signal

SetAO Changes the value of an analog output signal
SetDO Changes the value of a digital output signal
SetGO Changes the value of a group
of digital output signals
SingArea Defines interpolation around singular points
SoftAct Activating the soft servo
SoftDeact Deactivating the soft servo
StartMove Restarts robot motion
Stop Stops program execution
StopMove Stops robot motion
StorePath Stores the path when an interrupt occurs
TEST Depending on the value of an expression ...
TPErase Erases text printed on the teach pendant
TPReadFK Reads function keys
TPReadNum Reads a number from the teach pendant
TPShow Switch window on the teach pendant
TPWrite Writes on the teach pendant
TriggC Circular robot movement with events
TriggEquip Defines a fixed position-time I/O event
TriggInt Defines a position related interrupt
TriggIO Defines a fixed position I/O event
TriggJ Axis-wise robot movements with events
TriggL Linear robot movements with events
TRYNEXT Jumps over an instruction
which has caused an error
TuneReset Resetting servo tuning
TuneServo Tuning servos
UnLoad UnLoad a program module during execution
VelSet Changes the programmed velocity
WaitDI Waits until a digital input signal is set
WaitDO Waits until a digital output signal is set
WaitTime Waits a given amount of time
WaitUntil Waits until a condition is met
WHILE Repeats as long as ...
Write Writes to a character-based file or serial channel
WriteBin Writes to a binary serial channel

RAPID Reference Manual 8-3

Instructions

WriteStrBin Writes a string to a binary serial channel

WZBoxDef Define a box-shaped world zone
WZCylDef Define a cylinder-shaped world zone
WZDisable Deactivate temporary world zone supervision
WZDOSet Activate world zone to set digital output
WZEnable Activate temporary world zone supervision
WZFree Erase temporary world zone supervision
WZLimSup Activate world zone limit supervision
WZSphDef Define a sphere-shaped world zone

8-4 RAPID Reference Manual

Instructions “:=”

“:=” Assigns a value

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.

Examples
reg1 := 5;

reg1 is assigned the value 5.

reg1 := reg2 - reg3;

reg1 is assigned the value that the reg2-reg3 calculation returns.

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

The desired value.

Examples
tool1.tframe.trans.x := tool1.tframe.trans.x + 20;

The TCP for tool1 is shifted 20 mm in the X-direction.

pallet{5,8} := Abs(value);

An element in the pallet matrix is assigned a value equal to the absolute value of
the value variable.

RAPID Reference Manual 8-“:=”-1

“:=” Instructions

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
Described in:
Expressions Basic Characteristics - Expressions
Non-value data types Basic Characteristics - Data Types
Assigning an initial value to data Basic Characteristics - Data
Programming and Testing
Manually assigning a value to data Programming and Testing

8-“:=”-2 RAPID Reference Manual

Instructions AccSet

AccSet Reduces the acceleration

AccSet is used when handling fragile loads. It allows slower acceleration and deceler-
ation, which results in smoother robot movements.

Examples
AccSet 50, 100;

The acceleration is limited to 50% of the normal value.

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.

Ramp Data type: num

The rate at which acceleration and deceleration increases as a percentage of the

normal values (see Figure 1). Jerking can be restricted by reducing this value.
100% corresponds to maximum rate. Maximum value: 100%.
Input value < 10% gives 10% of maximum rate.

Acceleration

Time
AccSet 100, 100, i.e. normal acceleration
Acceleration Acceleration

Time Time
AccSet 30, 100 AccSet 100, 30
Figure 1 Reducing the acceleration results in smoother movements.

RAPID Reference Manual 8-AccSet-1

AccSet Instructions

Program execution
The acceleration applies to both the robot and external axes until a new AccSet instruc-
tion is executed.

The default values (100%) are automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Syntax
AccSet
[ Acc ’:=’ ] < expression (IN) of num > ’,’
[ Ramp ’:=’ ] < expression (IN) of num > ’;’

Related information
Described in:
Positioning instructions RAPID Summary - Motion

8-AccSet-2 RAPID Reference Manual

Instructions ActUnit

ActUnit Activates a mechanical unit

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.

Example
ActUnit orbit_a;

Activation of the orbit_a mechanical unit.

Arguments
ActUnit MecUnit
MecUnit (Mechanical Unit) Data type: mecunit

The name of the mechanical unit that is to be activated.

Program execution
When the robot and external axes have come to a standstill, the specified mechanical
unit is activated. This means that it is controlled and monitored by the robot.

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
Instruction ActUnit cannot be used in

- program sequence StorePath ... RestoPath

- event routine RESTART

The movement instruction previous to this instruction, should be terminated with a stop
point in order to make a restart in this instruction possible following a power failure.

RAPID Reference Manual 8-ActUnit-1

ActUnit Instructions

Syntax
ActUnit
[MecUnit ’:=’ ] < variable (VAR) of mecunit> ’;’

Related information
Described in:
Deactivating mechanical units Instructions - DeactUnit
Mechanical units Data Types - mecunit
More examples Instructions - DeactUnit

8-ActUnit-2 RAPID Reference Manual

Instructions Add

Add Adds a numeric value

Add is used to add or subtract a value to or from a numeric variable or persistent.

Examples
Add reg1, 3;

3 is added to reg1, i.e. reg1:=reg1+3.

Add reg1, -reg2;

The value of reg2 is subtracted from reg1, i.e. reg1:=reg1-reg2.

Arguments
Add Name AddValue
Name Data type: num

The name of the variable or persistent to be changed.

AddValue Data type: num

The value to be added.

Syntax
Add
[ Name ’:=’ ] < var or pers (INOUT) of num > ’,’
[ AddValue ’:=’ ] < expression (IN) of num > ’;’

Related information
Described in:
Incrementing a variable by 1 Instructions - Incr
Decrementing a variable by 1 Instructions - Decr
Changing data using an arbitrary Instructions - :=
expression, e.g. multiplication

RAPID Reference Manual 8-Add-1

Add Instructions

8-Add-2 RAPID Reference Manual

Instructions Break

Break Break program execution

Break is used to make an immediate break in program execution for RAPID program
code debugging purposes.

Example
..
Break;
...

Program execution stops and it is possible to analyse 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 event routine, the routine will be executed from
the beginning of the next event.

Syntax
Break’;’

Related information
Described in:
Stopping for program actions Instructions - Stop
Stopping after a fatal error Instructions - EXIT
Terminating program execution Instructions - EXIT
Only stopping robot movements Instructions - StopMove

RAPID Reference Manual 8-Break-1

Break Instructions

8-Break-2 RAPID Reference Manual

Instructions CallByVar

CallByVar Call a procedure by a variable

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.

Example
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 2:nd part of the procedure name e.g. 1. The value must
be a positive integer.

Example
Static selection of procedure call

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.

RAPID Reference Manual 8-CallByVar-1

CallByVar Instructions

The door location in argument door_loc.

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.

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.

Execution of CallByVar takes a little more time than execution of a normal procedure
call.

Error handling
In the event of a reference to an unknown procedure, the system variable ERRNO is set
to ERR_REFUNKPRC.

In the event of the procedure call error (not procedure), the system variable ERRNO is
set to ERR_CALLPROC.

These errors can be handled in the error handler.

Syntax
CallByVar
[Name ‘:=’] <expression (IN) of string>’,’
[Number ‘:=‘] <expression (IN) of num>’;’

8-CallByVar-2 RAPID Reference Manual

Instructions CallByVar

Related information
Described in:
Calling procedures Basic Characteristic - Routines
User’s Guide - The programming
language RAPID

RAPID Reference Manual 8-CallByVar-3

CallByVar Instructions

8-CallByVar-4 RAPID Reference Manual

Instructions Clear

Clear Clears the value

Clear is used to clear a numeric variable or persistent , i.e. it sets it to 0.

Example
Clear reg1;

Reg1 is cleared, i.e. reg1:=0.

Arguments
Clear Name
Name Data type: num

The name of the variable or persistent to be cleared.

Syntax
Clear
[ Name ’:=’ ] < var or pers (INOUT) of num > ’;’

Related information
Described in:
Incrementing a variable by 1 Instructions - Incr
Decrementing a variable by 1 Instructions - Decr

RAPID Reference Manual 8-Clear-1

Clear Instructions

8-Clear-2 RAPID Reference Manual

Instructions ClkReset

ClkReset Resets a clock used for timing

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.

Example
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 > ’;’

Related Information
Described in:
Other clock instructions RAPID Summary - System & Time

RAPID Reference Manual 8-ClkReset-1

ClkReset Instructions

8-ClkReset-2 RAPID Reference Manual

Instructions ClkStart

ClkStart Starts a clock used for timing

ClkStart is used to start a clock that functions as a stop-watch used for timing.

Example
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.

Example
VAR clock clock2;

ClkReset clock2;
ClkStart clock2;
WaitUntil DInput(di1) = 1;
ClkStop clock2;
time:=ClkRead(clock2);

The waiting time for di1 to become 1 is measured.

RAPID Reference Manual 8-ClkStart-1

ClkStart Instructions

Syntax
ClkStart
[ Clock ’:=’ ] < variable (VAR) of clock > ’;’

Related Information
Described in:
Other clock instructions RAPID Summary - System & Time

8-ClkStart-2 RAPID Reference Manual

Instructions ClkStop

ClkStop Stops a clock used for timing

ClkStop is used to stop a clock that functions as a stop-watch used for timing.

Example
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.

Syntax
ClkStop
[ Clock ’:=’ ] < variable (VAR) of clock > ’;’

Related Information
Described in:
Other clock instructions RAPID Summary - System & Time
More examples Instructions - ClkStart

RAPID Reference Manual 8-ClkStop-1

ClkStop Instructions

8-ClkStop-2 RAPID Reference Manual

Instructions Close

Close Closes a file or serial channel

Close is used to close a file or serial channel.

Example
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
Described in:
Opening a file or serial channel RAPID Summary - Communication

RAPID Reference Manual 8-Close-1

Close Instructions

8-Close-2 RAPID Reference Manual

Instructions comment

comment Comment
Comment is only used to make the program easier to understand. It has no effect on the
execution of the program.

Example
! 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>

Related information
Described in:
Characters permitted in a comment Basic Characteristics-
Basic Elements
Comments within data and routine Basic Characteristics-
declarations Basic Elements

RAPID Reference Manual 8-comment-1

comment Instructions

8-comment-2 RAPID Reference Manual

Instructions Compact IF

Compact IF If a condition is met, then... (one instruction)

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.

Examples
IF reg1 > 5 GOTO next;

If reg1 is greater than 5, program execution continues at the next label.

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>) ’;’

Related information
Described in:
Conditions (logical expressions) Basic Characteristics - Expressions
IF with several instructions Instructions - IF

RAPID Reference Manual 8-Compact IF-1

Compact IF Instructions

8-Compact IF-2 RAPID Reference Manual

Instructions ConfJ

ConfJ Controls the configuration during joint movement

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 some-
times use a different configuration than that which was programmed.

With ConfJ\Off, the robot cannot switch main axes configuration - it will search for a
solution with the same main axes configuration as the current one. It moves to the clos-
est wrist configuration for axes 4 and 6.

Examples
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 clos-
est possible position is chosen.

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
ConfJ [\On] | [\Off]
\On Data type: switch

The robot always moves to the programmed axis configuration. If this is not pos-
sible using the programmed position and orientation, program execution stops.

The IRB5400 robot will move to the pogrammed 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.

Program execution
If the argument \On (or no argument) is chosen, the robot always moves to the pro-
grammed axis configuration. If this is not possible using the programmed position and

RAPID Reference Manual 8-ConfJ-1

ConfJ Instructions

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.

The control is active by default. This is automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Syntax
ConfJ
[ ’\’ On] | [ ’\’ Off] ’;’

Related information
Described in:
Handling different configurations Motion Principles -
Robot Configuration
Robot configuration during linear movement Instructions - ConfL

8-ConfJ-2 RAPID Reference Manual

Instructions ConfL

ConfL Monitors the configuration during linear movement

ConfL (Configuration Linear) is used to specify whether or not the robot’s configura-
tion 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.

NOTE: For the IRB5400 robot the monotoring is always off independant of the
switch.

Examples
ConfL \On;
MoveL *, v1000, fine, tool1;

Program execution stops when the programmed configuration is not possible to

reach from the current position.

SingArea \Wrist;
Confl \On;
MoveL *, v1000, fine, tool1;

The robot moves to the programmed position, orientation and wrist axis config-
uration. If this is not possible, program execution stops.

ConfL \Off;
MoveL *, v1000, fine, tool1;

No error message is displayed when the programmed configuration is not the

same as the configuration achieved by program execution.

Arguments
ConfL [\On] | [\Off]
\On Data type: switch

The robot configuration is monitored.

\Off Data type: switch

The robot configuration is not monitored.

RAPID Reference Manual 8-ConfL-1

ConfL Instructions

Program execution
During linear or circular movement, the robot always moves to the programmed posi-
tion 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:

- the configuration of the programmed position will not be attained from the
current position.
- the needed reorientation of any one of the wrist axes to get to the programmed
position from the current position exceeds a limit (140-180 degrees).

However, it is possible to restart the program again, although the wrist axes may con-
tinue to the wrong configuration. At a stop point, the robot will check that the config-
urations of all axes are achieved, not only the wrist axes.

If SingArea\Wrist is also used, the robot always moves to the programmed wrist axes
configuration and at a stop point the remaining axes configurations will be checked.

If the argument \Off is chosen, there is no monitoring.

Monitoring is active by default. This is automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Syntax
ConfL
[ ’\’ On] | [ ’\’ Off] ’;’

Related information
Described in:
Handling different configurations Motion and I/O Principles-
Robot Configuration
Robot configuration during joint movement Instructions - ConfJ

8-ConfL-2 RAPID Reference Manual

Instructions CONNECT

CONNECT Connects an interrupt to a trap routine

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.

Example
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. The interrupt is defined as 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.

Program execution
The variable is assigned an interrupt identity which can then be used when ordering or
disabling interrupts. This identity is also connected to the specified trap routine.

Note that before an event can be handled, an interrupt must also be ordered, i.e. the
event specified.

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.

RAPID Reference Manual 8-CONNECT-1

CONNECT Instructions

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
Described in:
Summary of interrupts RAPID Summary - Interrupts
More information on interrupt management Basic Characteristics- Interrupts

8-CONNECT-2 RAPID Reference Manual

Instructions CorrClear

CorrClear Removes all correction generators

CorrClear is used to remove all connected correction generators. The instruction can
be used to remove all offsets provided earlier by all correction generators.

Example
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 System
Parameters - Topic: Controller.

Syntax
CorrClear ‘;’

Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Disconnects from a correction generator Instructions - CorrDiscon
Writes to a correction generator Instructions - CorrWrite
Reads the current total offsets Functions - CorrRead
Correction descriptor Data types - corrdescr

RAPID Reference Manual 8-CorrClear-1

CorrClear Instructions

8-CorrClear-2 RAPID Reference Manual

Instructions CorrCon

CorrCon Connects to a correction generator

CorrCon is used to connect to a correction generator.

Example
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.

Example
Path coordinate system

All path corrections (offsets on the path) are added in the path coordinate system. The
path coordinate system is defined as:

P = Path coordinate system

T = Tool coordinate system

ZT XT
ZP
YT
XP

Tool
YP

Path direction ->

Figure 1 Path coordinate system.

RAPID Reference Manual 8-CorrCon-1

CorrCon Instructions

- 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.

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.
Sensor for
horizontal correction.

ZP
Sensor for
vertical correction

Path coordinate system Tool

XP YP

Figure 2 Path correction device.

Program example

CONST num TARGET_DIST := 5;

CONST num SCALE_FACTOR := 0.5;
VAR intnum intno1;
VAR corrdesc hori_id:
VAR corrdesc vert_id;
VAR pos total_offset;
VAR signalai hori_sig;
VAR signalai vert_sig;
VAR pos write_offset;

PROC PathRoutine()

! Connect to the correction generators for horizontal and vertical correction.

CorrCon hori_id;
CorrCon vert_id;

! Setup a 5 Hz timer interrupt. The trap routine will read the sensor values and
! compute the path corrections.
CONNECT intno1 WITH ReadSensors;
ITimer\singel 0.2, intno1

8-CorrCon-2 RAPID Reference Manual

Instructions CorrCon

! Position for start of contour tracking

MoveJ p10,v100,z10,tool1;

! Run MoveL with both vertical and horizontel correction.

MoveL p20,v100,z10,tool1\Corr;
! Read the total corrections added by all connected correction generators.
total_offset := CorrRead();
! Write the total vertical correction on the TeachPendant.
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;
! Run MoveL with only horizontel 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

! Compute the horizontal correction values and execute the correction.

write_offset.x := 0;
write_offset.y := (hori_sig - TARGET_DIST)*SCALE_FACTOR;
write_offset.z := 0;
CorrWrite hori_id, write_offset;

! 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;

!Setup interupt again

IDelete intnol;
CONNECT intno1 WITH ReadSensors;
ITimer\singel 0.2, intno1;

ENDTRAP

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 corrdesc. 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

RAPID Reference Manual 8-CorrCon-3

CorrCon Instructions

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
TeachPendant 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 outstanding 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

x y z Path coordinate axis.

0 0 3 Vertical correction generator, with the sum of all its own path corrections.

0 1 0 Horizontal correction generator, with the sum of all its own path corrections.

- - - Not connected correction generator.

- - - Not connected correction generator.

- - - Not connected correction generator.

0 1 3 The sum of all corrections done by all connected correction generators.

Figure 3 Correction generators.

Limitations
A maximum number of 5 correction generators can be connected simultaneously.

Syntax
CorrCon

8-CorrCon-4 RAPID Reference Manual

Instructions CorrCon

[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’;’

Related information
Described in:
Disconnects from a correction generator Instructions - CorrDiscon
Writes to a correction generator Instructions - CorrWrite
Reads the current total offsets Functions - CorrRead
Removes all correction generators Instructions - CorrClear
Correction generator descriptor Data types - corrdescr

RAPID Reference Manual 8-CorrCon-5

CorrCon Instructions

8-CorrCon-6 RAPID Reference Manual

Instructions CorrDiscon

CorrDiscon Disconnects from a correction

generator

CorrDiscon is used to disconnect from a previously connected correction generator.

The instruction can be used to remove corrections given earlier.

Example
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.

Example
See Instructions - CorrCon

Syntax
CorrDiscon
[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’;’

RAPID Reference Manual 8-CorrDiscon-1

CorrDiscon Instructions

Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Writes to a correction generator Instructions - CorrWrite
Reads the current total offsets Functions - CorrRead
Removes all correction generators Instructions - CorrClear
Correction descriptor Data types - corrdescr

8-CorrDiscon-2 RAPID Reference Manual

Instructions CorrWrite

CorrWrite Writes to a correction generator

CorrWrite is used to write offsets in the path coordinate system to a correction

generator.

Example
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.

Example
See Instructions - CorrCon

Limitations
The best performance is achieved on straight paths. As the speed and angles between
to consecutive linear paths increase, the deviation from the expected path will also
increase. The same applies to circles with decreasing circle radius.

Syntax
CorrWrite

RAPID Reference Manual 8-CorrWrite-1

CorrWrite Instructions

[ Descr ’:=’ ] < variable (VAR) of corrdescr > ’,’

[ Data ’:=’ ] < expression (IN) of pos > ’;’

Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Disconnects from a correction generator Instructions - CorrDiscon
Reads the current total offsets Functions - CorrRead
Removes all correction generators Instructions - CorrClear
Correction generator descriptor Data types - corrdescr

8-CorrWrite-2 RAPID Reference Manual

Instructions DeactUnit

DeactUnit Deactivates a mechanical unit

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.

Examples
DeactUnit orbit_a;

Deactivation of the orbit_a mechanical unit.

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.

MoveL p10, v100, fine, tool1;

DeactUnit orbit1;
ActUnit orbit2;
MoveL p20, v100, z10, tool1;

The unit orbit1 is deactivated and orbit2 activated.

Arguments
DeactUnit MecUnit
MecUnit (Mechanical Unit) Data type: mecunit

The name of the mechanical unit that is to be deactivated.

Program execution
When the robot and external axes have come to a standstill, 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.

RAPID Reference Manual 8-DeactUnit-1

DeactUnit Instructions

Limitations
Instruction DeactUnit cannot be used

- in program sequence StorePath ... RestoPath

- in event routine RESTART
- when one of the axes in the mechanical unit is in independent mode.

The movement instruction previous to this instruction, should be terminated with a stop
point in order to make a restart in this instruction possible following a power failure.

Syntax
DeactUnit
[MecUnit ’:=’ ] < variable (VAR) of mecunit> ’;’

Related information
Described in:
Activating mechanical units Instructions - ActUnit
Mechanical units Data Types - mecunit

8-DeactUnit-2 RAPID Reference Manual

Instructions Decr

Decr Decrements by 1
Decr is used to subtract 1 from a numeric variable or persistent.

Example
Decr reg1;

1 is subtracted from reg1, i.e. reg1:=reg1-1.

Arguments
Decr Name
Name Data type: num

The name of the variable or persistent to be decremented.

Example
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.

Syntax
Decr
[ Name ’:=’ ] < var or pers (INOUT) of num > ’;’

RAPID Reference Manual 8-Decr-1

Decr Instructions

Related information
Described in:
Incrementing a variable by 1 Instructions - Incr
Subtracting any value from a variable Instructions - Add
Changing data using an arbitrary Instructions - :=
expression, e.g. multiplication

8-Decr-2 RAPID Reference Manual

Instructions EOffsOff

EOffsOff Deactivates an offset for external axes

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.

Examples
EOffsOff;

Deactivation of the offset for external axes.

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
Active offsets for external axes are reset.

Syntax
EOffsOff ‘;’

Related information
Described in:
Definition of offset using two positions Instructions - EOffsOn
Definition of offset using values Instructions - EOffsSet
Deactivation of the robot’s motion displacement Instructions - PDispOff

RAPID Reference Manual 8-EOffsOff-1

EOffsOff Instructions

8-EOffsOff-2 RAPID Reference Manual

Instructions EOffsOn

EOffsOn Activates an offset for external axes

EOffsOn (External Offset On) is used to define and activate an offset for external axes
using two positions.

Examples
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.

MoveL p10, v500, fine, tool1;

EOffsOn *;

Activation of an offset for external axes. Since a stop point has been used in the
previous instruction, the argument \ExeP does not have to be used. The displace-
ment 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 ] (Executed Point) Data type: robtarget

The new position of the axes at the time of the program execution. 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.

Program execution
The offset is calculated as the difference between ExeP and ProgPoint for each sepa-
rate 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 position-
ing instructions and remains active until some other offset is activated (the instruction

RAPID Reference Manual 8-EOffsOn-1

EOffsOn Instructions

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 any one time. Sev-
eral 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 executing from the beginning.

Example
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;

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
Described in:
Deactivation of offset for external axes Instructions - EOffsOff
Definition of offset using values Instructions - EOffsSet
Displacement of the robot’s movements Instructions - PDispOn
Coordinate Systems Motion Principles- Coordinate Sys-
tems

8-EOffsOn-2 RAPID Reference Manual

Instructions EOffsSet

EOffsSet Activates an offset for external axes using a value

EOffsSet (External Offset Set) is used to define and activate an offset for external axes
using values.

Example
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
external axis “a” is linear) that:

- The ExtOffs coordinate system is displaced 100 mm for the logical axis “a” (see
Figure 1).
- As long as this offset is active, all positions will be displaced 100 mm in the
direction of the x-axis.
.

100
Normal
Coordinate System

0 +X
ExtOffs
Coordinate System

0 +X
Figure 1 Displacement of an external axis.

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

RAPID Reference Manual 8-EOffsSet-1

EOffsSet Instructions

Program execution
The offset for external axes is activated when the EOffsSet instruction is activated and
remains active until some other offset is activated (the instruction EOffsSet or EOffsOn)
or until the offset for external axes is deactivated (the EOffsOff).

Only one offset for external axes can be activated at any one 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
Described in:
Deactivation of offset for external axes Instructions - EOffsOff
Definition of offset using two positions Instructions - EOffsSet
Displacement of the robot’s movements Instructions - PDispOn
Definition of data of the type extjoint Data Types - extjoint
Coordinate Systems Motion Principles- Coordinate Sys-
tems

8-EOffsSet-2 RAPID Reference Manual

Instructions ErrWrite

ErrWrite Write an Error Message

ErrWrite (Error Write) is used to display an error message on the teach pendant and
write it in the robot message log.

Example
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 teach
pendant display.

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 ] 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 teach pendant display).

Header Data type: string

Error message heading (max. 24 characters).

Reason Data type: string

Reason for error (line 1 of max. 40 characters).

[ \RL2] (Reason Line 2) Data type: string

Reason for error (line 2 of max. 40 characters).

[ \RL3] (Reason Line 3) Data type: string

Reason for error (line 3 of max. 40 characters).

[ \RL4] (Reason Line 4) Data type: string

Reason for error (line 4 of max. 40 characters).

RAPID Reference Manual 8-ErrWrite-1

ErrWrite Instructions

Program execution
An error message (max. 5 lines) is displayed on the teach pendant and written in the
robot message log.

ErrWrite always generates the program error no. 80001 or in the event of a warning
(argument \W) generates no. 80002.

Limitations
Total string length (Header+Reason+\RL2+\RL3+\RL4) is limited to 145 characters.

Syntax
ErrWrite
[ ’\’ W ’,’ ]
[ Header ’:=’ ] < expression (IN) of string> ‘,’
[ Reason ’:=’ ] < expression (IN) of string>
[ ’\’ RL2 ’:=’ < expression (IN) of string> ]
[ ’\’ RL3 ’:=’ < expression (IN) of string> ]
[ ’\’ RL4 ’:=’ < expression (IN) of string> ] ‘;’

Related information
Described in:
Display a message on Instructions - TPWrite
the teach pendant only
Message logs Service

8-ErrWrite-2 RAPID Reference Manual

Instructions EXIT

EXIT Terminates program execution

EXIT is used to terminate program execution. Program restart will then be blocked, i.e.
the program can only be restarted from the first instruction of the main routine (if the
start point is not moved manually).

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.

Example
ErrWrite "Fatal error","Illegal state";
EXIT;

Program execution stops and cannot be restarted from that position in the
program.

Syntax
EXIT ’;’

Related information
Described in:
Stopping program execution temporarily Instructions - Stop

RAPID Reference Manual 8-EXIT-1

EXIT Instructions

8-EXIT-2 RAPID Reference Manual

Instructions ExitCycle

ExitCycle Break current cycle and start next

ExitCycle is used to break the current cycle and move the PP back to the first
instruction in the main routine. If the execution mode CONT is set, the execution will
start to execute the next cycle.

Example
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;
ENDTRAP

This will start the next cycle if the signal di_error is set.

Program Running
All variables, persistents, defined interrupts and motion settings are untouched.

Syntax
ExitCycle’;’

Related information
Described in:
Stopping after a fatal error Instructions - EXIT
Terminating program execution Instructions - EXIT
Stopping for program actions Instructions - Stop
Finishing execution of a routine Instructions - RETURN

RAPID Reference Manual 8-ExitCycle-1

ExitCycle Instructions

8-ExitCycle-2 RAPID Reference Manual

Instructions ExitCycle

RAPID Reference Manual 8-ExitCycle-3

ExitCycle Instructions

8-ExitCycle-4 RAPID Reference Manual

Instructions FOR

FOR Repeats a given number of times

FOR is used when one or several instructions are to be repeated a number of times.

If the instructions are to be repeated as long as a given condition is met, the WHILE
instruction is used.

Example
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
[STEP Step value] DO ... ENDFOR
Loop counter Identifier

The name of the data that will contain the value of the current loop counter.
The data is declared automatically and its name should therefore not be the same
as the name of any data that exists already.

Start value Data type: Num

The desired start value of the loop counter.

(usually integer values)

End value 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).

RAPID Reference Manual 8-FOR-1

FOR Instructions

Example
FOR i FROM 10 TO 2 STEP -1 DO
a{i} := a{i-1};
ENDFOR

The values in an array are adjusted upwards so that a{10}:=a{9}, a{9}:=a{8} etc.

Program execution
1. The expressions for the start, end and step values are calculated.
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 con-
tinues 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 con-
ditions for the FOR loop, cannot be used (undefined whether or not the last loop is run-
ning).

Syntax
(EBNF)
FOR <loop variable> FROM <expression> TO <expression>
[ STEP <expression> ] DO
<instruction list>
ENDFOR
<loop variable> ::= <identifier>

8-FOR-2 RAPID Reference Manual

Instructions FOR

Related information
Described in:
Expressions Basic Characteristics - Expressions
Identifiers Basic Characteristics -
Basic Elements

RAPID Reference Manual 8-FOR-3

FOR Instructions

8-FOR-4 RAPID Reference Manual

Instructions GOTO

GOTO Goes to a new instruction

GOTO is used to transfer program execution to another line (a label) within the same
routine.

Examples
GOTO next;
.
next:

Program execution continues with the instruction following next.

reg1 := 1;
next:
.
reg1 := reg1 + 1;
IF reg1<=5 GOTO next;

The next program loop is executed five times.

IF reg1>100 GOTO highvalue;

lowvalue:
.
GOTO ready;
highvalue:
.
ready:

If reg1 is greater than 100, the highvalue program loop is executed; otherwise
the lowvalue loop is executed.

Arguments
GOTO Label
Label Identifier

The label from where program execution is to continue.

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

RAPID Reference Manual 8-GOTO-1

GOTO Instructions

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
Described in:
Label Instructions - label
Other instructions that change the program RAPID Summary -
flow Controlling the Program Flow

8-GOTO-2 RAPID Reference Manual

Instructions GripLoad

GripLoad Defines the payload of the robot

GripLoad is used to define the payload which the robot holds in its gripper.

Description
It is important to always define the actual tool load and when used, the payload
of the robot too. Incorrect definitions of load data can result in overloading of the
robot mechanical structure.

When incorrect load data is specified, it can often lead to the following consequences:

- If the value in the specified load data is greater than 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

Examples
GripLoad piece1;

The robot gripper holds a load called piece1.

GripLoad load0;

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.

RAPID Reference Manual 8-GripLoad-1

GripLoad Instructions

The default load, 0 kg, is automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Syntax
GripLoad
[ Load ’:=’ ] < persistent (PERS) of loaddata > ’;’

Related information
Described in:
Definition of load data Data Types - loaddata
Definition of tool load Data Types - tooldata
-

8-GripLoad-2 RAPID Reference Manual

Instructions IDelete

IDelete Cancels an interrupt

IDelete (Interrupt Delete) is used to cancel (delete) an interrupt.

If the interrupt is to be only temporarily disabled, the instruction ISleep or IDisable

should be used.

Example
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
re-connected to the trap routine.

The instruction should be preceded by a stop point. Otherwise the interrupt will be
deactivated before the end point is reached.

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 > ‘;’

RAPID Reference Manual 8-IDelete-1

IDelete Instructions

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Temporarily disabling an interrupt Instructions - ISleep
Temporarily disabling all interrupts Instructions - IDisable

8-IDelete-2 RAPID Reference Manual

Instructions IDisable

IDisable Disables interrupts

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.

Example
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 which occur during the time in which an IDisable instruction is in effect are
placed in a queue. When interrupts are permitted once more, the interrupt(s) of the pro-
gram then immediately start generating, executed in “first in - first out” order in the
queue.

Syntax
IDisable‘;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupt
Permitting interrupts Instructions - IEnable

RAPID Reference Manual 8-IDisable-1

IDisable Instructions

8-IDisable-2 RAPID Reference Manual

Instructions IEnable

IEnable Enables interrupts

IEnable (Interrupt Enable) is used to enable interrupts during program execution.

Example
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)
of the program then immediately start 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,. Inter-
rupts disabled by the ISleep instruction are not affected by the IEnable instruction.

Syntax
IEnable‘;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Permitting no interrupts Instructions - IDisable

RAPID Reference Manual 8-IEnable-1

IEnable Instructions

8-IEnable-2 RAPID Reference Manual

Instructions IF

IF If a condition is met, then ...; otherwise ...

IF is used when different instructions are to be executed depending on whether a con-
dition is met or not.

Examples
IF reg1 > 5 THEN
Set do1;
Set do2;
ENDIF

The do1 and do2 signals are set only if reg1 is greater than 5.

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 ...}
[ELSE ...]
ENDIF
Condition Data type: bool

The condition that must be satisfied for the instructions between THEN and
ELSE/ELSEIF to be executed.

Example
IF counter > 100 THEN
counter := 100;
ELSEIF counter < 0 THEN
counter := 0;
ELSE
counter := counter + 1;

RAPID Reference Manual 8-IF-1

IF Instructions

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> | <EIF>}
[ELSE
<instruction list>]
ENDIF

Related information
Described in:
Conditions (logical expressions) Basic Characteristics - Expressions

8-IF-2 RAPID Reference Manual

Instructions Incr

Incr Increments by 1
Incr is used to add 1 to a numeric variable or persistent.

Example
Incr reg1;

1 is added to reg1, i.e. reg1:=reg1+1.

Arguments
Incr Name
Name Data type: num

The name of the variable or persistent to be changed.

Example
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 on the teach pendant each cycle.
Production continues to run as long as the signal stop_production is not set.

Syntax
Incr
[ Name ’:=’ ] < var or pers (INOUT) of num > ’;’

Related information
Described in:
Decrementing a variable by 1 Instructions - Decr
Adding any value to a variable Instructions - Add
Changing data using an arbitrary Instructions - :=
expression, e.g. multiplication

RAPID Reference Manual 8-Incr-1

Incr Instructions

8-Incr-2 RAPID Reference Manual

Instructions IndAMove

IndAMove Independent Absolute position Movement

IndAMove 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 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 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.

Example
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

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.

[ \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.

RAPID Reference Manual 8-IndAMove-1

IndAMove Instructions

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 starts to move at 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.

The speed can be altered by executing another IndAMove instruction (or another
Ind_Move instruction). If a speed in the opposite direction is selected, the axis stops and
then accelerates to the new speed and direction.

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 Chapter 6, Motion and
I/O principles.

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 that an IndAMove instruction after an IndCMove operation can result in the axis
spinning back the movement performed in the IndCMove instruction. To prevent this,
use an IndReset instruction before the IndAMove, or use an IndRMove instruction.

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 loss of voltage 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.

8-IndAMove-2 RAPID Reference Manual

Instructions IndAMove

Example
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 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 > ] ’;’

RAPID Reference Manual 8-IndAMove-3

IndAMove Instructions

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Change back to normal mode Instructions - IndReset
Reset the measurement system Instructions - IndReset
Move an independent axis to a specific Instructions - IndRMove
position within current revolution
Move an independent axis a specific Instructions - IndDMove
distance
Check the speed status for independent axes Functions - IndSpeed
Check the position status for independent axes Functions - IndInpos

8-IndAMove-4 RAPID Reference Manual

Instructions IndCMove

IndCMove Independent Continuous Movement

IndCMove 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 instruc-
tions (including positioning instructions) during the time the independent axis is mov-
ing.

Example
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

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 as the sign of the speed argument.

[ \Ramp ] Data type: num

Decrease acceleration and deceleration from maximum performance

( 1 - 100%, 100% = maximum performance).

Program execution
When IndCMove is executed, the specified axis starts to move at 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.

RAPID Reference Manual 8-IndCMove-1

IndCMove Instructions

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 - an number of full revolu-
tions 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 Chapter 6, Motion and
I/O principles.

When the program pointer is moved to the beginning of the program, or to a new rou-
tine, all axes are set automatically to normal mode, without changing the measurement
system (equivalent to executing the instruction IndReset\Old).

Limitations
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 infor-
mation see Chapter 6, Motion and I/O Principles.

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 loss of voltage 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.

Example
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;

8-IndCMove-2 RAPID Reference Manual

Instructions IndCMove

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 accel-
eration/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 changed 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
via the shortest route to position p40 (max ±180 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
IndCMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num> ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’

RAPID Reference Manual 8-IndCMove-3

IndCMove Instructions

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Change back to normal mode Instructions - IndReset
Reset the measurement system Instructions - IndReset
Move an independent axis to a specific Instructions - IndAMove, IndRMove
position
Move an independent axis a specific Instructions - IndDMove
distance
Check the speed status for independent axes Functions - IndSpeed
Check the position status for independent axes Functions - IndInpos

8-IndCMove-4 RAPID Reference Manual

Instructions IndDMove

IndDMove Independent Delta position Movement

IndDMove is used to change an axis to independent mode and move the axis 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 instruc-
tions (including positioning instructions) during the time the independent axis is mov-
ing.

If the axis is to be moved to a specific position, the instruction IndAMove or IndRMove

must be used instead.

Example
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.

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).

RAPID Reference Manual 8-IndDMove-1

IndDMove Instructions

Program execution
When IndAMove is executed, the specified axis starts to move at the programmed speed
for 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 dis-
tance 0 is executed, 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 revolu-
tions 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
Ind_Move 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 Chapter 6, Motion and
I/O principles.

When the program pointer is moved to the beginning of the program, or to a new rou-
tine, 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.

If a loss of voltage 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.

8-IndDMove-2 RAPID Reference Manual

Instructions IndDMove

Example
IndAMove Robot,6\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndDMove Station_A,2,-30,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndDMove Station_A,2,400,20;

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 > ] ’;’

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Change back to normal mode Instructions - IndReset
Reset the measurement system Instructions - IndReset
Move an independent axis to a specific Instructions - IndAMove, IndRMove
position
Check the speed status for independent axes Functions - IndSpeed
Check the position status for independent axes Functions - IndInpos

RAPID Reference Manual 8-IndDMove-3

IndDMove Instructions

8-IndDMove-4 RAPID Reference Manual

Instructions IndReset

IndReset Independent Reset

IndReset 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.

Example
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 that the current independent axis, and the normal axes, should not move
when the instruction IndReset is executed. This is because the 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
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).

[ \RefPos ] (Reference Position) Data type: robtarget

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.

RAPID Reference Manual 8-IndReset-1

IndReset Instructions

[ \RefNum ] (Reference Numeric value) Data type: num

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) 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.

[ \Old ] Data type: switch

Keeps the old position. Note that 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.

8-IndReset-2 RAPID Reference Manual

Instructions IndReset

Note that 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. 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.

The measurement system cannot be changed for linear axes.

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.

Example
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).

RAPID Reference Manual 8-IndReset-3

IndReset Instructions

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> ]
| [ ’\’ RefNum’:=’ < expression (IN) of num> ]
[ ’\’ Short ] | [ ’\’ Fwd ] | [ ’\’ Bwd ] | [ ’\’ Old ]’;’

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Change an axis to independent mode Instructions - IndAMove, IndCMove,
IndDMove, IndRMove
Check the speed status for independent axes Functions - IndSpeed
Check the position status for independent axes Functions - IndInpos

8-IndReset-4 RAPID Reference Manual

Instructions IndRMove

IndRMove Independent Relative position Movement

IndRMove 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 instruc-
tions (including positioning instructions) during the time the independent axis is mov-
ing.

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.

Example
IndRMove Station_A,2\ToRelPos:=p5 \Short,20;

Axis 2 of Station_A is moved the shortest route to position p5 within one revo-
lution (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) 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 revolu-
tion. 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.

RAPID Reference Manual 8-IndRMove-1

IndRMove Instructions

[ \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 max-
imum 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 Data type: num

Axis speed in degrees/s.

[ \Ramp ] Data type: num

Decrease acceleration and deceleration from maximum performance

( 1 - 100%, 100% = maximum performance).

Program execution
When IndRMove is executed, the specified axis starts to move at the programmed speed
to the specified axis position, but only a maximum of one revolution. If \Ramp is pro-
grammed, 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 revolu-
tions 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
Ind_Move instruction). If a speed in the opposite direction is selected, the axis stops and
then accelerates to the new speed and direction.

8-IndRMove-2 RAPID Reference Manual

Instructions IndRMove

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 Chapter 6, Motion and
I/O principles.

When the program pointer is moved to the beginning of the program, or to a new rou-
tine, 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.

If a loss of voltage 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.

Examples
IndRMove Station_A,1\ToRelPos:=p5 \Fwd,20\Ramp:=50;

Axis 1of 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

RAPID Reference Manual 8-IndRMove-3

IndRMove Instructions

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
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 > ] ’;’

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Change back to normal mode Instructions - IndReset
Reset the measurement system Instructions - IndReset
Move an independent axis to an absolute Instructions - IndAMove
position
Move an independent axis a specific Instructions - IndDMove
distance
More examples Instructions - IndCMove
Check the speed status for independent axes Functions - IndSpeed
Check the position status for independent axes Functions - IndInpos

8-IndRMove-4 RAPID Reference Manual

Instructions InvertDO

InvertDO Inverts the value of a digital output signal

InvertDO (Invert Digital Output) inverts the value of a digital output signal (0 -> 1 and
1 -> 0).

Example
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 1).
:

1
Signal level
0
Execution of the instruction InvertDO
Execution of the instruction InvertDO
1
Signal level
0

Figure 1 Inversion of a digital output signal.

Syntax
InvertDO
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’

RAPID Reference Manual 8-InvertDO-1

InvertDO Instructions

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O System Parameters

8-InvertDO-2 RAPID Reference Manual

Instructions IODisable

IODisable Disable I/O unit

IODisable is used to disable an I/O unit during program execution (only in the S4C
system).

I/O units are automatically enabled after start-up if they are defined in the system
parameters. When required for some reason, I/O units can be disabled or enabled
during program execution.

Examples
IODisable “cell1”, 5;

Disable I/O unit with name cell1.Wait max. 5 s.

Arguments
IODisable UnitName MaxTime
UnitName Data type: string

The name of the I/O unit to be disabled (with same name as configured).

MaxTime 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 disable steps, the error handler
will be called, if there is one, with the error code ERR_IODISABLE. If there is
no error handler, the execution will be stopped.

To disable an I/O unit takes about 2-5 s.

Program execution
The specified I/O unit starts the disable steps. The instruction is ready when the disable
steps are finished. If the MaxTime runs out before the I/O unit has finished the disable
steps, a recoverable error will be generated.

After disabling an I/O unit, any setting of outputs in this unit will result in an error.

RAPID Reference Manual 8-IODisable-1

IODisable Instructions

Example
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 disable 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
RETRY;
ENDIF
ELSEIF ERRNO = ERR_EXCRTYMAX THEN
ErrWrite “IODisable error”, “Not possible to disable I/O unit cell1”;
Stop;
ENDIF
ENDPROC

To save cycle time, the I/O unit cell1 is disabled 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 disabled. 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).

Syntax
IODisable
[ UnitName ’:=’ ] < expression (IN) of string> ’,’
[ MaxTime ’:=’ ] < expression (IN) of num > ’;’

8-IODisable-2 RAPID Reference Manual

Instructions IODisable

Related information
Described in:
Enabling an I/O unit Instructions - IOEnable
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

RAPID Reference Manual 8-IODisable-3

IODisable Instructions

8-IODisable-4 RAPID Reference Manual

Instructions IOEnable

IOEnable Enable I/O unit

IOEnable is used to enable an I/O unit during program execution (only in the S4C
system).

I/O units are automatically enabled after start-up if they are defined in the system
parameters. When required for some reason, I/O units can be disabled or enabled
during program execution.

Examples
IOEnable “cell1”, 5;

Enable I/O unit with name cell1. Wait max. 5 s.

Arguments
IOEnable UnitName MaxTime
UnitName Data type: string

The name of the I/O unit to be enabled (with same name as configured).

MaxTime 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 enable 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.

To enable an I/O unit takes about 2-5 s.

Program execution
The specified I/O unit starts the enable steps. The instruction is ready when the enable
steps are finished. If the MaxTime runs out before the I/O unit has finished the enable
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).

RAPID Reference Manual 8-IOEnable-1

IOEnable Instructions

Example
IOEnable can also be used to check whether some I/O unit is disconnected for some
reason.

VAR num max_retry:=0;

...
IOEnable “cell1”, 0;
SetDO cell1_sig3, 1;
...
ERROR
IF ERRNO = ERR_IOENABLE THEN
IF max_retry < 5 THEN
WaitTime 1;
max_retry := max_retry + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF

Before using signals on the I/O unit cell1, a test is done by trying to enable 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 > ’;’

Related information
Described in:
More examples Instructions - IODisable
Disabling an I/O unit Instructions - IODisable
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

8-IOEnable-2 RAPID Reference Manual

Instructions ISignalDI

ISignalDI Orders interrupts from a digital input signal

ISignalDI (Interrupt Signal Digital In) is used to order and enable interrupts from a
digital input signal.

System signals can also generate interrupts.

Examples
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.

ISignalDI di1,0,sig1int;

Orders an interrupt which is to occur each time the digital input signal di1 is set
to 0.

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 ] Signal TriggValue 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 argu-
ment is omitted, an interrupt will occur each time its condition is satisfied.

Signal Data type: signaldi

The name of the signal that is to generate interrupts.

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. open/close). The sig-

nal is edge-triggered upon changeover to 0 or 1.

RAPID Reference Manual 8-ISignalDI-1

ISignalDI Instructions

Interrupt Data type: intnum

The interrupt identity. This should have previously been connected to a trap rou-
tine 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.

If the signal changes to the specified value before the interrupt is ordered, no interrupt
occurs (see Figure 1).
:

1
Signal level
0
Interrupt occurs
Interrupt ordered

Interrupt ordered
1
Signal level
0
Interrupt occurs
Figure 1 Interrupts from a digital input signal at signal level 1.

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 instruc-
tions are then kept outside the main flow of the program.

8-ISignalDI-2 RAPID Reference Manual

Instructions ISignalDI

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’,’]
[ Signal ’:=’ ] < variable (VAR) of signaldi > ’,’
[ TriggValue ’:=’ ] < expression (IN) of dionum >’,’
[ Interrupt ’:=’ ] < variable (VAR) of intnum > ’;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Interrupt from an output signal Instructions - ISignalDO
More information on interrupt management Basic Characteristics - Interrupts
More examples Data Types - intnum

RAPID Reference Manual 8-ISignalDI-3

ISignalDI Instructions

8-ISignalDI-4 RAPID Reference Manual

Instructions ISignalDO

ISignalDO Interrupts from a digital output signal

ISignalDO (Interrupt Signal Digital Out) is used to order and enable interrupts from a
digital output signal.

System signals can also generate interrupts.

Examples
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.

ISignalDO do1,0,sig1int;

Orders an interrupt which is to occur each time the digital output signal do1 is
set to 0.

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 ] Signal TriggValue 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 argu-
ment is omitted, an interrupt will occur each time its condition is satisfied.

Signal Data type: signaldo

The name of the signal that is to generate interrupts.

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. open/close). The sig-

nal is edge-triggered upon changeover to 0 or 1.

RAPID Reference Manual 8-ISignalDO-1

ISignalDO Instructions

Interrupt Data type: intnum

The interrupt identity. This should have previously been connected to a trap rou-
tine 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.

If the signal changes to the specified value before the interrupt is ordered, no interrupt
occurs (see Figure 1).

1
Signal level
0
Interrupt occurs
Interrupt ordered

Interrupt ordered
1
Signal level
0
Interrupt occurs
Figure 1 Interrupts from a digital output signal at signal level 1.

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 instruc-
tions are then kept outside the main flow of the program.

8-ISignalDO-2 RAPID Reference Manual

Instructions ISignalDO

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’,’]
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’
[ TriggValue ’:=’ ] < expression (IN) of dionum >’,’
[ Interrupt ’:=’ ] < variable (VAR) of intnum > ’;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Interrupt from an input signal Instructions - ISignalDI
More information on interrupt management Basic Characteristics- Interrupts
More examples Data Types - intnum

RAPID Reference Manual 8-ISignalDO-3

ISignalDO Instructions

8-ISignalDO-4 RAPID Reference Manual

Instructions ISleep

ISleep Deactivates an interrupt

ISleep (Interrupt Sleep) is used to deactivate an individual interrupt temporarily.

Example
ISleep sig1int;

The interrupt sig1int is deactivated.

Arguments
ISleep Interrupt
Interrupt Data type: intnum

The variable (interrupt identity) of the interrupt.

Program execution
The event connected to this interrupt does not generate any interrupts until the interrupt
has been re-activated by means of the instruction IWatch. Interrupts which are gener-
ated whilst ISleep is in effect are ignored.

Example
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

Communication across the ch1 serial channel is monitored by means of inter-

rupts which are generated every 60 seconds. The trap routine checks whether the

RAPID Reference Manual 8-ISleep-1

ISleep Instructions

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 inter-
rupt number is unknown, the system variable ERRNO will be set to ERR_UNKINO
(see “Data types - errnum”). The error can be handled in the error handler.

Syntax
ISleep
[ Interrupt ‘:=’ ] < variable (VAR) of intnum > ‘;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Enabling an interrupt Instructions - IWatch
Disabling all interrupts Instructions - IDisable
Cancelling an interrupt Instructions - IDelete

8-ISleep-2 RAPID Reference Manual

Instructions ITimer

ITimer Orders a timed interrupt

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.

Examples
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.

ITimer \Single, 60, timeint;

Orders an interrupt that is to occur once, after 60 seconds.

Arguments
ITimer [ \Single ] Time Interrupt
[ \Single ] Data type: switch

Specifies whether the interrupt is to occur once or cyclically.

If the argument Single is set, the interrupt occurs only once. If the argument is
omitted, an interrupt will occur each time at the specified time.

Time Data type: num

The amount of time that must lapse before the interrupt occurs.

The value is specified in second if Single is set, this time may not be less than
0.05 seconds. The corresponding time for cyclical interrupts is 0.25 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.

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.

RAPID Reference Manual 8-ITimer-1

ITimer Instructions

If the interrupt occurs cyclically, a new computation of time is started from when the
interrupt occurs.

Example
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 com-
munication is working. If it is not, program execution is interrupted and an error
message appears.

Limitations
The same variable for interrupt identity cannot be used more than once, without being
first deleted. See Instructions - ISignalDI.

Syntax
ITimer
[ ’\’Single ’,’]
[ Time ’:=’ ] < expression (IN) of num >’,’
[ Interrupt ’:=’ ] < variable (VAR) of intnum > ’;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
More information on interrupt management Basic Characteristics- Interrupts

8-ITimer-2 RAPID Reference Manual

Instructions IVarValue

IVarValue Orders a variable value interrupt

IVarVal(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.

Examples
LOCAL PERS num adtVlt{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 IntAdap WITH AdapTrp;
IVarValue 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

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

RAPID Reference Manual 8-IVarValue-1

IVarValue Instructions

Arguments
IVarValue VarNo Value, Interrupt
VarNo Data type: num

The number of the variable to be supervised.

Value 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.

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.

Syntax
IVarValue
[ VarNo ’:=’ ] < expression (IN) of num >’,’
[ Value ’:=’ ] < persistent(PERS) of num >’,’
[ Interrupt ’:=’ ] < variable (VAR) of intnum > ’;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
More information on interrupt management Basic Characteristics- Interrupts

8-IVarValue-2 RAPID Reference Manual

Instructions IWatch

IWatch Activates an interrupt

IWatch (Interrupt Watch) is used to activate an interrupt which was previously ordered
but was deactivated with ISleep.

Example
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
The event connected to this interrupt generates interrupts once again. Interrupts gener-
ated during the time the ISleep instruction is in effect, however, are ignored.

Example
VAR intnum sig1int;
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 “Date types - err-
num”). The error can be handled in the error handler.

RAPID Reference Manual 8-IWatch-1

IWatch Instructions

Syntax
IWatch
[ Interrupt ‘:=’ ] < variable (VAR) of intnum > ‘;’

Related information
Described in:
Summary of interrupts RAPID Summary - Interrupts
Deactivating an interrupt Instructions - ISleep

8-IWatch-2 RAPID Reference Manual

Instructions label

label Line name

Label is used to name a line in the program. Using the GOTO instruction, this name
can then be used to move program execution.

Example
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.

A label hides global data and routines with the same name within the routine it is
located in.

Syntax
(EBNF)
<identifier>’:’

RAPID Reference Manual 8-label-1

label Instructions

Related information
Described in:
Identifiers Basic Characteristics-
Basic Elements
Moving program execution to a label Instructions - GOTO

8-label-2 RAPID Reference Manual

Instructions Load

Load Load a program module during execution

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 pro-
gram memory.

Example
Load ram1disk \File:="PART_A.MOD";

Load the program module PART_A.MOD from the ram1disk into the program
memory. ( ram1disk is a predefined string constant "ram1disk:").

Arguments
Load FilePath [\File]
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.

Program execution
Program execution waits for the program module to finish loading before proceeding
with the next instruction.

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.

After the program module is loaded it will be linked and initialised. The initialisation
of the loaded module sets all variables at module level to their init values. Unresolved
references will be accepted if the system parameter for Load is set (BindRef = NO).
However, when the program is started, the teach pendant function Program/File/Check
program will not check for unresolved references if the parameter BindRef = NO.
There will be a run time error on execution of an unresolved reference.

RAPID Reference Manual 8-Load-1

Load Instructions

Examples
Load "ram1disk:DOORDIR/DOOR1.MOD";

Load the program module DOOR1.MOD from the ram1disk at the directory
DOORDIR into the program memory.

Load "ram1disk:DOORDIR" \File:="DOOR1.MOD";

Same as above but another syntax.

Limitations
It is not allowed to load a program module that contains a main routine.

TRAP routines, system I/O events and other program tasks cannot execute during the
loading.

Avoid ongoing robot movements during the loading.

Avoid using the floppy disk for loading since reading from the floppy drive is very time
consuming.

A program stop during execution of the Load instruction results in a guard stop with
motors off and the error message "20025 Stop order timeout" will be displayed on the
Teach Pendant.

Error handling
If the file in the Load instructions cannot be found, then the system variable ERRNO
is set to ERR_FILNOTFND. If the module already is loaded into the program memory
then the system variable ERRNO is set to ERR_LOADED (see "Data types - errnum").
The errors above can be handled in an error handler.

Syntax
Load
[FilePath’:=’]<expression (IN) of string>
[’\’File’:=’ <expression (IN) of string>]’;’

8-Load-2 RAPID Reference Manual

Instructions Load

Related information
Described in:
Unload a program module Instructions - UnLoad
Accept unresolved references System Parameters - Controller
System Parameters - Tasks
System Parameters - BindRef

RAPID Reference Manual 8-Load-3

Load Instructions

8-Load-4 RAPID Reference Manual

Instructions MoveAbsJ

MoveAbsJMoves the robot to an absolute joint position

MoveAbsJ (Move Absolute Joint) is used to move the robot to an absolute position,
defined in axes positions.

This instruction need only be used when:

- 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 these data to calculating the load, TCP velocity, and the corner path. The
same tools can be used as 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.

Examples
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.

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 s.

Arguments
MoveAbsJ [ \Conc ] ToJointPos Speed [ \V ] | [ \T ] Zone [ \Z ]
Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. The argument is used to

shorten the cycle time when, for example, communicating with external equip-
ment, if synchronisation 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, move-
ment 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.
RAPID Reference Manual 8-MoveAbsJ-1
MoveAbsJ Instructions

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre 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 ] (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 substi-
tuted for the corresponding zone specified in the zone data.

Tool Data type: tooldata

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 decide 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 exter-
nal 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 decide the velocity and the corner path for the movement, is defined in
the work object.

8-MoveAbsJ-2 RAPID Reference Manual

Instructions MoveAbsJ

Program execution
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.

Examples
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;

The tool, grip3, is moved along a non-linear path to a 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 respec-
tively.

MoveAbsJ \Conc, *, v2000, z40, grip3;

The tool, grip3, is moved along a non-linear path to a absolute joint position
stored in the instruction. Subsequent logical instructions are executed while the
robot moves.

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.

Error handling
When running the program, a check is made that the arguments Tool and \WObj do not
contain contradictory data with regard to a movable or a stationary tool respectively.

Limitations
A movement with MoveAbsJ is not affected by active program displacement, but is
affected by active offset for external axes.

In order to be able to run backwards with the instruction MoveAbsJ involved, and

RAPID Reference Manual 8-MoveAbsJ-3

MoveAbsJ Instructions

avoiding problems with singular points or ambiguous areas, it is essential that the sub-
sequent instructions fulfil certain requirements, as follows (see Figure 1).

Singular point

MoveJ
MoveAbsJ

Ambiguous area

MoveAbsJ Any Move instr.

MoveAbsJ

Figure 1 Limitation for backward execution with MoveAbsJ.

Syntax
MoveAbsJ
[ ’\’ Conc ’,’ ]
[ ToJointPos ’:=’ ] < expression (IN) of jointtarget > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

8-MoveAbsJ-4 RAPID Reference Manual

Instructions MoveAbsJ

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of jointtarget Data Types - jointtarget
Definition of velocity Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion and I/O Principles
Concurrent program execution Motion and I/O Principles -
Synchronisation Using Logical Instructions

RAPID Reference Manual 8-MoveAbsJ-5

MoveAbsJ Instructions

8-MoveAbsJ-6 RAPID Reference Manual

Instructions MoveC

MoveC Moves the robot circularly

MoveC is used to move the tool centre point (TCP) circularly to a given destination.
During the movement, the orientation normally remains unchanged relative to the circle.

Examples
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.

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.

MoveL p1, v500, fine, tool1;

MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;

A complete circle is performed if the positions are the same as those shown in
Figure 1.

p1

p4 p2

p3
Figure 1 A complete circle is performed by two MoveC instructions.

Arguments
MoveC [ \Conc ] CirPoint ToPoint Speed [ \V ] | [ \T ] Zone [ \Z]
Tool [ \WObj ] [ \Corr ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. This argument is used to

shorten the cycle time when, for example, communicating with external
equipment, if synchronisation is not required.

RAPID Reference Manual 8-MoveC-1

MoveC Instructions

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.

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.

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).

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.

[ \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.

Tool Data type: tooldata

The tool in use when the robot moves. The tool centre point is the point that is
moved to the specified destination point.

8-MoveC-2 RAPID Reference Manual

Instructions MoveC

[ \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, 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.

Program execution
The robot and external units are moved to the destination point as follows:

- The TCP of the tool is moved circularly at constant programmed velocity.

- The tool is reorientated 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 2).
.

CirPoint

Tool orientation
Start point

ToPoint

Figure 2 Tool orientation during circular movement.

- The orientation at the circle point is not critical; 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.
- 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.

RAPID Reference Manual 8-MoveC-3

MoveC Instructions

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.

Examples
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.

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.

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
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.

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 programmed).

Make sure that the robot can reach the circle point during program execution and divide
the circle segment if necessary.

8-MoveC-4 RAPID Reference Manual

Instructions MoveC

Syntax
MoveC
[ ’\’ Conc ’,’ ]
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Writes to a corrections entry Instructions - CorrWrite
Motion in general Motion and I/O Principles
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Concurrent program execution Motion and I/O Principles -
Synchronisation Using Logical
Instructions

RAPID Reference Manual 8-MoveC-5

MoveC Instructions

8-MoveC-6 RAPID Reference Manual

Instructions MoveJ

MoveJ Moves the robot by joint movement

MoveJ is used to move the robot quickly from one point to another when that move-
ment 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.

Examples
MoveJ p1, vmax, z30, tool2;

The tool centre 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.

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 sec-
onds.

Arguments
MoveJ [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. The argument is used to

shorten the cycle time when, for example, communicating with external equip-
ment, if synchronisation 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, move-
ment instructions with the argument \Conc are not permitted.

If this argument is omitted the subsequent instruction is executed some time

before the robot has reached the programmed zone.

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the tool reorientation and external axes.

RAPID Reference Manual 8-MoveJ-1

MoveJ Instructions

[ \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 substi-
tuted for the corresponding zone specified in the zone data.

Tool Data type: tooldata

The tool in use when the robot moves. The tool centre 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 it is, the position is related to the world coor-
dinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified.

Program execution
The tool centre 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 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 position.

8-MoveJ-2 RAPID Reference Manual

Instructions MoveJ

Examples
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.

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.

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 > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion and I/O Principles
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Concurrent program execution Motion and I/O Principles -
Synchronisation Using Logical Instructions

RAPID Reference Manual 8-MoveJ-3

MoveJ Instructions

8-MoveJ-4 RAPID Reference Manual

Instructions Open

Open Opens a file or serial channel

Open is used to open a file or serial channel for reading or writing.

Example
VAR iodev logfile;
.
Open "flp1:LOGDIR" \File:= "LOGFILE1.DOC",logfile;

The file LOGFILE1.DOC in unit flp1: (diskette), directory LOGDIR, is opened

for writing. The reference name logfile is used later in the program when writing
to the file.

Arguments
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] | [\Bin]
Object Data type: string

The I/O object that is to be opened, e.g. "flp1:", "ram1disk:".

[\File] Data type: string

The name of the file. This name can also be specified in the argument Object,
e.g. "flp1: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/channel.

The arguments \Read, \Write, \Append and \Bin are mutually exclusive. If none of these
are specified, the instruction acts in the same way as the \Write argument.

[\Read] Data type: switch

Opens a character-based file or serial channel for reading. When reading from a
file, the reading is started from the beginning of the file.

[\Write] Data type: switch

Opens a character-based file or serial channel for writing. If the selected file
already exists, its contents are deleted. Anything subsequently written is written
at the start of the file.

RAPID Reference Manual 8-Open-1

Open Instructions

[\Append] Data type: switch

Opens a character-based file or serial channel for writing. If the selected file
already exists, anything subsequently written is written at the end of the file.

[\Bin] Data type: switch

Opens a binary serial channel for reading and writing.

Works as append, i.e. file pointer at end of file.

Example
VAR iodev printer;
.
Open "sio1:", printer \Bin;
Write printer, "This is a message to the printer";
Close printer;

The serial channel sio1: is opened for binary reading and writing. The reference
name printer is used later when writing to and closing the serial channel.

Program execution
The specified serial channel/file is activated so that it can be read from or written to.
Several files can be open on the same unit at the same time.

Error handling
If a file cannot be opened, 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] | [’\’Bin] ’;’

Related information
Described in:
Writing to and reading from RAPID Summary - Communication
serial channels and files

8-Open-2 RAPID Reference Manual

Instructions MoveL

MoveL Moves the robot linearly

MoveL is used to move the tool centre point (TCP) linearly to a given destination.
When the TCP is to remain stationary, this instruction can also be used to reorientate
the tool.

Example
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.

MoveL *, v1000\T:=5, fine, grip3;

The TCP of the tool, grip3, is moved linearly to a fine point stored in the
instruction (marked with an *). The complete movement takes 5 seconds.

Arguments
MoveL [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ] [ \Corr ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. This argument is used to

shorten the cycle time when, for example, communicating with external
equipment, if synchronisation 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.

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity for the
tool centre point, the tool reorientation and external axes.

RAPID Reference Manual 8-MoveL-1

MoveL Instructions

[ \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 specified in the zone data.

Tool Data type: tooldata

The tool in use when the robot moves. The tool centre 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 it is, the position is related to the world
coordinate system. If, on the other hand, a stationary tool or coordinated external
axes are used, 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 reorientated 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.

8-MoveL-2 RAPID Reference Manual

Instructions MoveL

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.

Examples
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.

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.

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 > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’

RAPID Reference Manual 8-MoveL-3

MoveL Instructions

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Writes to a corrections entry Instructions - CorrWrite
Motion in general Motion and I/O Principles
Coordinate systems Motion and I/O Principles -
Coordinate Systems
Concurrent program execution Motion and I/O Principles -
Synchronisation Using Logical
Instructions

8-MoveL-4 RAPID Reference Manual

Instructions PathResol

PathResol Override path resolution

PathResol (Path Resolution) is used to override the configured geometric path resolu-
tion (geometric sample time) defined in the system parameters for the manipulator.

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 argu-
ment of PathResol is decreased. Too low a value for PathResol argument may however
cause CPU load problems in some demanding applications. However, use of the stand-
ard configured path resolution (PathResol 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 argu-
ment of PathResol.

Low performance external axes may cause CPU load problems during coordination.
Increase the argument of PathResol.

Arc-welding with high frequency weaving may require high resolution of the interpo-
lated path. Decrease the argument of PathResol.

Small circles or combined small movements with direction changes can decrease the
path performance quality and increase the cycle time. Decrease the argument of Path-
Resol.

Gluing with large reorientations and small corner zones can cause speed variations.
Decrease the argument of PathResol.

Example
MoveJ p1,v1000,fine,tool1;
PathResol 150;

With the robot at a stop point, the path resolution is decreased to 150% of that
configured.

Arguments
PathResol Value
Value Data type: num

Override as a percent of the configured path resolution

RAPID Reference Manual 8-PathResol-1

PathResol Instructions

(a higher value decreases the path resolution).

100% corresponds to the configured path resolution.
Within the range 25-400%.

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 pro-
gram execution of movements (default path level and path level after StorePath) and
also during jogging.

The default value for override of path resolution 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 resolution can be read from the variable C_MOTSET
(data type motsetdata) in component pathresol.

Limitations
The robot must be standing still at a stop point before overriding the path resolution.
When there is a corner path in the program, the system will instead create a stop point
(warning 50146) and it is not possible to restart in this instruction following a power
failure.

Syntax
PathResol
[Value ’:=’ ] < expression (IN) of num> ’;’

Related information
Described in:
Positioning instructions Motion and I/O Principles- Movements
Motion settings RAPID Summary - Motion Settings
Current override of path resolution Data Types - System Data

8-PathResol-2 RAPID Reference Manual

Instructions PDispOff

PDispOff Deactivates program displacement

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.

Examples
PDispOff;

Deactivation of a program displacement.

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.

Program execution
Active program displacement is reset. This means that the program displacement coor-
dinate system is the same as the object coordinate system, and thus all programmed
positions will be related to the latter.

Syntax
PDispOff ‘;’

Related information
Described in:
Definition of program displacement Instructions - PDispOn
using two positions
Definition of program displacement using Instructions - PDispSet
values

RAPID Reference Manual 8-PDispOff-1

PDispOff Instructions

8-PDispOff-2 RAPID Reference Manual

Instructions PDispOn

PDispOn Activates program displacement

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.

Examples
MoveL p10, v500, z10, tool1;
PDispOn \ExeP:=p10, p20, tool1;

Activation of a program displacement (parallel movement). This is calculated

based on the difference between positions p10 and p20.

MoveL p10, v500, fine, tool1;

PDispOn *, tool1;

Activation of a program displacement (parallel movement). Since a stop point

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.

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 robot’s new position at the time of the program execution.

If this argument is omitted, the robot’s current position at the time of the program
execution is used.

ProgPoint (Programmed Point) Data type: robtarget

The robot’s original position at the time of programming.

RAPID Reference Manual 8-PDispOn-1

PDispOn Instructions

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 it is, the position is related to the world
coordinate system. However, if a stationary TCP or coordinated external axes are
used, 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
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 1.

y
New
position, ExeP

y
Original
position, ProgPoint

x
Program displacement Program Displacement Coordinate System
(ProgDisp)
x
Object Coordinate System

Figure 1 Displacement of a programmed position using program displacement.

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 any one 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, 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.

If the argument \Rot is used, the rotation is also calculated based on the tool orientation

8-PDispOn-2 RAPID Reference Manual

Instructions PDispOn

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 coordinate system (see Figure 2).

New
y position, ExeP

y
New
Original
position, ProgPoint
orientation x

Original
orientation Program displacement Program Displacement Coordinate System
(ProgDisp)
x
Object Coordinate System

Figure 2 Translation and rotation of a programmed position.

The program displacement is automatically reset

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Example
PROC draw_square()
PDispOn *, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
PDispOff;
ENDPROC
.
MoveL p10, v500, fine, tool1;
draw_square;
MoveL p20, v500, fine, tool1;
draw_square;
MoveL p30, v500, fine, tool1;
draw_square;

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 Figure 3.

RAPID Reference Manual 8-PDispOn-3

PDispOn Instructions

p30
p10
p20

Figure 3 Using program displacement, motion patterns can be reused.

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 movement). 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> ] ‘;’

Related information
Described in:
Deactivation of program displacement Instructions - PDispOff
Definition of program displacement using Instructions - PDispSet
values
Coordinate systems Motion Principles - Coordinate Systems
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
More examples Instructions - PDispOff

8-PDispOn-4 RAPID Reference Manual

Instructions PDispSet

PDispSet Activates program displacement using a value

PDispSet (Program Displacement Set) is used to define and activate a program dis-
placement using values.

Program displacement is used, for example, when similar motion patterns are repeated
at several different places in the program.

Example
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 coordi-
nate system, in the direction of the positive x-axis (see Figure 1).
- As long as this program displacement is active, all positions will be displaced
100 mm in the direction of the x-axis.

Object ProgDisp

100 X
Figure 1 A 100 mm-program displacement along the x-axis.

Arguments
PDispSet DispFrame
DispFrame (Displacement Frame) Datatyp: pose

The program displacement is defined as data of the type pose.

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 Fig-
ure 2.

RAPID Reference Manual 8-PDispSet-1

PDispSet Instructions

New
y position

y
New
Original
position
orientation x

Original
orientation Program displacement Program Displacement Coordinate System
(ProgDisp)
x
Object Coordinate System

Figure 2 Translation and rotation of a programmed position.

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 any one 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 executing from the beginning.

Syntax
PDispSet
[ DispFrame ’:=’ ] < expression (IN) of pose> ’;’

Related information
Described in:
Deactivation of program displacement Instructions - PDispOff
Definition of program displacement Instructions - PDispOn
using two positions
Definition of data of the type pose Data Types - pose
Coordinate systems Motion Principles- Coordinate Sys-
tems
Examples of how program displacement Instructions - PDispOn
can be used

8-PDispSet-2 RAPID Reference Manual

Instructions ProcCall

ProcCall Calls a new procedure

A procedure call is used to transfer program execution to another procedure. When the
procedure has been fully executed, 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 behaviour of the procedure and make it possible for the same procedure to
be used for different things.

Examples
weldpipe1;

Calls the weldpipe1 procedure.

errormessage;
Set do1;
.

PROC errormessage()
TPWrite "ERROR";
ENDPROC

The errormessage procedure is called. When this procedure is ready, program

execution returns to the instruction following the procedure call, Set do1.

Arguments
Procedure { Argument }
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).

Example
weldpipe2 10, lowspeed;

Calls the weldpipe2 procedure, including two arguments.

RAPID Reference Manual 8-ProcCall-1

ProcCall Instructions

weldpipe3 10 \speed:=20;

Calls the weldpipe3 procedure, including one mandatory and one optional
argument.

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, but more than 10 levels are usually permitted.

Syntax
(EBNF)
<procedure> [ <argument list> ] ’;’

<procedure> ::= <identifier>

Related information
Described in:
Arguments, parameters Basic Characteristics - Routines
More examples Program Examples

8-ProcCall-2 RAPID Reference Manual

Instructions PulseDO

PulseDO Generates a pulse on a digital output signal

PulseDO is used to generate a pulse on a digital output signal.

Examples
PulseDO do15;

A pulse with a pulse length of 0.2 s is generated on the output signal do15.

PulseDO \PLength:=1.0, ignition;

A pulse of length 1.0 s is generated on the signal ignition.

Arguments
PulseDO [ \PLength ] Signal
[ \PLength ] (Pulse Length) Data type: num

The length of the pulse in seconds (0.1 - 32s).

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.

Program execution
A pulse is generated with a specified pulse length (see Figure 1).
:

Pulse length

1
Signal level
0
Execution of the instruction PulseDO
Execution of the instruction PulseDO
1
Signal level
0
Figure 1 Generation of a pulse on a digital output signal.

RAPID Reference Manual 8-PulseDO-1

PulseDO Instructions

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 of 0.01 seconds. Programmed values that differ
from this are rounded off.

Syntax
PulseDO
[ ’\’ PLength ’:=’ < expression (IN) of num > ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

8-PulseDO-2 RAPID Reference Manual

Instructions RAISE

RAISE Calls an error handler

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.

Example
IF ...
IF ...
IF ...
RAISE escape1;
.
ERROR
IF ERRNO=escape1 RAISE;

The routine is interrupted to enable it to remove itself from a low level in the
program. A jump occurs to the error handler of the called routine.

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, the error number may not
be specified. In this case, the error is propagated to the error handler of the calling
routine.

Program execution
Program execution continues in the routine’s error handler. After the error handler has

RAPID Reference Manual 8-RAISE-1

RAISE Instructions

been executed, 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).

If the RAISE instruction is present in a routine’s error handler, program execution

continues in the error handler of the routine that called the routine in question. The
same error number remains active.

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, 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>

Related information
Described in:
Error handling Basic Characteristics -
Error Recovery
Booking error numbers Instructions - BookErrNo

8-RAISE-2 RAPID Reference Manual

Instructions Reset

Reset Resets a digital output signal

Reset is used to reset the value of a digital output signal to zero.

Examples
Reset do15;

The signal do15 is set to 0.

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, this instruction causes the physical channel to be set to 1.

Syntax
Reset
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’

RAPID Reference Manual 8-Reset-1

Reset Instructions

Related information
Described in:
Setting a digital output signal Instructions - Set
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O System Parameters

8-Reset-2 RAPID Reference Manual

Instructions RestoPath

RestoPath Restores the path after an interrupt

RestoPath is used to restore a path that was stored at a previous stage using the instruc-
tion StorePath.

Example
RestoPath;

Restores the path that was stored earlier using StorePath.

Program execution
The current movement path of the robot and the external axes is deleted and the path
stored earlier using StorePath is restored. Nothing moves, however, until the instruc-
tion StartMove is executed or a return is made using RETRY from an error handler.

Example
ArcL p100, v100, seam1, weld5, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
RETRY;
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, program execution continues in the error handler
of the routine, which, in turn, calls gun_cleaning. The movement path being exe-
cuted 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 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.

RAPID Reference Manual 8-RestoPath-1

RestoPath Instructions

Limitations
The movement being executed at the time must first be stopped, using a stop point for
example, before the instruction RestoPath is executed.

The movement instruction which precedes this instruction should be terminated with a
stop point, in order to be able to restart in this instruction following a power failure.

Syntax
RestoPath‘;’

Related information
Described in:
Storing paths Instructions - StorePath
More examples Instructions - StorePath

8-RestoPath-2 RAPID Reference Manual

Instructions RETRY

RETRY Restarts following an error

RETRY is used to restart program execution after an error has occurred.

Example
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),

a jump is made to the error handler, which initialises 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
If the maximum number of retries (4 retries) is exceeded, the program execution stops
with an error message and the system variable ERRNO is set to ERR_EXCRTYMAX
(see "Data types - errnum").

Limitations
The instruction can only exist in a routine’s error handler. If the error was created using
a RAISE instruction, program execution cannot be restarted with a RETRY instruction,
then the instruction TRYNEXT should be used.

Syntax
RETRY ’;’

RAPID Reference Manual 8-RETRY-1

RETRY Instructions

Related information
Described in:
Error handlers Basic Characteristics-
Error Recovery
Continue with the next instruction Instructions - TRYNEXT

8-RETRY-2 RAPID Reference Manual

Instructions RETURN

RETURN Finishes execution of a routine

RETURN is used to finish the execution of a routine. If the routine is a function, the
function value is also returned.

Examples
errormessage;
Set do1;
.

PROC errormessage()
TPWrite "ERROR";
RETURN;
ENDPROC

The errormessage procedure is called. When the procedure arrives at the

RETURN instruction, program execution returns to the instruction following the
procedure call, Set do1.

FUNC num abs_value(num value)

IF value<0 THEN
RETURN -value;
ELSE
RETURN value;
ENDIF
ENDFUNC

The function returns the absolute value of a number.

Arguments
RETURN [ Return value ]
Return value Data type: According to the function decla-
ration

The return value of a function.

The return value must be specified in a RETURN instruction present in a func-

tion.

If the instruction is present in a procedure or trap routine, a return value may not
be specified.

RAPID Reference Manual 8-RETURN-1

RETURN Instructions

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 stop has been ordered at the end of the cycle, 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).
In a function:
The function value is returned.

Syntax
(EBNF)
RETURN [ <expression> ]’;’

Related information
Described in:
Functions and Procedures Basic Characteristics - Routines
Trap routines Basic Characteristics - Interrupts
Error handlers Basic Characteristics - Error Recovery

8-RETURN-2 RAPID Reference Manual

Instructions Rewind

Rewind Rewind file position

Rewind sets the file position to the beginning of the file.

Example
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.

RAPID Reference Manual 8-Rewind-1

Rewind Instructions

Example
! IO device and numeric variable for use together with a binary file
VAR iodev dev;
VAR num bindata;

! Open the binary file with \Write switch to erase old contents
Open "flp1:"\File := "bin_file",dev \Write;
Close dev;

! Open the binary file with \Bin switch for binary read and write access
Open "flp1:"\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);
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.

Syntax
Rewind
[IODevice ’:=’] <variable (VAR) of iodev>’;’

Related information
Described in:
Opening (etc.) of files RAPID Summary - Communication

8-Rewind-2 RAPID Reference Manual

Instructions SearchC

SearchC Searches circularly using the robot

SearchC (Search Circular) is used to search for a position when moving the tool centre
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. Using the SearchC instruction, the outline coordinates of a work
object can be obtained.

Examples
SearchC sen1, 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 sen1 changes to active, the position is stored
in sp.

SearchC \Stop, sen1, sp, cirpoint, p10, v100, probe;

The TCP of the probe is moved circularly towards the position p10. When the
value of the signal sen1 changes to active, the position is stored in sp and the
robot stops immediately.

Arguments
SearchC [ \Stop ] | [ \PStop ] | [ \Sup ] Signal [ \Flanks ] SearcPoint
CirPoint ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ] [ \Corr ]
[ \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.

[ \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 small distance before it stops and is not moved
back to the searched position, i.e. to the position where the signal changed.

RAPID Reference Manual 8-SearchC-1

SearchC Instructions

[ \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, program execution
stops.

If the argument \Stop, \PStop or \Sup is omitted, the movement continues (flying
search) to the position specified in the ToPoint argument (same as with argument
\Sup),

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 a positive value already at the beginning
of a search process, 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 Data type: robtarget

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.

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the external axes and of the tool reorientation.

8-SearchC-2 RAPID Reference Manual

Instructions SearchC

[ \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 centre 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 positions in the
instruction are related.

This argument can be omitted, and if it is, 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 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, when this argument is present.

Program execution
See the instruction MoveC for information about circular movement.

The movement is always ended with a stop point, i.e. the robot is stopped at the
destination point.

When a flying search is used, i.e. the \Sup argument is specified, the robot movement
always continues to the programmed destination point. When a search is made using
the switch \Stop or \PStop, the robot movement stops when the first signal 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 1.

RAPID Reference Manual 8-SearchC-3

SearchC Instructions

Without switch \Flanks With switch \Flanks

1 1
0 time 0 time

= Instruction reaction when

the signal changes

Figure 1 Flank-triggered signal detection (the position is stored when the signal is changed the
first time only).

Example
SearchC \Sup, sen1\Flanks, sp, cirpoint, p10, v100, probe;

The TCP of the probe is moved circularly towards the position p10. When the
value of the signal sen1 changes to active or passive, the position is stored in sp.
If the value of the signal changes twice, program execution stops.

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. Figure 2 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 with that programmed).

Start point with

zone data z10 Search object

End point

Start point with

zone data fine

Figure 2 A match is made on the wrong side of the object because the wrong zone data was used.

8-SearchC-4 RAPID Reference Manual

Instructions SearchC

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) 12-16 mm

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 has already a positive value at the beginning of the search process -
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 / 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 forward / ERR_WHLSEARCH

No position is returned and the movement always continues to the programmed
destination point. Program execution stops with an error message.

Instruction backward
During backward execution, the instruction just carries out the movement
without any signal supervision.

RAPID Reference Manual 8-SearchC-5

SearchC Instructions

Syntax
SearchC
[ ’\’ Stop’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ Sup ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint ’:=’ ] < var or pers (INOUT) of robtarget > ’,’
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 ]’;’

Related information
Described in:
Linear searches Instructions - SearchL
Writes to a corrections entry Instructions - CorrWrite
Circular movement Motion and I/O Principles -
Positioning during Program Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Using error handlers RAPID Summary - Error Recovery
Motion in general Motion and I/O Principles
More searching examples Instructions - SearchL

8-SearchC-6 RAPID Reference Manual

Instructions SearchL

SearchL Searches linearly using the robot

SearchL (Search Linear) is used to search for a position when moving the tool centre
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.

Examples
SearchL sen1, 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 sen1 changes to active, the position is stored
in sp.

SearchL \Stop, sen1, sp, p10, v100, probe;

The TCP of the probe is moved linearly towards the position p10. When the
value of the signal sen1 changes to active, the position is stored in sp and the
robot stops immediately.

Arguments
SearchL [ \Stop ] | [ \PStop ] |[ \Sup ] Signal [ \Flanks ] SearchPoint
ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ] [ \Corr ]
[ \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.

[ \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 small distance before it stops and is not moved
back to the searched position, i.e. to the position where the signal changed.

RAPID Reference Manual 8-SearchL-1

SearchL Instructions

[\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, program execution
stops.

If the argument \Stop, \PStop or \Sup is omitted, the movement continues (flying
search) to the position specified in the ToPoint argument (same as with argument
\Sup).

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, 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 Data type: robtarget

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.

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the external axes and of 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

8-SearchL-2 RAPID Reference Manual

Instructions SearchL

moves. It is then substituted for the corresponding speed data.

Tool Data type: tooldata

The tool in use when the robot moves. The tool centre 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 it is, 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 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
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, the robot movement
always continues to the programmed destination point. If a search is made using the
switch \Stop or \PStop, the robot movement stops when the first signal 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 1.

Without switch \Flanks With switch \Flanks

1 1
0 time 0 time

= Instruction reaction when

the signal changes

Figure 1 Flank-triggered signal detection (the position is stored when the signal is changed the
first time only).

RAPID Reference Manual 8-SearchL-3

SearchL Instructions

In order to get a fast response, use the interrupt-driven sensor signals sen1, sen2 or sen3
on the system board.

Examples
SearchL \Sup, sen1\Flanks, sp, p10, v100, probe;

The TCP of the probe is moved linearly towards the position p10. When the value
of the signal sen1 changes to active or passive, the position is stored in sp. If the
value of the signal changes twice, program execution stops after the search
process is finished.

SearchL \Stop, sen1, sp, p10, v100, tool1;

MoveL sp, v100, fine, 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 sen1 will be done
and if the signal already has a positive value, the program execution stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10. When the
value of the signal sen1 changes to active, the position is stored in sp and the
robot is moved back to this point. Using program displacement, the robot then
moves relative to the searched position, sp.

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. Figure 2 to Figure 4 illustrate examples of things that may go wrong
when zone data other than fine is used.

Start point with

zone data fine

Start point with

zone data z10 Search object
End point

Figure 2 A match is made on the wrong side of the object because the wrong zone data was used.

8-SearchL-4 RAPID Reference Manual

Instructions SearchL

Start point with

zone data fine

Start point with

zone data z10 Search object
End point

Figure 3 No match detected because the wrong zone data was used.

Start point with

zone data fine

Start point with Search object

zone data z10
End point

Figure 4 No match detected because the wrong zone data was used.

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) 12-16 mm

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 -
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 / 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.

RAPID Reference Manual 8-SearchL-5

SearchL Instructions

Instruction forward / ERR_WHLSEARCH

No position is returned and the movement continues to the programmed
destination point. Program execution stops with an error message.

Instruction backward
During backward execution, the instruction just carries out the movement
without any signal supervision.

Example
VAR num fk;
.
MoveL p10, v100, fine, tool1;
SearchL \Stop, sen1, sp, p20, v100, tool1;
.
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
MoveL p10, v100, fine, tool1;
RETRY;
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”,””,””,””,”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, 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, the robot searches
from position p10 to p20. If no signal detection occurs, the robot moves back to
p10 and tries once more.

8-SearchL-6 RAPID Reference Manual

Instructions SearchL

Syntax
SearchL
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ Sup ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldi >
[‘\’ Flanks] ’,’
[ SearchPoint ’:=’ ] < var or pers (INOUT) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 ]’;’

Related information
Described in:
Circular searches Instructions - SearchC
Writes to a corrections entry Instructions - CorrWrite
Linear movement Motion and I/O Principles -
Positioning during Program
Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Using error handlers RAPID Summary - Error Recovery
Motion in general Motion and I/O Principles

RAPID Reference Manual 8-SearchL-7

SearchL Instructions

8-SearchL-8 RAPID Reference Manual

Instructions Set

Set Sets a digital output signal

Set is used to set the value of a digital output signal to one.

Examples
Set do15;

The signal do15 is set to 1.

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
The true value depends on the configuration of the signal. If the signal is inverted in
the system parameters, this instruction causes the physical channel to be set to zero.

Syntax
Set
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’

RAPID Reference Manual 8-Set-1

Set Instructions

Related information
Described in:
Setting a digital output signal to zero Instructions - Reset
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O System Parameters

8-Set-2 RAPID Reference Manual

Instructions SetAO

SetAO Changes the value of an analog output signal

SetAO is used to change the value of an analog output signal.

Example
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
The programmed value is scaled (in accordance with the system parameters) before it
is sent on the physical channel. See Figure 1.

Physical value of the

output signal (V, mA, etc.)

MAX SIGNAL

MAX PROGRAM

Logical value in the

program
MIN PROGRAM

MIN SIGNAL

Figure 1 Diagram of how analog signal values are scaled.

RAPID Reference Manual 8-SetAO-1

SetAO Instructions

Example
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
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O System Parameters

8-SetAO-2 RAPID Reference Manual

Instructions SetDO

SetDO Changes the value of a digital output signal

SetDO is used to change the value of a digital output signal, with or without a time-
delay.

Examples
SetDO do15, 1;

The signal do15 is set to 1.

SetDO weld, off;

The signal weld is set to off.

SetDO \SDelay := 0.2, weld, high;

The signal weld is set to high with a delay of 0.2 s. Program execution, however,
continues with the next instruction.

Arguments
SetDO [ \SDelay ] Signal Value
[ \SDelay ] (Signal Delay) Data type: num

Delays the change for the amount of time given in seconds (0.1 - 32s).
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.

If the argument is omitted, the value of the signal is changed directly.

Signal Data type: signaldo

The name of the signal to be changed.

Value Data type: dionum

The desired value of the signal.

The value is specified as 0 or 1.

RAPID Reference Manual 8-SetDO-1

SetDO Instructions

Program execution
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters, the value of the physical channel is the opposite.

Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression (IN) of num > ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’
[ Value ’:=’ ] < expression (IN) of dionum > ’;’

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

8-SetDO-2 RAPID Reference Manual

Instructions SetGO

SetGO Changes the value of a group

of digital output signals
SetGO is used to change the value of a group of digital output signals, with or without
a time delay.

Example
SetGO go2, 12;

The signal go2 is set to 12. If go2 comprises 4 signals, e.g. outputs 6-9, outputs
6 and 7 are set to zero, while outputs 8 and 9 are set to one.

SetGO \SDelay := 0.4, go2, 10;

The signal go2 is set to 10. If go2 comprises 4 signals, e.g. outputs 6-9, outputs
6 and 8 are set to zero, while outputs 7 and 9 are set to one, with a delay of 0.4 s.
Program execution, however, continues with the next instruction.

Arguments
SetGO [ \SDelay ] Signal Value
[ \SDelay ] (Signal Delay) Data type: num

Delays the change for the period of time stated in seconds (0.1 - 32s).
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, the value is 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).

The permitted value is dependent on the number of signals in the group:

RAPID Reference Manual 8-SetGO-1

SetGO Instructions

No. of signals Permitted value No. of signals Permitted value

1 0-1 9 0 - 511
2 0-3 10 0 - 1023
3 0-7 11 0 - 2047
4 0 - 15 12 0 - 4095
5 0 - 31 13 0 - 8191
6 0 - 63 14 0 - 16383
7 0 - 127 15 0 - 32767
8 0 - 255 16 0 - 65535

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.

Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression (IN) of num > ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signalgo > ’,’
[ Value ’:=’ ] < expression (IN) of num > ’;’

Related information
Described in:
Other input/output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O (system parameters) System Parameters

8-SetGO-2 RAPID Reference Manual

Instructions SingArea

SingArea Defines interpolation around singular points

SingArea is used to define how the robot is to move in the proximity of singular points.

Examples
SingArea \Wrist;

The orientation of the tool may be changed slightly in order to pass a singular
point (axes 4 and 6 in line).

SingArea \Off;

The tool orientation is not allowed to differ from the programmed orientation. If
a singular point is passed, one or more axes may perform a sweeping movement,
resulting in a reduction in velocity.

Arguments
SingArea [ \Wrist] | [ \Off]
[ \Wrist ] Data type: switch

The tool orientation is allowed to differ somewhat in order to avoid wrist singu-
larity. Used when axes 4 and 6 are parallel (axis 5 at 0 degrees).

[\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 in singular points.

Program execution
If the arguments \Wrist is specified, the orientation is joint-interpolated to avoid singu-
lar 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.

RAPID Reference Manual 8-SingArea-1

SingArea Instructions

By default, or if none of the arguments are specified, program execution automatically

uses the /Off argument. This is automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Limitations
Only one of the arguments can be specified.

Syntax
SingArea
[ ’\’ Wrist ] | [ ’\’ Off ] ’;’

Related information
Described in:
Singularity Motion Principles- Singularity
Interpolation Motion Principles - Positioning during
Program Execution
-

8-SingArea-2 RAPID Reference Manual

Instructions SoftAct

SoftAct Activating the soft servo

SoftAct (Soft Servo Activate) is used to activate the so called ”soft” servo on any of the
robot axes.

Example
SoftAct 3, 20;

Activation of soft servo on axis 3, with softness value 20%.

SoftAct 1, 90 \Ramp:=150;

Activation of the soft servo on axis 1, with softness value 90% and ramp
factor 150%.

Arguments
SoftAct Axis Softness [\Ramp ]
Axis Data type: num

Number of current axis on the robot (1 - 6).

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 %.

Program execution
Softness is activated at the value specified for the current axis. The softness value is
valid for all movements, until a new softness value is programmed for the current axis,
or until the soft servo is deactivated by an instruction.

RAPID Reference Manual 8-SoftAct-1

SoftAct Instructions

Limitations
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
[Axis ’:=’ ] < expression (IN) of num> ’,’
[Softness ’:=’ ] < expression (IN) of num>
[ ’\’Ramp ’:=’ < expression (IN) of num> ]’;’

Related information
Described in:
Behaviour with the soft servo engaged Motion and I/O Principles- Positioning
during program execution

8-SoftAct-2 RAPID Reference Manual

Instructions SoftDeact

SoftDeact Deactivating the soft servo

SoftDeact (Soft Servo Deactivate) is used to deactivate the so called ”soft” servo on all
robot axes.

Example
SoftDeact;

Deactivating the soft servo on all axes.

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 deac-
tivating 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 rampfactor is 100 %.

Program execution
The soft servo is deactivated on all axes.

Syntax
SoftDeact
[ ’\’Ramp ’:=’ < expression (IN) of num> ]’;’

Related information
Described in:
Activating the soft servo Instructions - SoftAct

RAPID Reference Manual 8-SoftDeact-1

SoftDeact Instructions

8-SoftDeact-2 RAPID Reference Manual

Instructions StartMove

StartMove Restarts robot motion

StartMove is used to resume robot and external axes motion when this has been
stopped by the instruction StopMove.

Example
StopMove;
WaitDI ready_input, 1;
StartMove;

The robot starts to move again when the input ready_input is set.

Program execution
Any processes associated with the stopped movement are restarted at the same time as
motion resumes.

Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a start
of the interrupted movement, the system variable ERRNO is set to ERR_PATHDIST.
This error can then be handled in the error handler.

Syntax
StartMove’;’

Related information
Described in:
Stopping movements Instructions - StopMove
More examples Instructions - StorePath
-

RAPID Reference Manual 8-StartMove-1

StartMove Instructions

8-StartMove-2 RAPID Reference Manual

Instructions Stop

Stop Stops program execution

Stop is used to temporarily stop program execution.

Program execution can also be stopped using the instruction EXIT. This, however,
should only be done if a task is complete, or if a fatal error occurs, since program
execution cannot be restarted with EXIT.

Example
TPWrite "The line to the host computer is broken";
Stop;

Program execution stops after a message has been written on the teach pendant.

Arguments
Stop [ \NoRegain ]
[ \NoRegain ] Data type: switch

Specifies for the next program start in manual mode, whether or not the robot and
external axes should regain to the stop position. In automatic mode the robot and
external axes always regain to the stop position.

If the argument NoRegain is set, the robot and external axes will not regain 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, the robot displays a question on the teach pendant.
The user can then answer, whether or not the robot should regain to the stop
position.

Program execution
The instruction stops program execution as soon as the robot and external axes reach
the programmed destination point for the movement it is performing at the time.
Program execution can then be restarted from the next instruction.

If there is a Stop instruction in some event routine, the routine will be executed from
the beginning in the next event.

RAPID Reference Manual 8-Stop-1

Stop Instructions

Example
MoveL p1, v500, fine, tool1;
TPWrite “Jog the robot to the position for pallet corner 1”;
Stop \NoRegain;
p1_read := CRobT();
MoveL p2, v500, z50, tool1;

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.

Limitations
The movement instruction which precedes this instruction should be terminated with a
stop point, in order to be able to restart in this instruction following a power failure.

Syntax
Stop
[ ’\’ NoRegain ]’;’

Related information
Described in:
Stopping after a fatal error Instructions - EXIT
Terminating program execution Instructions - EXIT
Only stopping robot movements Instructions - StopMove

8-Stop-2 RAPID Reference Manual

Instructions StopMove

StopMove Stops robot motion

StopMove is used to stop robot and external axes movements temporarily. If the
instruction StartMove is given, movement resumes.

This instruction can, for example, be used in a trap routine to stop the robot temporarily
when an interrupt occurs.

Example
StopMove;
WaitDI ready_input, 1;
StartMove;

The robot movement is stopped until the input, ready_input, is set.

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 without waiting for the robot and external axes to stop
(standing still).

Examples
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();
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

RAPID Reference Manual 8-StopMove-1

StopMove Instructions

interrupt routine go_to_home_pos. The current movement is stopped

immediately 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.

VAR intnum intno1;

...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;

TRAP go_to_home_pos ()
VAR robtarget p10;

StorePath;
p10:=CRobT();
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L 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.

Syntax
StopMove’;’

Related information
Described in:
Continuing a movement Instructions - StartMove
Interrupts RAPID Summary - Interrupts
Basic Characteristics- Interrupts

8-StopMove-2 RAPID Reference Manual

Instructions StorePath

StorePath Stores the path when an interrupt occurs

StorePath is used to store the movement path being executed when an error or interrupt
occurs. The error handler or trap routine can then start a new movement and, following
this, restart the movement that was stored earlier.

This instruction can be used to go to a service position or to clean the gun, for example,
when an error occurs.

Example
StorePath;

The current movement path is stored for later use.

Program execution
The current movement path of the robot and external axes is saved. After this, another
movement can be started in a trap routine or an error handler. When the reason for the
error or interrupt has been rectified, the saved movement path can be restarted.

Example
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 and the normal movement is
restarted.

Limitations
Only one movement path can be stored at a time.

RAPID Reference Manual 8-StorePath-1

StorePath Instructions

Syntax
StorePath‘;’

Related information
Described in:
Restoring a path Instructions - RestoPath
More examples Instructions - RestoPath

8-StorePath-2 RAPID Reference Manual

Instructions TEST

TEST Depending on the value of an expression ...

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, the IF..ELSE instruction can also be used.

Example
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} : ...}
[ DEFAULT: ...] ENDTEST
Test data Data type: All

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 exe-
cuted.

Program execution
The test data is compared with the test values in the first CASE condition. If the com-
parison is true, the associated instructions are executed. After that, program execution
continues with the instruction following ENDTEST.

If the first CASE condition is not satisfied, other CASE conditions are tested, and so
on. If none of the conditions are satisfied, the instructions associated with DEFAULT
are executed (if this is present).

RAPID Reference Manual 8-TEST-1

TEST Instructions

Syntax
(EBNF)
TEST <expression>
{( CASE <test value> { ’,’ <test value> } ’:’
<instruction list> ) | <CSE> }
[ DEFAULT ’:’ <instruction list> ]
ENDTEST

<test value> ::= <expression>

Related information
Described in:
Expressions Basic Characteristics - Expressions

8-TEST-2 RAPID Reference Manual

Instructions TPErase

TPErase Erases text printed on the teach pendant

TPErase (Teach Pendant Erase) is used to clear the display of the teach pendant.

Example
TPErase;
TPWrite "Execution started";

The teach pendant display is cleared before Execution started is written.

Program execution
The teach pendant display is completely cleared of all text. The next time text is writ-
ten, it will be entered on the uppermost line of the display.

Syntax
TPErase;

Related information
Described in:
Writing on the teach pendant RAPID Summary - Communication

RAPID Reference Manual 8-TPErase-1

TPErase Instructions

8-TPErase-2 RAPID Reference Manual

Instructions TPReadFK

TPReadFK Reads function keys

TPReadFK (Teach Pendant Read Function Key) is used to write text above the
functions keys and to find out which key is depressed.

Example
TPReadFK reg1, "More ?", "", "", "", "Yes", "No";

The text More ? is written on the teach pendant display and the function keys 4
and 5 are activated by means of the text strings Yes and No respectively (see
Figure 1). 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 is depressed.

More?

Yes No

Figure 1 The operator can input information via the function keys.

Arguments
TPReadFK Answer Text FK1 FK2 FK3 FK4 FK5 [\MaxTime]
[\DIBreak] [\BreakFlag]
Answer 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, 1 is returned, and so on.

Text Data type: string

The information text to be written on the display (a maximum of 80

characters).

FKx (Function key text) Data type: string

The text to be written as a prompt for the appropriate function key (a maximum
of 7 characters). FK1 is the left-most key.

Function keys without prompts are specified by an empty string "".

RAPID Reference Manual 8-TPReadFK-1

TPReadFK Instructions

[\MaxTime] Data type: num

The maximum amount of time [s] that program execution waits. If no function key
is depressed 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 function key is
depressed 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.

[\BreakFlag] Data type: errnum

A variable that will hold the error code if maxtime or dibreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME and ERR_TP_ DIBREAK 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. Strings longer than the width of the teach pendant
(40 characters) are split into two lines.

Prompts are written above the appropriate function keys. Keys without prompts are
deactivated.

Program execution waits until one of the activated function keys is depressed.

Description of concurrent TPReadFK or TPReadNum request on Teach Pendant (TP

request) from same or other program tasks:

• New TP request from other program task 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)

Example
VAR errnum errvar;
...
TPReadFK reg1, "Go to service position?", "", "", "", "Yes", "No" \MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 or OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;

8-TPReadFK-2 RAPID Reference Manual

Instructions TPReadFK

END IF
IF errvar = ERR_TP_MAXTIME EXIT;

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, the
execution is terminated.

Syntax
TPReadFK
[Answer’:=’] <var or pers (INOUT) of num>’,’
[Text’:=’] <expression (IN) of string>’,’
[FK1 ’:=’] <expression (IN) of string>’,’
[FK2 ’:=’] <expression (IN) of string>’,’
[FK3 ’:=’] <expression (IN) of string>’,’
[FK4 ’:=’] <expression (IN) of string>’,’
[FK5 ’:=’] <expression (IN) of string>
[’\’MaxTime ’:=’ <expression (IN) of num>]
[’\’DIBreak ’:=’ <variable (VAR) of signaldi>]
[’\’BreakFlag ’:=’ <var or pers (INOUT) of errnum>]’;’

Related information
Described in:
Writing to and reading from RAPID Summary - Communication
the teach pendant
Replying via the teach pendant Running Production

RAPID Reference Manual 8-TPReadFK-3

TPReadFK Instructions

8-TPReadFK-4 RAPID Reference Manual

Instructions TPReadNum

TPReadNum Reads a number from the teach pendant

TPReadNum (Teach Pendant Read Numerical) is used to read a number from the teach
pendant.

Example
TPReadNum reg1, “How many units should be produced?“;

The text How many units should be produced? is written on the teach pendant
display. Program execution waits until a number has been input from the numeric
keyboard on the teach pendant. That number is stored in reg1.

Arguments
TPReadNum Answer String [\MaxTime] [\DIBreak]
[\BreakFlag]
Answer Data type: num

The variable for which the number input via the teach pendant is returned.

String Data type: string

The information text to be written on the teach pendant (a maximum of 80

characters).

[\MaxTime] 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.

[\BreakFlag] Data type: errnum

A variable that will hold the error code if maxtime or dibreak is used. If this
optional variable is omitted, the error handler will be executed.The constants
ERR_TP_MAXTIME and ERR_TP_ DIBREAK can be used to select the
reason.

RAPID Reference Manual 8-TPReadNum-1

TPReadNum Instructions

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. Strings longer than the width of the teach
pendant (40 characters) are split into two lines.

Program execution waits until a number is typed on the numeric keyboard (followed by
Enter or OK).

Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum

request on Teach Pendant from same or other program tasks.

Example
TPReadNum reg1, “How many units should be produced?“;
FOR i FROM 1 TO reg1 DO
produce_part;
ENDFOR

The text How many units should be produced? is written on the teach pendant
display. The routine produce_part is then repeated the number of times that is
input via the teach pendant.

Syntax
TPReadNum
[Answer’:=’] <var or pers (INOUT) of num>’,’
[String’:=’] <expression (IN) of string>
[’\’MaxTime ’:=’ <expression (IN) of num>]
[’\’DIBreak ’:=’ <variable (VAR) of signaldi>]
[’\’BreakFlag ’:=’ <var or pers (INOUT) of errnum>] ’;’

Related information
Described in:
Writing to and reading from RAPID Summary - Communication
the teach pendant
Entering a number on the teach pendant Production Running
Examples of how to use the arguments Instructions - TPReadFK
MaxTime, DIBreak and BreakFlag

8-TPReadNum-2 RAPID Reference Manual

Instructions TPShow

TPShow Switch window on the teach pendant

TPShow (Teach Pendant Show) is used to select Teach Pendant Window from RAPID.

Examples
TPShow TP_PROGRAM;

The Production Window will be active if the system is in AUTO mode and the
Program Window will be active if the system is in MAN mode after execution of
this instruction.

TPShow TP_LATEST;

The latest used Teach Pendant Window used before the Operator Input&Output
Window will be active after execution of this instruction.

Arguments
TPShow Window
Window Data type: tpnum

The window to show:

TP_PROGRAM = Production Window if in AUTO mode. Program Window if

in MAN mode.
TP_LATEST = Latest used Teach Pendant Window before Operator
Input&Output Window

Predefined data
CONST tpnum TP_PROGRAM := 1;
CONST tpnum TP_LATEST := 2;

Program execution
The selected Teach Pendant Window will be activated.

RAPID Reference Manual 8-TPShow-1

TPShow Instructions

Syntax
TPShow
[Window’:=’] <expression (IN) of tpnum> ‘;’

Related information
Described in:
Communicating using RAPID Summary - Communication
the teach pendant
Teach Pendant Window number Data Types - tpnum
-

8-TPShow-2 RAPID Reference Manual

Instructions TPWrite

TPWrite Writes on the teach pendant

TPWrite (Teach Pendant Write) is used to write text on the teach pendant. The value of
certain data can be written as well as text.

Examples
TPWrite "Execution started";

The text Execution started is written on the teach pendant.

TPWrite "No of produced parts="\Num:=reg1;

If, for example, the answer to No of produced parts=5, enter 5 instead of reg1 on
the teach pendant.

Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient]
String Data type: string

The text string to be written (a maximum of 80 characters).

[\Num] (Numeric) Data type: num

The data whose numeric value is to be written after the text string.

[\Bool] (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.

Program execution
Text written on the teach pendant always begins on a new line. When the display is full
of text, this text is moved up one line first. Strings that are longer than the width of the
teach pendant (40 characters) are divided up into two lines.

If one of the arguments \Num, \Bool, \Pos or \Orient is used, its value is first converted

RAPID Reference Manual 8-TPWrite-1

TPWrite Instructions

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]"

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,
the number is rounded to an integer.

Limitations
The arguments \Num, \Bool, \Pos and \Orient are mutually exclusive and thus cannot
be used simultaneously in the same instruction.

Syntax
TPWrite
[String’:=’] <expression (IN) of string>
[’\’Num’:=’ <expression (IN) of num> ]
| [’\’Bool’:=’ <expression (IN) of bool> ]
| [’\’Pos’:=’ <expression (IN) of pos> ]
| [’\’Orient’:=’ <expression (IN) of orient> ]’;’

Related information
Described in:
Clearing and reading RAPID Summary - Communication
the teach pendant
-

8-TPWrite-2 RAPID Reference Manual

Instructions TriggC

TriggC Circular robot movement with events

TriggC (Trigg Circular) is used to set output signals and/or run interrupt routines at
fixed positions, at the same time as the robot is moving on a circular path.

One or more (max. 4) events can be defined using the instructions TriggIO,
TriggEquip or TriggInt and afterwards these definitions are referred to in the
instruction TriggC.

Examples
VAR triggdata gunon;

TriggIO gunon, 0 \Start \DOp:=gun, on;

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.

TriggC p2, p3, v500,gunon, fine, gun1;

Start point p1 End point p3

Circle point p2

The output signal gun is set to on

when the TCP of the robot is here

Figure 1 Example of fixed-position IO event.

Arguments
TriggC [\Conc] CirPoint ToPoint Speed [ \T ]
Trigg_1 [ \T2 ] [ \T3 ] [ \T4] Zone Tool [ \WObj ] [ \Corr ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. This argument is used to

shorten the cycle time when, for example, communicating with external
equipment, and synchronisation 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.

RAPID Reference Manual 8-TriggC-1

TriggC Instructions

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
stop point or 100 ms before the specified zone.

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the external axes and of the tool reorientation.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

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 centre point is the point that is
moved to the specified destination position.

8-TriggC-2 RAPID Reference Manual

Instructions TriggC

[ \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 it is, 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 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
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 execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.

Examples
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.

Limitations
If the current start point deviates from the usual, so that the total positioning length of

RAPID Reference Manual 8-TriggC-3

TriggC Instructions

the instruction TriggC is shorter than usual, 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”.

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 with that
programmed).

Syntax
TriggC
[’\’ Conc ’,’]
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 > ] ‘,’
[Zone ’:=’ ] < expression (IN) of zonedata > ‘,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’

Related information
Described in:
Linear movement with triggers Instructions - TriggL
Joint movement with triggers Instructions - TriggJ
Definition of triggers Instructions - TriggIO, TriggEquip
TriggInt
Writes to a corrections entry Instructions - CorrWrite
Circular movement Motion Principles - Positioning during
Program Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion Principles

8-TriggC-4 RAPID Reference Manual

Instructions TriggEquip

TriggEquip Defines a fixed position-time I/O event

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.

The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.

Examples
VAR triggdata gunon;

TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;

TriggL p1, v500, gunon, z50, gun1;

The tool gun1 opens in point p2, when the TCP is 10 mm before the point p1. To
reach this, the digital output signal gun is set to the value 1, when TCP is 0.1 s
before the point p2. The gun is full open when TCP reach point p2.

Start point TriggL p1, v500, gunon, z50, gun1; End point p1

10 mm

Point p2 for open of the gun

Figure 1 Example of fixed position-time I/O event.

Arguments
TriggEquip TriggData Distance [ \Start ] EquipLag
[ \DOp ] | [ \GOp ] | [\AOp ] | [\ProcID ] SetValue [ \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.

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).

RAPID Reference Manual 8-TriggEquip-1

TriggEquip Instructions

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 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 positive argument value.

Positive argument value means that the I/O signal is set by the robot system at
specified time before the TCP physical reach 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
specified time after that the TCP physical has passed the specified distance in
relation to the movement start or end point.

Start point End point

Distance Distance
\Start

+ - + -

EquipLag

Figure 2 Use of argument EquipLag.

[ \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.

[ \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.)

8-TriggEquip-2 RAPID Reference Manual

Instructions TriggEquip

SetValue Data type: num

Desired value of output signal (within the allowed range for the current signal).

[ \Inhib ] (Inhibit) Data type: bool

The name of a persistent variable flag for inhibit 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 in stead of 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, the
following are applicable, with regard to the definitions in TriggEquip:

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).

End point with

corner path

If the Distance is 0, the output signal is

set when the robot’s TCP is here

Figure 3 Fixed position-time I/O on a corner path.

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 (Trigg...). With use of argument EquipLag with
negative time (delay), the I/O signal can be set after the end point.

Examples
VAR triggdata glueflow;

RAPID Reference Manual 8-TriggEquip-3

TriggEquip Instructions

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.

...
TriggL p3, v500, glueflow, z50, tool1;

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.

Limitations
I/O events with distance (without the argument \Time) 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 < 60 ms,
equivalent to the lag in the robot servo (without changing the system parameter
Event Preset Time).
- 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.

I/O events with time (with the argument \Time) is intended for stop points. I/O events
with time, using flying points, results 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 that the current braking time, 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 utilised 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.

Used digital output signals (DOp or GOp) cannot be cross connected to other signals.

8-TriggEquip-4 RAPID Reference Manual

Instructions TriggEquip

Syntax
TriggEquip
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ‘,’
[ Distance ’:=’ ] < expression (IN) of num>
[ ’\’ Start ] ‘,’
[ EquipLag ’:=’ ] < expression (IN) of num>
[ ’\’ 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>
[ ’\’ Inhibit ’:=’ < persistent (PERS) of bool> ] ‘,’

Related information
Described in:
Use of triggers Instructions - TriggL, TriggC, TriggJ
Definition of other triggs Instruction - TriggIO, TriggInt
More examples Data Types - triggdata
Set of I/O Instructions - SetDO, SetGO, SetAO
Configuration of Event preset time User‘s guide System Parameters -
Manipulator

RAPID Reference Manual 8-TriggEquip-5

TriggEquip Instructions

8-TriggEquip-6 RAPID Reference Manual

Instructions TriggInt

TriggInt Defines a position related interrupt

TriggInt is used to define conditions and actions for running an interrupt routine at a
position on the robot’s movement path.

The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.

Examples
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.

Start point TriggL p1, v500, trigg1, z50, gun1; End point p1 or p2

5 mm

The interrupt is generated

when the TCP is here

Figure 1 Example position related interrupt.

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.

Distance Data type: num

Defines the position on the path where the interrupt shall be generated.

RAPID Reference Manual 8-TriggInt-1

TriggInt Instructions

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 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 entitled
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:

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).

End point with

corner path

If the Distance is 0, the interrupt will be

generated when the robot’s TCP is here

Figure 2 Position related interrupt on a corner path.

8-TriggInt-2 RAPID Reference Manual

Instructions TriggInt

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 (Trigg...).

Examples
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 number are stored in the variable
trigg2

TriggL p1, v500, trigg2, z50, gun1;

- 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) is intended for flying
points (corner path). Interrupt events with distance, using stop points, results in worse
accuracy than specified below.

RAPID Reference Manual 8-TriggInt-3

TriggInt Instructions

Interrupt events with time (with the argument \Time) is intended for stop points.
Interrupt events with time, using flying points, results 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 that the current braking time, 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 utilised 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 5 to 120 ms between interrupt generation and response,

depending on the type of movement being performed at the time of the interrupt.
(Ref. to Basic Characteristics RAPID - 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) of intnum> ’;’

Related information
Described in:
Use of triggers Instructions - TriggL, TriggC, TriggJ
Definition of position fix I/O Instruction - TriggIO, TriggEquip
More examples Data Types - triggdata
Interrupts Basic Characteristics - Interrupts

8-TriggInt-4 RAPID Reference Manual

Instructions TriggIO

TriggIO Defines a fixed position I/O event

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.

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.

Examples
VAR triggdata gunon;

TriggIO gunon, 10 \DOp:=gun, 1;

TriggL p1, v500, gunon, z50, gun1;

The digital output signal gun is set to the value 1 when the TCP is 10 mm before
the point p1.

Start point TriggL p1, v500, gunon, z50, gun1; End point p1

10 mm

The output signal gun is set

when the TCP is here

Figure 1 Example of fixed-position IO event.

Arguments
TriggIO TriggData Distance [ \Start ] | [ \Time ]
[ \DOp ] | [ \GOp ] | [\AOp ] | [\ProcID ] SetValue
[ \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.

Distance Data type: num

Defines the position on the path where the I/O event shall occur.

RAPID Reference Manual 8-TriggIO-1

TriggIO Instructions

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 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 entitled 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.

[ \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

Desired value of output signal (within the allowed range for the current signal).

[ \DODelay] (Digital Output Delay) Data type: num

Time delay in seconds (positive value) for a digital output signal or group of
digital output signals.

Only used to delay setting digital output signals, after the robot has reached the
specified position. There will be no delay if the argument is omitted.

The delay is not synchronised with the movement.

8-TriggIO-2 RAPID Reference Manual

Instructions TriggIO

Program execution
When running the instruction TriggIO, 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 TriggIO:

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).

End point with

corner path

If the Distance is 0, the output signal is

set when the robot’s work point is here

Figure 2 Fixed position I/O on a corner path.

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...).

Examples
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 passes
a point located 1 mm after the start point p1.

...
TriggL p3, v500, glueflow, z50, tool1;

The analog output signal glue is set once more to the value 5.3 when the work
point passes a point located 1 mm after the start point p2.

RAPID Reference Manual 8-TriggIO-3

TriggIO Instructions

Limitations
I/O events with distance (without the argument \Time) is intended for flying points
(corner path). I/O events with distance, using stop points, results in worse accuracy than
specified below.

I/O events with time (with the argument \Time) is intended for stop points. I/O events
with time, using flying points, results 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 that the current braking time, 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 utilised 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.

Used digital output signals (DOp or GOp) cannot be cross connected to other signals.

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>
[ ’\’ DODelay ’:=’ < expression (IN) of num> ] ‘;’

Related information
Described in:
Use of triggers Instructions - TriggL, TriggC, TriggJ
Definition of position-time I/O event Instruction - TriggEquip
Definition of position related interrupts Instruction - TriggInt
More examples Data Types - triggdata
Set of I/O Instructions - SetDO, SetGO, SetAO

8-TriggIO-4 RAPID Reference Manual

Instructions TriggJ

TriggJ Axis-wise robot movements with events

TriggJ (Trigg Joint) is used to set output signals and/or run interrupt routines at fixed
positions, at the same time as the robot is moving on a circular path.

One or more (max. 4) events can be defined using the instructions TriggIO, TriggEquip
or TriggInt and afterwards these definitions are referred to in the instruction TriggJ.

Examples
VAR triggdata gunon;

TriggIO gunon, 0 \Start \DOp:=gun, on;

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.

TriggJ p2, v500,gunon, fine, gun1; End point p2

Start point p1

The output signal gun is set to on

when the robot’s TCP is here

Figure 1 Example of fixed-position IO event.

Arguments
TriggJ [\Conc] ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. This argument is used to

shorten the cycle time when, for example, communicating with external equip-
ment, if synchronisation 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.

Using the argument \Conc, the number of movement instructions in succession

is limited to 5. In a program section that includes StorePath-RestoPath, move-
ment instructions with the argument \Conc are not permitted.

RAPID Reference Manual 8-TriggJ-1

TriggJ Instructions

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 .

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the external axes and of the tool reorientation.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

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 centre 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 it is, the position is related to the world

8-TriggJ-2 RAPID Reference Manual

Instructions TriggJ

coordinate system. If, on the other hand, a stationary TCP or coordinated exter-
nal axes are used, this argument must be specified for a linear 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.

During stepping execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.

Examples
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 point p1 or p2 respectively.

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 sequences of trigger activities for an ”incomplete move-
ment”.

RAPID Reference Manual 8-TriggJ-3

TriggJ Instructions

Syntax
TriggJ
[’\’ Conc ’,’]
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 > ] ‘,’
[Zone ’:=’ ] < expression (IN) of zonedata > ‘,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

Related information
Described in:
Linear movement with triggs Instructions - TriggL
Circular movement with triggers Instructions - TriggC
Definition of triggers Instructions - TriggIO, TriggEquip or
TriggInt
Joint movement Motion Principles - Positioning during
Program Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion Principles

8-TriggJ-4 RAPID Reference Manual

Instructions TriggL

TriggL Linear robot movements with events

TriggL (Trigg Linear) is used to set output signals and/or run interrupt routines at fixed
positions, at the same time as the robot is making a linear movement.

One or more (max. 4) events can be defined using the instructions TriggIO,
TriggEquip or TriggInt and afterwards these definitions are referred to in the
instruction TriggL.

Examples
VAR triggdata gunon;

TriggIO gunon, 0 \Start \DOp:=gun, on;

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.

Start point p1 TriggL p2, v500, gunon, fine, gun1; End point p2

The output signal gun is set to on

when the robot’s TCP is here

Figure 1 Example of fixed-position IO event.

Arguments
TriggL [\Conc] ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ] [ \Corr ]
[ \Conc ] (Concurrent) Data type: switch

Subsequent logical instructions are executed at once. This argument is used to

shorten the cycle time when, for example, communicating with external
equipment, if synchronisation 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.

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.

RAPID Reference Manual 8-TriggL-1

TriggL Instructions

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
stop point or 100 ms before the specified zone.

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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the external axes and of the tool reorientation.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

[ \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 or TriggInt.

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 centre 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 it is, the position is related to the world

8-TriggL-2 RAPID Reference Manual

Instructions TriggL

coordinate system. If, on the other hand, a stationary TCP or coordinated

external axes are used, 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
See the instruction MoveL for information about linear 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 execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.

Examples
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.

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”.

RAPID Reference Manual 8-TriggL-3

TriggL Instructions

Syntax
TriggL
[’\’ Conc ’,’]
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ 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 > ] ‘,’
[Zone ’:=’ ] < expression (IN) of zonedata > ‘,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’

Related information
Described in:
Circular movement with triggers Instructions - TriggC
Joint movement with triggers Instructions - TriggJ
Definition of triggers Instructions - TriggIO, TriggEquip or
TriggInt
Writes to a corrections entry Instructions - CorrWrite
Linear movement Motion Principles - Positioning during
Program Execution
Definition of velocity Data Types - speeddata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Motion in general Motion Principles

8-TriggL-4 RAPID Reference Manual

Instructions TRYNEXT

TRYNEXT Jumps over an instruction

which has caused an error
TRYNEXT is used to jump over an instruction which has caused an error. Instead, the
next instruction is run.

Example
reg2 := reg3/reg4;
.
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg2:=0;
TRYNEXT;
ENDIF

An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero),

a jump is made to the error handler, where reg2 is set to 0. The TRYNEXT
instruction is then used to continue with the next instruction.

Program execution
Program execution continues with the instruction subsequent to the instruction that
caused the error.

Limitations
The instruction can only exist in a routine’s error handler.

Syntax
TRYNEXT’;’

Related information
Described in:
Error handlers Basic Characteristics-
Error Recovery

RAPID Reference Manual 8-TRYNEXT-1

TRYNEXT Instructions

8-TRYNEXT-2 RAPID Reference Manual

Instructions TuneReset

TuneReset Resetting servo tuning

TuneReset is used to reset the dynamic behaviour of all robot axes and external
mechanical units to their normal values.

Example
TuneReset;

Resetting tuning values for all axes to 100%.

Program execution
The tuning values for all axes are reset to 100%.

The default servo tuning values for all axes are automatically set by executing
instruction TuneReset

- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.

Syntax
TuneReset ’;’

Related information
Described in:
Tuning servos Instructions - TuneServo

RAPID Reference Manual 8-TuneReset-1

TuneReset Instructions

8-TuneReset-2 RAPID Reference Manual

Instructions TuneServo

TuneServo Tuning servos

TuneServo is used to tune the dynamic behaviour of separate axes on the robot. It is not
necessary to use TuneServo under normal circumstances, but sometimes tuning can be
optimised depending on the robot configuration and the load characteristics. For
external axes TuneServo can be used for load adaptation.

Incorrect use of the TuneServo can cause oscillating movements or torques that
can damage the robot. You must bear this in mind and be careful when using the
TuneServo.

Note. To obtain optimal tuning it is essential that the correct load data is used.
Check on this before using TuneServo.

Description

Tune_df

Tune_df is used for reducing overshoots or oscillations along the path.

There is always an optimum tuning value that can vary depending on position and
movement length. This optimum value can be found by changing the tuning in small
steps (1 - 2%) on the axes that are involved in this unwanted behaviour. Normally the
optimal tuning will be found in the range 70% - 130%. Too low or too high tuning
values have a negative effect and will impair movements considerably.

When the tuning value at the start point of a long movement differs considerably from
the tuning value at the end point, it can be advantageous in some cases to use an
intermediate point with a corner zone to define where the tuning value will change.

Some examples of the use of TuneServo to optimise tuning follow below:

IRB 6400, in a press service application (extended and flexible load), axes 4 - 6:
Reduce the tuning value for the current wrist axis until the movement is acceptable. A
change in the movement will not be noticeable until the optimum value is approached.
A low value will impair the movement considerably. Typical tuning value 25%.

IRB 6400, upper parts of working area. Axis 1 can often be optimised with a tuning
value of 85% - 95%.

IRB 6400, short movement (< 80 mm). Axis 1 can often be optimised with a tuning
value of 94% - 98%.

IRB 2400, with track motion. In some cases axes 2 - 3 can be optimised with a tuning
value of 110% - 130%. The movement along the track can require a different tuning
value compared with movement at right angles to the track.

Overshoots and oscillations can be reduced by decreasing the acceleration or the

acceleration ramp (AccSet), which will however increase the cycle time. This is an

RAPID Reference Manual 8-TuneServo-1

TuneServo Instructions

alternative method to the use of TuneServo.

Tune_kp, tune_kv, tune_ti external axes

These tune types affect position control gain (kp), speed control gain (kv) and speed
control integration time (ti) for external axes. These are used for adapting external axes
to different load inertias. Basic tuning of external axes can also be simplified by using
these tune types.

Tune_kp, tune_kv, tune_ti robot axes

For robot axes, these tune types have another significance and can be used for reducing
path errors at low speed (< 500 mm/s).

Recommended values: tune_kv 100 - 180%, tune_ti 50 - 100%. Tune_kp should not be
used for robot axes. Too high or low values of tune_kv/tune_ti cause vibrations or
oscillations.

Never use these tune types at high speed or when the required path accuracy is fulfilled.

Example
TuneServo IRB, 2, 90;

Activating of tuning type TUNE_DF with the tuning value 90% on axis 2 in the
mechanical unit IRB.

Arguments
TuneServo MecUnit Axis TuneValue [\Type]
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).

TuneValue Data type: num

Tuning value in percent (1 - 500). 100% is the normal value.

[\Type] Data type: tunetype

Type of servo tuning. Available types are TUNE_DF, TUNE_KP, TUNE_KV and
TUNE_TI. These types are predefined in the system with constants.

8-TuneServo-2 RAPID Reference Manual

Instructions TuneServo

This argument can be omitted when using tuning type TUNE_DF.

Example
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;

Activating of tuning type TUNE_KP with the tuning value 110% on axis 1 in the
mechanical unit MHA160R1.

Program execution
The specified tuning type and tuning value are activated for the specified axis. This
value is applicable for all movements until a new value is programmed for the current
axis, or until the tuning types and values for all axes are reset using the instruction
TuneReset.

The default servo tuning values for all axes are automatically set by executing
instruction TuneReset

- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.

Syntax
TuneServo
[MecUnit ’:=’ ] < variable (VAR) of mecunit> ’,’
[Axis ’:=’ ] < expression (IN) of num> ’,’
[TuneValue ’:=’ ] < expression (IN) of num>
[’\’ Type ’:=’ <expression (IN) of tunetype>]’;’

Related information
Described in:
Other motion settings Summary Rapid - Motion Settings
Types of servo tuning Data Types - tunetype
Reset of all servo tunings Instructions - TuneReset
Tuning of external axes System parameters - Manipulator
-

RAPID Reference Manual 8-TuneServo-3

TuneServo Instructions

8-TuneServo-4 RAPID Reference Manual

Instructions UnLoad

UnLoad UnLoad a program module during execution

UnLoad is used to unload a program module from the program memory during execu-
tion.

The program module must previously have been loaded into the program memory
using the instruction Load.

Example
UnLoad ram1disk \File:="PART_A.MOD";

UnLoad the program module PART_A.MOD from the program memory, that
previously was loaded into the program memory with Load. (See instructions
Load). (ram1disk is a predefined string constant "ram1disk:").

Arguments
UnLoad FilePath [\File]
FilePath Data type: string

The file path and the file name to the file that will be unloaded from the program
memory. The file path and the file name must be the same as in the previously
executed Load instruction. 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. The file name must be the same as in the previously executed
Load instruction.

Program execution
To be able to execute a UnLoad instruction in the program, a Load instruction with the
same file path and name must have been executed earlier in the program.

The program execution waits for the program module to be finish unloading before the
execution proceeds with the next instruction.

After that the program module is unloaded, the rest of the program modules will be
linked.

For more information see the instruction called Load.

RAPID Reference Manual 8-UnLoad-1

UnLoad Instructions

Examples
UnLoad "ram1disk:DOORDIR/DOOR1.MOD";

UnLoad the program module DOOR1.MOD from the program memory, that pre-
viously was loaded into the program memory with Load. (See instructions
Load).

UnLoad "ram1disk:DOORDIR" \File:="DOOR1.MOD";

Same as above but another syntax.

Limitations
It is not allowed to unload a program module that is executing.

TRAP routines, system I/O events and other program tasks cannot execute during the
unloading.

Avoid ongoing robot movements during the unloading.

Program stop during execution of UnLoad instruction results in guard stop with motors
off and error message "20025 Stop order timeout" on the Teach Pendant.

Error handling
If the file in the UnLoad instruction cannot be unloaded, because of ongoing execution
within the module or wrong path (module not loaded with Load), then the system var-
iable ERRNO is set to ERR_UNLOAD (see “Data types - errnum”). This error can then
be handled in the error handler.

Syntax
UnLoad
[FilePath’:=’]<expression (IN) of string>
[’\’File’:=’ <expression (IN) of string>]’;’

8-UnLoad-2 RAPID Reference Manual

Instructions UnLoad

Related information
Described in:
Load a program module Instructions - Load
Accept unresolved references System Parameters - Controller
System Parameters - Tasks
System Parameters - BindRef

RAPID Reference Manual 8-UnLoad-3

UnLoad Instructions

8-UnLoad-4 RAPID Reference Manual

Instructions VelSet

VelSet Changes the programmed velocity

VelSet is used to increase or decrease the programmed velocity of all subsequent posi-
tioning instructions. This instruction is also used to maximize the velocity.

Example
VelSet 50, 800;

All the programmed velocities are decreased to 50% of the value in the instruc-
tion. The TCP velocity is not, however, permitted to exceed 800 mm/s.

Arguments
VelSet Override Max
Override Data type: num

Desired velocity as a percentage of programmed velocity. 100% corresponds to

the programmed velocity.

Max Data type: num

Maximum TCP velocity in mm/s.

Program execution
The programmed velocity of all subsequent positioning instructions is affected until a
new VelSet instruction is executed.

The argument Override affects:

- All velocity components (TCP, orientation, rotating and linear external axes) in
speeddata.
- The programmed velocity override in the positioning instruction (the
argument \V).
- Timed movements.

The argument Override does not affect:

- The welding speed in welddata.

- The heating and filling speed in seamdata.

The argument Max only affects the velocity of the TCP.

RAPID Reference Manual 8-VelSet-1

VelSet Instructions

The default values for Override and Max are 100% and 5000 mm/s respectively. These
values are automatically set

- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.

Example
VelSet 50, 800;
MoveL p1, v1000, z10, tool1;
MoveL p2, v2000, z10, tool1;
MoveL p3, v1000\T:=5, z10, tool1;

The speed is 500 mm/s to point p1 and 800 mm/s to p2. It takes 10 seconds to
move from p2 to p3.

Limitations
The maximum speed is not taken into consideration when the time is specified in the
positioning instruction.

Syntax
VelSet
[ Override ’:=’ ] < expression (IN) of num > ’,’
[ Max ’:=’ ] < expression (IN) of num > ’;’

Related information
Described in:
Definition of velocity Data Types - speeddata
Positioning instructions RAPID Summary - Motion

8-VelSet-2 RAPID Reference Manual

Instructions WaitDI

WaitDI Waits until a digital input signal is set

WaitDI (Wait Digital Input) is used to wait until a digital input is set.

Example
WaitDI di4, 1;

Program execution continues only after the di4 input has been set.

WaitDI grip_status, 0;

Program execution continues only after the grip_status input has been reset.

Arguments
WaitDI Signal Value [\MaxTime] [\TimeFlag]
Signal Data type: signaldi

The name of the signal.

Value Data type: dionum

The desired value of the signal.

[\MaxTime] (Maximum Time) Data type: num

The maximum period of waiting time permitted, expressed in seconds. 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_WAIT_MAXTIME. If there is no error handler,
the execution will be stopped.

[\TimeFlag] (Timeout Flag) Data type: bool

The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before the condition is met. If this parameter is included in
the instruction, it is not considered to be an error if the max. time runs out.
This argument is ignored if the MaxTime argument is not included in the instruc-
tion.

Program Running
If the value of the signal is correct, when the instruction is executed, the program sim-
ply continues with the following instruction.

RAPID Reference Manual 8-WaitDI-1

WaitDI Instructions

If the signal value is not correct, the robot enters a waiting state and when the signal
changes to the correct value, the program continues. The change is detected with an
interrupt, which gives a fast response (not polled).

When the robot is waiting, the time is supervised, and if it exceeds the max time value,
the program will continue if a Time Flag is specified, or raise an error if it’s not. If a
Time Flag is specified, this will be set to true if the time is exceeded, otherwise it will
be set to false.

Syntax
WaitDI
[ Signal ’:=’ ] < variable (VAR) of signaldi > ’,’
[ Value ’:=’ ] < expression (IN) of dionum >
[’\’MaxTime ’:=’<expression (IN) of num>]
[’\’TimeFlag’:=’<variable (VAR) of bool>] ’;’

Related information
Described in:
Waiting until a condition is satisfied Instructions - WaitUntil
Waiting for a specified period of time Instructions - WaitTime

8-WaitDI-2 RAPID Reference Manual

Instructions WaitDO

WaitDO Waits until a digital output signal is set

WaitDO (Wait Digital Output) is used to wait until a digital output is set.

Example
WaitDO do4, 1;

Program execution continues only after the do4 output has been set.

WaitDO grip_status, 0;

Program execution continues only after the grip_status output has been reset.

Arguments
WaitDO Signal Value [\MaxTime] [\TimeFlag]
Signal Data type: signaldo

The name of the signal.

Value Data type: dionum

The desired value of the signal.

[\MaxTime] (Maximum Time) Data type: num

The maximum period of waiting time permitted, expressed in seconds. 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_WAIT_MAXTIME. If there is no error handler,
the execution will be stopped.

[\TimeFlag] (Timeout Flag) Data type: bool

The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before the condition is met. If this parameter is included in
the instruction, it is not considered to be an error if the max. time runs out.
This argument is ignored if the MaxTime argument is not included in the instruc-
tion.

Program Running
If the value of the signal is correct, when the instruction is executed, the program sim-
ply continues with the following instruction.

RAPID Reference Manual 8-WaitDO-1

WaitDO Instructions

If the signal value is not correct, the robot enters a waiting state and when the signal
changes to the correct value, the program continues. The change is detected with an
interrupt, which gives a fast response (not polled).

When the robot is waiting, the time is supervised, and if it exceeds the max time value,
the program will continue if a Time Flag is specified, or raise an error if its not. If a
Time Flag is specified, this will be set to true if the time is exceeded, otherwise it will
be set to false.

Syntax
WaitDO
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’
[ Value ’:=’ ] < expression (IN) of dionum >
[’\’MaxTime ’:=’<expression (IN) of num>]
[’\’TimeFlag’:=’<variable (VAR) of bool>] ’;’

Related information
Described in:
Waiting until a condition is satisfied Instructions - WaitUntil
Waiting for a specified period of time Instructions - WaitTime

8-WaitDO-2 RAPID Reference Manual

Instructions WaitTime

WaitTime Waits a given amount of time

WaitTime is used to wait a given amount of time. This instruction can also be used to
wait until the robot and external axes have come to a standstill.

Example
WaitTime 0.5;

Program execution waits 0.5 seconds.

Arguments
WaitTime [\InPos] Time
[\InPos] Data type: switch

If this argument is used, the robot and external axes must have come to a
standstill before the waiting time starts to be counted.

Time Data type: num

The time, expressed in seconds, that program execution is to wait.

Program execution
Program execution temporarily stops for the given amount of time. Interrupt handling
and other similar functions, nevertheless, are still active.

Example
WaitTime \InPos,0;

Program execution waits until the robot and the external axes have come to a
standstill.

Limitations
If the argument \Inpos is used, the movement instruction which precedes this
instruction should be terminated with a stop point, in order to be able to restart in this
instruction following a power failure.

Argument \Inpos cannot be used together with SoftServo.

RAPID Reference Manual 8-WaitTime-1

WaitTime Instructions

Syntax
WaitTime
[’\’InPos’,’]
[Time ’:=’] <expression (IN) of num>’;’

Related information
Described in:
Waiting until a condition is met Instructions - WaitUntil
Waiting until an I/O is set/reset Instruction - WaitDI

8-WaitTime-2 RAPID Reference Manual

Instructions WaitUntil

WaitUntil Waits until a condition is met

WaitUntil is used to wait until a logical condition is met; for example, it can wait until
one or several inputs have been set.

Example
WaitUntil di4 = 1;

Program execution continues only after the di4 input has been set.

Arguments
WaitUntil [\InPos] Cond [\MaxTime] [\TimeFlag]
[\InPos] Data type: switch

If this argument is used, the robot and external axes must have stopped moving
before the condition starts being evaluated.

Cond Data type: bool

The logical expression that is to be waited for.

[\MaxTime] Data type: num

The maximum period of waiting time permitted, expressed in seconds. If this

time runs out before the condition is set, the error handler will be called, if there
is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler,
the execution will be stopped.

[\TimeFlag] (Timeout Flag) Data type: bool

The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before the condition is met. If this parameter is included in
the instruction, it is not considered to be an error if the max. time runs out. This
argument is ignored if the MaxTime argument is not included in the instruction.

Program execution
If the programmed condition is not met on execution of a WaitUntil instruction, the
condition is checked again every 100 ms.

When the robot is waiting, the time is supervised, and if it exceeds the max time value,
the program will continue if a TimeFlag is specified, or raise an error if it’s not. If a
TimeFlag is specified, this will be set to TRUE if the time is exceeded, otherwise it will
be set to false.

RAPID Reference Manual 8-WaitUntil-1

WaitUntil Instructions

Examples
VAR bool timeout;
WaitUntil start_input = 1 AND grip_status = 1\MaxTime := 60
\TimeFlag := timeout;
IF timeout THEN
TPWrite "No start order received within expected time";
ELSE
start_next_cycle;
ENDIF

If the two input conditions are not met within 60 seconds, an error message will
be written on the display of the teach pendant.

WaitUntil \Inpos, di4 = 1;

Program execution waits until the robot has come to a standstill and the di4 input
has been set.

Limitation
If the argument \Inpos is used, the movement instruction which precedes this instruc-
tion should be terminated with a stop point, in order to be able to restart in this instruc-
tion following a power failure.

Syntax
WaitUntil
[’\’InPos’,’]
[Cond ’:=’] <expression (IN) of bool>
[’\’MaxTime ’:=’<expression (IN) of num>]
[’\’TimeFlag’:=’<variable (VAR) of bool>] ’;’

Related information
Described in:
Waiting until an input is set/reset Instructions - WaitDI
Waiting a given amount of time Instructions - WaitTime
Expressions Basic Characteristics - Expressions

8-WaitUntil-2 RAPID Reference Manual

Instructions WHILE

WHILE Repeats as long as ...

WHILE is used when a number of instructions are to be repeated as long as a given con-
dition is met.

If it is possible to determine the number of repetitions in advance, the FOR instruction

can be used.

Example
WHILE reg1 < reg2 DO
...
reg1 := reg1 +1;
ENDWHILE

Repeats the instructions in the WHILE loop as long as reg1 < reg2.

Arguments
WHILE Condition DO ... ENDWHILE
Condition Data type: bool

The condition that must be met for the instructions in the WHILE loop to be exe-
cuted.

Program execution
1. The condition is calculated. If the condition is not met, the WHILE loop terminates
and program execution continues with the instruction following ENDWHILE.
2. The instructions in the WHILE loop are executed.
3. The WHILE loop is repeated, starting from point 1.

Syntax
(EBNF)
WHILE <conditional expression> DO
<instruction list>
ENDWHILE

RAPID Reference Manual 8-WHILE-1

WHILE Instructions

Related information
Described in:
Expressions Basic Characteristics - Expressions

8-WHILE-2 RAPID Reference Manual

Instructions Write

Write Writes to a character-based file or serial channel

Write is used to write to a character-based file or serial channel. The value of certain
data can be written as well as text.

Examples
Write logfile, "Execution started";

The text Execution started is written to the file with reference name logfile.

Write logfile, "No of produced parts="\Num:=reg1;

The text No of produced parts=5, for example, is written to the file with the
reference name logfile (assuming that the contents of reg1 is 5).

Arguments
Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient]
[\NoNewLine]
IODevice Data type: iodev

The name (reference) of the current file or serial channel.

String Data type: string

The text to be written.

[\Num] (Numeric) Data type: num

The data whose numeric values are to be written after the text string.

[\Bool] (Boolean) Data type: bool

The data whose logical values are 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.

[\NoNewLine] Data type: switch

Omits the line-feed character that normally indicates the end of the text.

RAPID Reference Manual 8-Write-1

Write Instructions

Program execution
The text string is written to a specified file or serial channel. If the argument
\NoNewLine is not used, a line-feed character (LF) is also written.

If one of the arguments \Num, \Bool, \Pos or \Orient is used, its value is first converted
to a text string before being 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]"

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,
the number is rounded to an integer.

Example
VAR iodev printer;
.
Open "sio1:", printer\Write;
WHILE DInput(stopprod)=0 DO
produce_part;
Write printer, "Produced part="\Num:=reg1\NoNewLine;
Write printer, " "\NoNewLine;
Write printer, CTime();
ENDWHILE
Close printer;

A line, including the number of the produced part and the time, is output to a
printer each cycle. The printer is connected to serial channel sio1:. The printed
message could look like this:

Produced part=473 09:47:15

Limitations
The arguments \Num, \Bool, \Pos and \Orient are mutually exclusive and thus cannot
be used simultaneously in the same instruction.

This instruction can only be used for files or serial channels that have been opened for
writing.

8-Write-2 RAPID Reference Manual

Instructions Write

Error handling
If an error occurs during writing, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.

Syntax
Write
[IODevice’:=’] <variable (VAR) of iodev>’,’
[String’:=’] <expression (IN) of string>
[’\’Num’:=’ <expression (IN) of num> ]
| [’\’Bool’:=’ <expression (IN) of bool> ]
| [’\’Pos’:=’ <expression (IN) of pos> ]
| [’\’Orient’:=’ <expression (IN) of orient> ]
[’\’NoNewLine]’;’

Related information
Described in:
Opening a file or serial channel RAPID Summary - Communication

RAPID Reference Manual 8-Write-3

Write Instructions

8-Write-4 RAPID Reference Manual

Instructions WriteBin

WriteBin Writes to a binary serial channel

WriteBin is used to write a number of bytes to a binary serial channel.

Example
WriteBin channel2, text_buffer, 10;

10 characters from the text_buffer list are written to the channel referred to by
channel2.

Arguments
WriteBin IODevice Buffer NChar
IODevice Data type: iodev

Name (reference) of the current serial channel.

Buffer Data type: array of num

The list (array) containing the numbers (characters) to be written.

NChar (Number of Characters) Data type: num

The number of characters to be written from the Buffer.

Program execution
The specified number of numbers (characters) in the list is written to the serial channel.

Limitations
This instruction can only be used for serial channels that have been opened for binary
reading and writing.

Error handling
If an error occurs during writing, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.

RAPID Reference Manual 8-WriteBin-1

WriteBin Instructions

Example
VAR iodev channel;
VAR num out_buffer{20};
VAR num input;
VAR num nchar;
Open "sio1:", channel\Bin;

out_buffer{1} := 5; ( enq )
WriteBin channel, out_buffer, 1;
input := ReadBin (channel \Time:= 0.1);

IF input = 6 THEN ( ack )

out_buffer{1} := 2; ( stx )
out_buffer{2} := 72; ( ’H’ )
out_buffer{3} := 101; ( ’e’ )
out_buffer{4} := 108; ( ’l’ )
out_buffer{5} := 108; ( ’l’ )
out_buffer{6} := 111; ( ’o’ )
out_buffer{7} := 32; (’’)
out_buffer{8} := StrToByte("w"\Char); ( ’w’ )
out_buffer{9} := StrToByte("o"\Char); ( ’o’ )
out_buffer{10} := StrToByte("r"\Char); ( ’r’ )
out_buffer{11} := StrToByte("l"\Char); ( ’l’ )
out_buffer{12} := StrToByte("d"\Char); ( ’d’ )
out_buffer{13} := 3; ( etx )
WriteBin channel, out_buffer, 13;
ENDIF

The text string Hello world (with associated control characters) is written to a
serial channel. The function StrToByte is used in the same cases to convert a
string into a byte (num) data.

Syntax
WriteBin
[IODevice’:=’] <variable (VAR) of iodev>’,’
[Buffer’:=’] <array {*} (IN) of num>’,’
[NChar’:=’] <expression (IN) of num>’;’

8-WriteBin-2 RAPID Reference Manual

Instructions WriteBin

Related information
Described in:
Opening (etc.) of serial channels RAPID Summary - Communication
Convert a string to a byte data Functions - StrToByte
Byte data Data Types - byte

RAPID Reference Manual 8-WriteBin-3

WriteBin Instructions

8-WriteBin-4 RAPID Reference Manual

Instructions WriteStrBin

WriteStrBin Writes a string to a binary serial channel

WriteStrBin (Write String Binary) is used to write a string to a binary serial channel or
binary file.

Example
WriteStrBin channel2, "Hello World\0A";

The string "Hello World\0A" is written to the channel referred to by channel2.

The string is in this case ended with new line \0A. All characters and hexadeci-
mal values written with WriteStrBin will be unchanged by the system.

Arguments
WriteStrBin IODevice Str
IODevice Data type: iodev

Name (reference) of the current serial channel.

Str (String) Data type: string

The text to be written.

Program execution
The text string is written to the specified serial channel or file.

Limitations
This instruction can only be used for serial channels or files that have been opened for
binary reading and writing.

Error handling
If an error occurs during writing, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.

RAPID Reference Manual 8-WriteStrBin-1

WriteStrBin Instructions

Example
VAR iodev channel;
VAR num input;
Open "sio1:", channel\Bin;

! Send the control character enq

WriteStrBin channel, "\05";
! Wait for the control character ack
input := ReadBin (channel \Time:= 0.1);
IF input = 6 THEN
! Send a text starting with control character stx and ending with etx
WriteStrBin channel, "\02Hello world\03";
ENDIF

Close channel;

The text string Hello world (with associated control characters in hexadecimal)
is written to a binary serial channel.

Syntax
WriteStrBin
[IODevice’:=’] <variable (VAR) of iodev>’,’
[Str’:=’] <expression (IN) of string>’;’

Related information
Described in:
Opening (etc.) of serial channels RAPID Summary - Communication

8-WriteStrBin-2 RAPID Reference Manual

Instructions WZBoxDef

WZBoxDef Define a box-shaped world zone

WZBoxDef (World Zone Box Definition) is used to define a world zone that has the
shape of a straight box with all its sides parallel to the axes of the World Coordinate
System.

Example
.
corner2

Z
Y Box

corner1

X
World Coordinate System

VAR shapedata volume;

CONST pos corner1:=[200,100,100];
CONST pos corner2:=[600,400,400];
...
WZBoxDef \Inside, volume, corner1, corner2;

Define a straight box with coordinates parallel to the axes of the world coordinate
system and defined by the opposite corners corner1 and corner2.

Arguments
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint
\Inside Data type: switch

Define the volume inside the box.

\Outside Data type: switch

Define the volume outside the box (inverse volume).

One of the arguments \Inside or \Outside must be specified.

Shape Data type: shapedata

Variable for storage of the defined volume (private data for the system).

RAPID Reference Manual 8-WZBoxDef-1

WZBoxDef Instructions

LowPoint Data type: pos

Position (x,y,x) in mm defining one lower corner of the box.

HighPoint Data type: pos

Position (x,y,z) in mm defining the corner diagonally opposite to the previous

one.

Program execution
The definition of the box is stored in the variable of type shapedata (argument Shape),
for future use in WZLimSup or WZDOSet instructions.

Limitations
The LowPoint and HighPoint positions must be valid opposite corners (with different
x,y and z coordinate values).

If the robot is used to point out the LowPoint or HighPoint, work object wobj0 must be
active (use of component trans in robtarget e.g. p1.trans as argument).

Syntax
WZBoxDef
[’\’Inside] | [’\’Outside] ’,’
[Shape’:=’]<variable (VAR) of shapedata>’,’
[LowPoint’:=’]<expression (IN) of pos>’,’
[HighPoint’:=’]<expression (IN) of pos>’;’

Related information
Described in:
World zone shape Data Types - shapedata
Define sphere-shaped world zone Instructions - WZSphDef
Define cylinder-shaped world zone Instructions - WZCylDef
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digital output set Instructions - WZDOSet

8-WZBoxDef-2 RAPID Reference Manual

Instructions WZBoxDef

RAPID Reference Manual 8-WZBoxDef-3

WZBoxDef Instructions

8-WZBoxDef-4 RAPID Reference Manual

Instructions WZCylDef

WZCylDef Define a cylinder-shaped world zone

WZCylDef (World Zone Cylinder Definition) is used to define a world zone that has the
shape of a cylinder with the cylinder axis parallel to the z-axis of the World Coordinate
System.

Example

R2

H2
Z
Y

C2

X
World Coordinate System

VAR shapedata volume;

CONST pos C2:=[300,200,200];
CONST num R2:=100;
CONST num H2:=200;
...
WZCylDef \Inside, volume, C2, R2, H2;

Define a cylinder with the centre of the bottom circle in C2, radius R2 and height
H2.

Arguments
WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius Height
\Inside Data type: switch

Define the volume inside the cylinder.

\Outside Data type: switch

Define the volume outside the cylinder (inverse volume).

One of the arguments \Inside or \Outside must be specified.

RAPID Reference Manual 8-WZCylDef-1

WZCylDef Instructions

Shape Data type: shapedata

Variable for storage of the defined volume (private data for the system).

CentrePoint Data type: pos

Position (x,y,z) in mm defining the centre of one circular end of the cylinder.

Radius Data type: num

The radius of the cylinder in mm.

Height Data type: num

The height of the cylinder in mm.

If it is positive (+z direction), the CentrePoint argument is the centre of the lower
end of the cylinder (as in the above example).
If it is negative (-z direction), the CentrePoint argument is the centre of the upper
end of the cylinder.

Program execution
The definition of the cylinder is stored in the variable of type shapedata (argument
Shape), for future use in WZLimSup or WZDOSet instructions.

Limitations
If the robot is used to point out the CentrePoint, work object wobj0 must be active (use
of component trans in robtarget e.g. p1.trans as argument).

Syntax
WZCylDef
[’\’Inside] | [’\’Outside]’,’
[Shape’:=’]<variable (VAR) of shapedata>’,’
[CentrePoint’:=’]<expression (IN) of pos>’,’
[Radius’:=’]<expression (IN) of num>’,’
[Height’:=’]<expression (IN) of num>’;’

8-WZCylDef-2 RAPID Reference Manual

Instructions WZCylDef

Related information
Described in:
Define box-shaped world zone Instructions - WZBoxDef
Define sphere-shaped world zone Instructions - WZSphDef
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digita output set Instructions - WZDOSet

RAPID Reference Manual 8-WZCylDef-3

WZCylDef Instructions

8-WZCylDef-4 RAPID Reference Manual

Instructions WZDisable

WZDisable Deactivate temporary world zone supervision

WZDisable (World Zone Disable) is used to deactivate the supervision of a temporary
world zone, previously defined either to stop the movement or to set an output.

Example
VAR wztemporary wzone;
...
PROC ...
WZLimSup \Temp, wzone, volume;
MoveL p_pick, v500, z40, tool1;
WZDisable wzone;
MoveL p_place, v200, z30, tool1;
ENDPROC

When moving to p_pick, the position of the robot’s TCP is checked so that it will
not go inside the specified volume wzone. This supervision is not performed
when going to p_place.

Arguments
WZDisable WorldZone
WorldZone Data type: wztemporary

Variable or persistent variable of type wztemporary, which contains the identity

of the world zone to be deactivated.

Program execution
The temporary world zone is deactivated. This means that the supervision of the
robot’s TCP, relative to the corresponding volume, is temporarily stopped. It can be re-
activated via the WZEnable instruction.

Limitations
Only a temporary world zone can be deactivated. A stationary world zone is always
active.

RAPID Reference Manual 8-WZDisable-1

WZDisable Instructions

Syntax
WZDisable
[WorldZone’:=’]<variable or persistent (INOUT) of wztemporary>’;’

Related information
Described in:
Temporary world zone data Data Types - wztemporary
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone set digital output Instructions - WZDOSet
Activate world zone Instructions - WZEnable
Erase world zone Instructions - WZFree

8-WZDisable-2 RAPID Reference Manual

Instructions WZDOSet

WZDOSet Activate world zone to set digital output

WZDOSet (World Zone Digital Output Set) is used to define the action and to activate
a world zone for supervision of the robot movements.

After this instruction is executed, when the robot’s TCP is inside the defined world
zone or is approaching close to it, a digital output signal is set to the specified value.

Example
VAR wztemporary service;

PROC zone_output()
VAR shapedata volume;
CONST pos p_service:=[500,500,700];
...
WZSphDef \Inside, volume, p_service, 50;
WZDOSet \Temp, service \Inside, volume, do_service, 1;
ENDPROC

Definition of temporary world zone service in the application program, that sets
the signal do_service, when the robot’s TCP is inside the defined sphere during
program execution or when jogging.

Arguments
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before] Shape
Signal SetValue
\Temp (Temporary) Data type: switch

The world zone to define is a temporary world zone.

\Stat (Stationary) Data type: switch

The world zone to define is a stationary world zone.

One of the arguments \Temp or \Stat must be specified.

WorldZone Data type: wztemporary

Variable or persistent variable, that will be updated with the identity (numeric
value) of the world zone.

If use of switch \Temp, the data type must be wztemporary.

If use of switch \Stat, the data type must be wzstationary.

RAPID Reference Manual 8-WZDOSet-1

WZDOSet Instructions

\Inside Data type: switch

The digital output signal will be set when the robot’s TCP is inside the defined
volume.

\Before Data type: switch

The digital output signal will be set before the robot’s TCP reaches the defined
volume (as soon as possible before the volume).

One of the arguments \Inside or \Outside must be specified.

Shape Data type: shapedata

The variable that defines the volume of the world zone.

Signal Data type: signaldo

The name of the digital output signal that will be changed.

SetValue Data type: dionum

Desired value of the signal (0 or 1) when the robot’s TCP is inside the volume or
just before it enters the volume.

When outside or just outside the volume, the signal is set to the opposite value.

Program execution
The defined world zone is activated. From this moment, the robot’s TCP position is
supervised and the output will be set, when the robot’s TCP position is inside the
volume (\Inside) or comes close to the border of the volume (\Before).

Example
VAR wztemporary home;
VAR wztemporary service;
PERS wztemporary equip1:=[0];

PROC main()
...
! Definition of all temporary world zones
zone_output;
...
! equip1 in robot work area
WZEnable equip1;
...
! equip1 out of robot work area
WZDisable equip1;
...

8-WZDOSet-2 RAPID Reference Manual

Instructions WZDOSet

! No use for equip1 any more

WZFree equip1;
...
ENDPROC

PROC zone_output()
VAR shapedata volume;
CONST pos p_home:=[800,0,800];
CONST pos p_service:=[800,800,800];
CONST pos p_equip1:=[-800,-800,0];
...
WZSphDef \Inside, volume, p_home, 50;
WZDOSet \Temp, home \Inside, volume, do_home, 1;
WZSphDef \Inside, volume, p_service, 50;
WZDOSet \Temp, service \Inside, volume, do_service, 1;
WZCylDef \Inside, volume, p_equip1, 300, 1000;
WZLimSup \Temp, equip1, volume;
! equip1 not in robot work area
WZDisable equip1;
ENDPROC

Definition of temporary world zones home and service in the application

program, that sets the signals do_home and do_service, when the robot is inside
the sphere home or service respectively during program execution or when
jogging.

Also, definition of a temporary world zone equip1, which is active only in the
part of the robot program when equip1 is inside the working area for the robot.
At that time the robot stops before entering the equip1 volume, both during
program execution and manual jogging. equip1 can be disabled or enabled from
other program tasks by using the persistent variable equip1 value.

Limitations
A world zone cannot be redefined by using the same variable in the argument
WorldZone.

A stationary world zone cannot be deactivated, activated again or erased in the RAPID
program.

A temporary world zone can be deactivated (WZDisable), activated again (WZEnable)

or erased (WZFree) in the RAPID program.

RAPID Reference Manual 8-WZDOSet-3

WZDOSet Instructions

Syntax
WZDOSet
(’\’Temp) | (’\’Stat) ’,’
[WorldZone’:=’]<variable or persistent (INOUT) of wztemporary>
(’\’Inside) | (’\’Before) ’,’
[Shape’:=’]<variable (VAR) of shapedata>’,’
[Signal’:=’]<variable (VAR) of signaldo>’,’
[SetValue’:=’]<expression (IN) of dionum>’;’

Related information
Described in:
Temporary world zone Data Types - wztemporary
Stationary world zone Data Types - wzstationary
World zone shape Data Types - shapedata
Define straight box-shaped world zone Instructions - WZBoxDef
Define sphere-shaped world zone Instructions - WZSphDef
Define cylinder-shaped world zone Instructions - WZCylDef
Activate world zone limit supervision Instructions - WZLimSup

8-WZDOSet-4 RAPID Reference Manual

Instructions WZEnable

WZEnable Activate temporary world zone supervision

WZEnable (World Zone Enable) is used to re-activate the supervision of a temporary
world zone, previously defined either to stop the movement or to set an output.

Example
VAR wztemporary wzone;
...
PROC ...
WZLimSup \Temp, wzone, volume;
MoveL p_pick, v500, z40, tool1;
WZDisable wzone;
MoveL p_place, v200, z30, tool1;
WZEnable wzone;
MoveL p_home, v200, z30, tool1;
ENDPROC

When moving to p_pick, the position of the robot’s TCP is checked so that it will
not go inside the specified volume wzone. This supervision is not performed
when going to p_place, but is reactivated before going to p_home

Arguments
WZEnable WorldZone
WorldZone Data type: wztemporary

Variable or persistent variable of the type wztemporary, which contains the

identity of the world zone to be activated.

Program execution
The temporary world zone is re-activated.
Please note that a world zone is automatically activated when it is created. It need only
be re-activated when it has previously been deactivated by WZDisable.

Limitations
Only a temporary world zone can be deactivated and reactivated. A stationary world
zone is always active.

RAPID Reference Manual 8-WZEnable-1

WZEnable Instructions

Syntax
WZEnable
[WorldZone’:=’]<variable or persistent (INOUT) of wztemporary>’;’

Related information
Described in:
Temporary world zone data Data Types - wztemporary
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone set digital output Instructions - WZDOSet
Deactivate world zone Instructions - WZDisable
Erase world zone Instructions - WZFree

8-WZEnable-2 RAPID Reference Manual

Instructions WZFree

WZFree Erase temporary world zone supervision

WZFree (World Zone Free) is used to erase the definition of a temporary world zone,
previously defined either to stop the movement or to set an output.

Example
VAR wztemporary wzone;
...
PROC ...
WZLimSup \Temp, wzone, volume;
MoveL p_pick, v500, z40, tool1;
WZDisable wzone;
MoveL p_place, v200, z30, tool1;
WZEnable wzone;
MoveL p_home, v200, z30, tool1;
WZFree wzone;
ENDPROC

When moving to p_pick, the position of the robot’s TCP is checked so that it will
not go inside a specified volume wzone. This supervision is not performed when
going to p_place, but is reactivated before going to p_home. When this position
is reached, the world zone definition is erased.

Arguments
WZFree WorldZone
WorldZone Data type: wztemporary

Variable or persistent variable of the type wztemporary, which contains the

identity of the world zone to be erased.

Program execution
The temporary world zone is first deactivated and then its definition is erased.

Once erased, a temporary world zone cannot be either re-activated nor deactivated.

Limitations
Only a temporary world zone can be deactivated, reactivated or erased. A stationary
world zone is always active.

RAPID Reference Manual 8-WZFree-1

WZFree Instructions

Syntax
WZFree
[WorldZone’:=’]<variable or persistent (INOUT) of wztemporary>’;’

Related information
Described in:
Temporary world zone data Data Types - wztemporary
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone set digital output Instructions - WZDOSet
Deactivate world zone Instructions - WZDisable
Activate world zone Instructions - WZEnable

8-WZFree-2 RAPID Reference Manual

Instructions WZLimSup

WZLimSup Activate world zone limit supervision

WZLimSup (World Zone Limit Supervision) is used to define the action and to activate
a world zone for supervision of the working area of the robot.

After this instruction is executed, when the robot’s TCP reaches the defined world
zone, the movement is stopped both during program execution and when jogging.

Example
VAR wzstationary max_workarea;
...
PROC POWER_ON()
VAR shapedata volume;
...
WZBoxDef \Outside, volume, corner1, corner2;
WZLimSup \Stat, max_workarea, volume;
ENDPROC

Definition and activation of stationary world zone max_workarea, with the shape
of the area outside a box (temporarily stored in volume) and the action work-area
supervision. The robot stops with an error message before entering the area
outside the box.

Arguments
WZLimSup [\Temp] | [\Stat] WorldZone Shape
\Temp (Temporary) Data type: switch

The world zone to define is a temporary world zone.

\Stat (Stationary) Data type: switch

The world zone to define is a stationary world zone.

One of the arguments \Temp or \Stat must be specified.

WorldZone Data type: wztemporary

Variable or persistent variable that will be updated with the identity (numeric
value) of the world zone.

If use of switch \Temp, the data type must be wztemporary.

If use of switch \Stat, the data type must be wzstationary.

RAPID Reference Manual 8-WZLimSup-1

WZLimSup Instructions

Shape Data type: shapedata

The variable that defines the volume of the world zone.

Program execution
The defined world zone is activated. From this moment the robot’s TCP position is
supervised. If it reaches the defined area the movement is stopped.

Example
VAR wzstationary box1_invers;
VAR wzstationary box2;

PROC wzone_power_on()
VAR shapedata volume;
CONST pos box1_c1:=[500,-500,0];
CONST pos box1_c2:=[-500,500,500];
CONST pos box2_c1:=[500,-500,0];
CONST pos box2_c2:=[200,-200,300];
...
WZBoxDef \Outside, volume, box1_c1, box1_c2;
WZLimSup \Stat, box1_invers, volume;
WZBoxDef \Inside, volume, box2_c1, box2_c2;
WZLimSup \Stat, box2, volume;
ENDPROC

Limitation of work area for the robot with the following stationary world zones:

- Outside working area when outside box1_invers

- Outside working area when inside box2

If this routine is connected to the system event POWER ON, these world zones
will always be active in the system, both for program movements and manual
jogging.

Limitations
A world zone cannot be redefined using the same variable in argument WorldZone.

A stationary world zone cannot be deactivated, activated again or erased in the RAPID
program.

A temporary world zone can be deactivated (WZDisable), activated again (WZEnable)

or erased (WZFree) in the RAPID program.

18-WZLimSup-2 RAPID Reference Manual

Instructions WZLimSup

Syntax
WZLimSup
[’\’Temp] | [’\Stat]’,’
[WorldZone’:=’]<variable or persistent (INOUT) of wztemporary>’,’
[Shape’:=’] <variable (VAR) of shapedata>’;’

Related information
Described in:
Temporary world zone Data Types - wztemporary
Stationary world zone Data Types - wzstationary
World zone shape Data Types - shapedata
Define straight box-shaped world zone Instructions - WZBoxDef
Define sphere-shaped world zone Instructions - WZSphDef
Define cylinder-shaped world zone Instructions - WZCylDef
Activate world zone digital output set Instructions - WZDOSet

RAPID Reference Manual 8-WZLimSup-3

WZLimSup Instructions

18-WZLimSup-4 RAPID Reference Manual

Instructions WZSphDef

WZSphDef Define a sphere-shaped world zone

WZSphDef (World Zone Sphere Definition) is used to define a world zone that has the
shape of a sphere.

Example

Z
Y
C1

R1

X
World Coordinate System

VAR shapedata volume;

CONST pos C1:=[300,300,200];
CONST num R1:=200;
...
WZSphDef \Inside, volume, C1, R1;

Define a sphere named volume by its centre C1 and its radius R1.

Arguments
WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius
\Inside Data type: switch

Define the volume inside the sphere.

\Outside Data type: switch

Define the volume outside the sphere (inverse volume).

One of the arguments \Inside or \Outside must be specified.

Shape Data type: shapedata

Variable for storage of the defined volume (private data for the system).

RAPID Reference Manual 8-WZSphDef-1

WZSphDef Instructions

CentrePoint Data type: pos

Position (x,y,z) in mm defining the centre of the sphere.

Radius Data type: num

The radius of the sphere in mm.

Program execution
The definition of the sphere is stored in the variable of type shapedata (argument
Shape), for future use in WZLimSup or WZDOSet instructions.

Limitations
If the robot is used to point out the CentrePoint, work object wobj0 must be active (use
of component trans in robtarget e.g. p1.trans as argument).

Syntax
WZSphDef
[’\’Inside] | [’\’Outside]’,’
[Shape’:=’]<variable (VAR) of shapedata>’,’
[CentrePoint’:=’]<expression (IN) of pos>’,’
[Radius’:=’]<expression (IN) of num>’;’

Related information
Described in:
World zone shape Data Types - shapedata
Define box-shaped world zone Instructions - WZBoxDef
Define cylinder-shaped world zone Instructions - WZCylDef
Activate world zone limit supervision Instructions - WZLimSup
Activate world zone digital output set Instructions - WZDOSet

8-WZSphDef-2 RAPID Reference Manual

 Functions
CONTENTS

Abs Gets the absolute value

ACos Calculates the arc cosine value
AOutput Reads the value of an analog output signal
ArgName Gets argument name
ASin Calculates the arc sine value
ATan Calculates the arc tangent value
ATan2 Calculates the arc tangent2 value
ByteToStr Converts a byte to a string data
CDate Reads the current date as a string
CJointT Reads the current joint angles
ClkRead Reads a clock used for timing
CorrRead Reads the current total offsets
Cos Calculates the cosine value
CPos Reads the current position (pos) data
CRobT Reads the current position (robtarget) data
CTime Reads the current time as a string
CTool Reads the current tool data
CWObj Reads the current work object data
DefDFrame Define a displacement frame
DefFrame Define a frame
Dim Obtains the size of an array
DOutput Reads the value of a digital output signal
EulerZYX Gets Euler angles from orient
Exp Calculates the exponential value
GOutput Reads the value of a group of digital output signals
GetTime Reads the current time as a numeric value
IndInpos Independent In position status
IndSpeed Independent Speed status
IsPers Is Persistent
IsVar Is Variable
MirPos Mirroring of a position
NumToStr Converts numeric value to string
Offs Displaces a robot position
OpMode Read the operating mode
OrientZYX Builds an orient from Euler angles
ORobT Removes a program displacement from a position

RAPID Reference Manual 9-1

Functions

PoseInv Inverts the pose

PoseMult Multiplies pose data
PoseVect Applies a transformation to a vector
Pow Calculates the power of a value
Present Tests if an optional parameter is used
ReadBin Reads from a binary serial channel or file
ReadMotor Reads the current motor angles
ReadNum Reads a number from a file or the serial channel
ReadStr Reads a string from a file or serial channel
RelTool Make a displacement relative to the tool
Round Round is a numeric value
RunMode Read the running mode
Sin Calculates the sine value
Sqrt Calculates the square root value
StrFind Searches for a character in a string
StrLen Gets the string length
StrMap Maps a string
StrMatch Search for pattern in string
StrMemb Checks if a character belongs to a set
StrOrder Checks if strings are ordered
StrPart Finds a part of a string
StrToByte Converts a string to a byte data
StrToVal Converts a string to a value
Tan Calculates the tangent value
TestDI Tests if a digital input is set
Trunc Truncates a numeric value
ValToStr Converts a value to a string

9-2 RAPID Reference Manual

Functions Abs

Abs Gets the absolute value

Abs is used to get the absolute value, i.e. a positive value of numeric data.

Example
reg1 := Abs(reg2);

Reg1 is assigned the absolute value of reg2.

Return value Data type: num

The absolute value, i.e. a positive numeric value.

e.g. Input value Returned value

3 3
-3 3
-2.53 2.53

Arguments
Abs (Input)
Input Data type: num

The input value.

Example
TPReadNum no_of_parts, "How many parts should be produced? ";
no_of_parts := Abs(no_of_parts);

The operator is asked to input the number of parts to be produced. To ensure that
the value is greater than zero, the value given by the operator is made positive.

Syntax
Abs ’(’
[ Input ’:=’ ] < expression (IN) of num > ’)’

A function with a return value of the data type num.

RAPID Reference Manual 9-Abs-1

Abs Functions

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-Abs-2 RAPID Reference Manual

Functions ACos

ACos Calculates the arc cosine value

ACos (Arc Cosine) is used to calculate the arc cosine value.

Example
VAR num angle;
VAR num value;
.
.
angle := ACos(value);

Return value Data type: num

The arc cosine value, expressed in degrees, range [0, 180].

Arguments
ACos (Value)
Value Data type: num

The argument value, range [-1, 1].

Syntax
Acos’(’
[Value ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-ACos-1

ACos Functions

9-ACos-2 RAPID Reference Manual

Functions AOutput

AOutput Reads the value of an analog output signal

AOutput is used to read the current value of an analog output signal.

Example
IF AOutput(ao4) > 5 THEN ...

If the current value of the signal ao4 is greater than 5, then ...

Return value Data type: num

The current value of the signal.

The current value is scaled (in accordance with the system parameters) before it is read
by the RAPID program. See Figure 1.

Physical value of the

output signal (V, mA, etc.)

MAX SIGNAL

MAX PROGRAM

Logical value in the

program
MIN PROGRAM

MIN SIGNAL

Figure 1 Diagram of how analog signal values are scaled.

Arguments
AOutput (Signal)
Signal Data type: signalao

The name of the analog output to be read.

RAPID Reference Manual 9-AOutput-1

AOutput Functions

Syntax
AOutput ’(’
[ Signal ’:=’ ] < variable (VAR) of signalao > ’)’

A function with a return value of data type num.

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

9-AOutput-2 RAPID Reference Manual

Functions ArgName

ArgName Gets argument name

ArgName (Argument Name) is used to get the name of the original data object for the
current argument or the current data.

Example
VAR num abc123 :=5;
...
proc1 abc123;

PROC proc1 (num par1)

VAR string parstring;
...
parstring:=ArgName(par1);
TPWrite "Argument name "+parstring+" with value "\Num:=par1;
ENDPROC

The variable parstring is assigned the string value "abc123". On TP the follow-
ing string is written: "Argument name abc123 with value 5".

Return value Data type: string

The original data object name.

Arguments
ArgName (Parameter)
Parameter Data type: anytype

The formal parameter identifier (for the routine in which ArgName is located) or
the data identity.

Program execution
The function returns the original data object name for an entire object of the type con-
stant, variable or persistent. The original data object can be global, local in the program
module or local in a routine (normal RAPID scope rules).

If it is a part of a data object, the name of the whole data object is returned.

RAPID Reference Manual 9-ArgName-1

ArgName Functions

Example

Convert from identifier to string

This function can also be used to convert from identifier to string, by stating the iden-
tifier in the argument Parameter for any data object with global, local in module or
local in routine scope:

VAR num chales :=5;

...
proc1;

PROC proc1 ()
VAR string name;
...
name:=ArgName(chales);
TPWrite "Global data object "+name+" has value "\Num:=chales;
ENDPROC

The variable name is assigned the string value "chales" and on TP the following
string is written: "Global data object chales has value 5".

Routine call in several steps

Note that the function returns the original data object name:

VAR num chales :=5;

...
proc1 chales;
...
PROC proc1 (num parameter1)
...
proc2 parameter1;
...
ENDPROC

PROC proc2 (num par1)

VAR string name;
...
name:=ArgName(par1);
TPWrite "Original data object name "+name+" with value "\Num:=par1;
ENDPROC

The variable name is assigned the string value "chales" and on TP the following
string is written: "Original data object name charles with value 5".

9-ArgName-2 RAPID Reference Manual

Functions ArgName

Error handling
If one of the following errors occurs, the system variable ERRNO is set to
ERR_ARGNAME:

- Argument is expression value

- Argument is not present
- Argument is of type switch

This error can then be handled in the error handler.

Syntax
ArgName ’(’
[ Parameter’:=’ ] < reference (REF) of any type> ’)’

A function with a return value of the data type string.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

RAPID Reference Manual 9-ArgName-3

ArgName Functions

9-ArgName-4 RAPID Reference Manual

Functions ASin

ASin Calculates the arc sine value

ASin (Arc Sine) is used to calculate the arc sine value.

Example
VAR num angle;
VAR num value;
.
.
angle := ASin(value);

Return value Data type: num

The arc sine value, expressed in degrees, range [-90, 90].

Arguments
ASin (Value)
Value Data type: num

The argument value, range [-1, 1].

Syntax
ASin’(’
[Value ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-ASin-1

ASin Functions

9-ASin-2 RAPID Reference Manual

Functions ATan

ATan Calculates the arc tangent value

ATan (Arc Tangent) is used to calculate the arc tangent value.

Example
VAR num angle;
VAR num value;
.
.
angle := ATan(value);

Return value Data type: num

The arc tangent value, expressed in degrees, range [-90, 90].

Arguments
ATan (Value)
Value Data type: num

The argument value.

Syntax
ATan’(’
[Value ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Arc tangent with a return value in the Functions - ATan2
range [-180, 180]

RAPID Reference Manual 9-ATan-1

ATan Functions

9-ATan-2 RAPID Reference Manual

Functions ATan2

ATan2 Calculates the arc tangent2 value

ATan2 (Arc Tangent2) is used to calculate the arc tangent2 value.

Example
VAR num angle;
VAR num x_value;
VAR num y_value;
.
.
angle := ATan2(y_value, x_value);

Return value Data type: num

The arc tangent value, expressed in degrees, range [-180, 180].

The value will be equal to ATan(y/x), but in the range [-180, 180], since the function
uses the sign of both arguments to determine the quadrant of the return value.

Arguments
ATan2 (Y X)
Y Data type: num

The numerator argument value.

X Data type: num

The denominator argument value.

Syntax
ATan2’(’
[Y ’:=’] <expression (IN) of num> ’,’
[X ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

RAPID Reference Manual 9-ATan2-1

Atan2 Functions

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Arc tangent with only one argument Functions - ATan

9-Atan2-2 RAPID Reference Manual

Functions ByteToStr

ByteToStr Converts a byte to a string data

ByteToStr (Byte To String) is used to convert a byte into a string data with a defined
byte data format.

Example
VAR string con_data_buffer{5};
VAR byte data1 := 122;

con_data_buffer{1} := ByteToStr(data1);

The content of the array component con_data_buffer{1} will be "122" after the
ByteToStr ... function.

con_data_buffer{2} := ByteToStr(data1\Hex);

The content of the array component con_data_buffer{2} will be "7A" after the
ByteToStr ... function.

con_data_buffer{3} := ByteToStr(data1\Okt);

The content of the array component con_data_buffer{3} will be "172" after the
ByteToStr ... function.

con_data_buffer{4} := ByteToStr(data1\Bin);

The content of the array component con_data_buffer{4} will be "01111010"after

the ByteToStr ... function.

con_data_buffer{5} := ByteToStr(data1\Char);

The content of the array component con_data_buffer{5} will be "z" after the
ByteToStr ... function.

Return value Data type: string

The result of the conversion operation with the following format:

Format: Characters: String length: Range:

Dec .....: ’0’ - ’9’ 1-3 "0" - "255"
Hex .....: ’0’ - ’9’, ’A’ -’F’ 2 "00" - "FF"
Okt ......: ’0’ - ’7’ 3 "000" - "377"
Bin ......: ’0’ - ’1’ 8 "00000000" -
"11111111"
Char ....: Writable ASCII char 1 ASCII table (*)

RAPID Reference Manual 9-ByteToStr-1

ByteToStr Functions

(*) If non-writable ASCII char, the return format will be RAPID character code
format (e.g. “\07” for BEL control character).

Arguments
ByteToStr (ByteData [\Hex] | [\Okt] | [\Bin] | [\Char])
ByteData Data type: byte

The byte data to be converted.

If the optional switch argument is omitted, the data will be converted in decimal (Dec)
format.

[\Hex] (Hexadecimal) Data type: switch

The data will be converted in hexadecimal format.

[\Okt] (Octal) Data type: switch

The data will be converted in octal format.

[\Bin] (Binary) Data type: switch

The data will be converted in binary format.

[\Char] (Character) Data type: switch

The data will be converted in ASCII character format.

Limitations
The range for a data type byte is 0 to 255 decimal.

Syntax
ByteToStr’(’
[ByteData ’:=’] <expression (IN) of byte>
[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]
’)’ ’;’

A function with a return value of the data type string.

9-ByteToStr-2 RAPID Reference Manual

Functions ByteToStr

Related information
Described in:
Convert a string to a byte data Instructions - StrToByte
Other bit (byte) functions RAPID Summary - Bit Functions
Other string functions RAPID Summary - String Functions

RAPID Reference Manual 9-ByteToStr-3

ByteToStr Functions

9-ByteToStr-4 RAPID Reference Manual

Functions CDate

CDate Reads the current date as a string

CDate (Current Date) is used to read the current system date.

This function can be used to present the current date to the operator on the teach pen-
dant display or to paste the current date into a text file that the program writes to.

Example
VAR string date;

date := CDate();

The current date is stored in the variable date.

Return value Data type: string

The current date in a string.

The standard date format is "year-month-day", e.g. "93-05-16".

Example
date := CDate();
TPWrite "The current date is: "+date;
Write logfile, date;

The current date is written to the teach pendant display and into a text file.

Syntax
CDate ’(’ ’)’

A function with a return value of the type string.

Related Information
Described in:
Time instructions RAPID Summary - System & Time
Setting the system clock User’s Guide - System Parameters

RAPID Reference Manual 9-CDate-1

CDate Functions

9-CDate-2 RAPID Reference Manual

Functions CJointT

CJointT Reads the current joint angles

CJointT (Current Joint Target) is used to read the current angles of the robot axes and
external axes.

Example
VAR jointtarget joints;

joints := CJointT();

The current angles of the axes for the robot and external axes are stored in joints.

Return value Data type: jointtarget

The current angles in degrees for the axes of the robot on the arm side.

The current values for the external axes, in mm for linear axes, in degrees for rotational
axes.

The returned values are related to the calibration position.

Syntax
CJointT’(’’)’

A function with a return value of the data type jointtarget.

Related information
Described in:
Definition of joint Data Types - jointtarget
Reading the current motor angle Functions - ReadMotor

RAPID Reference Manual 9-CJointT-1

CJointT Functions

9-CJointT-2 RAPID Reference Manual

Functions ClkRead

ClkRead Reads a clock used for timing

ClkRead is used to read a clock that functions as a stop-watch used for timing.

Example
reg1:=ClkRead(clock1);

The clock clock1 is read and the time in seconds is stored in the variable reg1.

Return value Data type: num

The time in seconds stored in the clock.

Argument
ClkRead (Clock)
Clock Data type: clock

The name of the clock to read.

Program execution
A clock can be read when it is stopped or running.

Once a clock is read it can be read again, started again, stopped or reset.

If the clock has overflowed, program execution is stopped with an error message.

Syntax
ClkRead ’(’
[ Clock ’:=’ ] < variable (VAR) of clock > ’)’

A function with a return value of the type num.

RAPID Reference Manual 9-ClkRead-1

ClkRead Functions

Related Information
Described in:
Clock instructions RAPID Summary - System & Time
Clock overflow Data Types - clock
More examples Instructions - ClkStart

9-ClkRead-2 RAPID Reference Manual

Functions CorrRead

CorrRead Reads the current total offsets

CorrRead is used to read the total corrections delivered by all connected correction
generators.

CorrRead can be used to:

- find out how much the current path differs from the original path.

- take actions to reduce the difference.

Example
VAR pos offset;
...
offset := CorrRead();

The current offsets delivered by all connected correction generators are available in the
variable offset.

Return value Data type: pos

The total absolute offsets delivered from all connected correction generators so far.

Example
See Instructions - CorrCon

Syntax
CorrRead ’(’ ’)’

A function with a return value of the data type pos.

RAPID Reference Manual 9-CorrRead-1

CorrRead Functions

Related information
Described in:
Connects to a correction generator Instructions - CorrCon
Disconnects from a correction generator Instructions - CorrDiscon
Writes to a correction generator Instructions - CorrWrite
Removes all correction generators Instructions - CorrClear
Correction descriptor Data types - corrdescr

9-CorrRead-2 RAPID Reference Manual

Functions Cos

Cos Calculates the cosine value

Cos (Cosine) is used to calculate the cosine value from an angle value.

Example
VAR num angle;
VAR num value;
.
.
value := Cos(angle);

Return value Data type: num

The cosine value, range = [-1, 1] .

Arguments
Cos (Angle)
Angle Data type: num

The angle value, expressed in degrees.

Syntax
Cos’(’
[Angle ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-Cos-1

Cos Functions

9-Cos-2 RAPID Reference Manual

Functions CPos

CPos Reads the current position (pos) data

CPos (Current Position) is used to read the current position of the robot.

This function returns the x, y, and z values of the robot TCP as data of type pos. If the
complete robot position (robtarget) is to be read, use the function CRobT instead.

Example
VAR pos pos1;

pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot TCP is stored in variable pos1. The tool tool1
and work object wobj0 are used for calculating the position.

Return value Data type: pos

The current position (pos) of the robot with x, y, and z in the outermost coordinate sys-
tem, taking the specified tool, work object and active ProgDisp coordinate system into
consideration.

Arguments
CPos ([\Tool] [\WObj])
[\Tool] Data type: tooldata

The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.

[\WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the current robot position returned
by the function is related.

If this argument is omitted the current active work object is used.

When programming, it is very sensible to always specify arguments \Tool and \WObj.
The function will always then return the wanted position, although some other tool or
work object has been activated manually.

RAPID Reference Manual 9-CPos-1

CPos Functions

Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate sys-
tem.

Example
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;

pos2 := CPos(\Tool:=grip3 \WObj:=fixture);

.
.
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;

The x, y, and z position of the robot is captured at two places within the program
using the CPos function. The tool grip3 and work object fixture are used for cal-
culating the position. The x, y and z distances travelled between these positions
are then calculated and stored in the pos variable pos4.

Syntax
CPos ’(’
[’\’Tool ’:=’ <persistent (PERS) of tooldata>]
[’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’

A function with a return value of the data type pos.

Related information
Described in:
Definition of position Data Types - pos
Definition of tools Data Types- tooldata
Definition of work objects Data Types - wobjdata
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems
Reading the current robtarget Functions - CRobT

9-CPos-2 RAPID Reference Manual

Functions CRobT

CRobT Reads the current position (robtarget) data

CRobT (Current Robot Target) is used to read the current position of the robot and
external axes.

This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4),
robot axes configuration and external axes position. If only the x, y, and z values of the
robot TCP (pos) are to be read, use the function CPos instead.

Example
VAR robtarget p1;

p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot and external axes is stored in p1. The tool tool1
and work object wobj0 are used for calculating the position.

Return value Data type: robtarget

The current position of the robot and external axes in the outermost coordinate system,
taking the specified tool, work object and active ProgDisp/ExtOffs coordinate system
into consideration.

Arguments
CRobT ([\Tool] [\WObj])
[\Tool] Data type: tooldata

The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.

[\WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the current robot position returned
by the function is related.

If this argument is omitted the current active work object is used.

When programming, it is very sensible to always specify arguments \Tool and \WObj.
The function will always then return the wanted position, although some other tool or
work object has been activated manually.

RAPID Reference Manual 9-CRobT-1

CRobT Functions

Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate sys-
tem. External axes are represented in the ExtOffs coordinate system.

Example
VAR robtarget p2;

p2 := ORobT( RobT(\Tool:=grip3 \WObj:=fixture) );

The current position in the object coordinate system (without any ProgDisp or
ExtOffs) of the robot and external axes is stored in p2. The tool grip3 and work
object fixture are used for calculating the position.

Syntax
CRobT’(’
[’\’Tool ’:=’ <persistent (PERS) of tooldata>]
[’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’

A function with a return value of the data type robtarget.

Related information
Described in:
Definition of position Data Types - robtarget
Definition of tools Data Types- tooldata
Definition of work objects Data Types - wobjdata
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems
ExtOffs coordinate system Instructions - EOffsOn
Reading the current pos (x, y, z only) Functions - CPos

9-CRobT-2 RAPID Reference Manual

Functions CTime

CTime Reads the current time as a string

CTime is used to read the current system time.

This function can be used to present the current time to the operator on the teach pen-
dant display or to paste the current time into a text file that the program writes to.

Example
VAR string time;

time := CTime();

The current time is stored in the variable time.

Return value Data type: string

The current time in a string.

The standard time format is "hours:minutes:seconds", e.g. "18:20:46".

Example
time := CTime();
TPWrite “The current time is: “+time;
Write logfile, time;

The current time is written to the teach pendant display and written into a text
file.

Syntax
CTime ’(’ ’)’

A function with a return value of the type string.

RAPID Reference Manual 9-CTime-1

CTime Functions

Related Information
Described in:
Time and date instructions RAPID Summary - System & Time
Setting the system clock User’s Guide - System Parameters

9-CTime-2 RAPID Reference Manual

Functions CTool

CTool Reads the current tool data

CTool (Current Tool) is used to read the data of the current tool.

Example
PERS tooldata temp_tool;

temp_tool := CTool();

The value of the current tool is stored in the variable temp_tool.

Return value Data type: tooldata

This function returns a tooldata value holding the value of the current tool, i.e. the tool
last used in a movement instruction.

The value returned represents the TCP position and orientation in the wrist centre coor-
dinate system, see tooldata.

Syntax
CTool’(’’)’

A function with a return value of the data type tooldata.

Related information
Described in:
Definition of tools Data Types- tooldata
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems

RAPID Reference Manual 9-CTool-1

CTool Functions

9-CTool-2 RAPID Reference Manual

Functions CWObj

CWObj Reads the current work object data

CWObj (Current Work Object) is used to read the data of the current work object.

Example
PERS wobjdata temp_wobj;

temp_wobj := CWObj();

The value of the current work object is stored in the variable temp_wobj.

Return value Data type: wobjdata

This function returns a wobjdata value holding the value of the current work object,
i.e. the work object last used in a movement instruction.

The value returned represents the work object position and orientation in the world
coordinate system, see wobjdata.

Syntax
CWObj’(’’)’

A function with a return value of the data type wobjdata.

Related information
Described in:
Definition of work objects Data Types- wobjdata
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems

RAPID Reference Manual 9-CWObj-1

CWObj Functions

9-CWObj-2 RAPID Reference Manual

Functions DefDFrame

DefDFrame Define a displacement frame

DefDFrame (Define Displacement Frame) is used to calculate a displacement frame
from three original positions and three displaced positions.

Example

p3 p6

p5

p4
p1 p2

Three positions, p1- p3, related to an object in an original position, have been stored.
After a displacement of the object the same positions are searched for and stored as
p4-p6. From these six positions the displacement frame is calculated. Then the
calculated frame is used to displace all the stored positions in the program.

CONST robtarget p1 := [...];

CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
.
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
.
SearchL sen1, p5, *, v50, tool1;
.
SearchL sen1, p6, *, v50, tool1;
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
.
!activation of the displacement defined by frame1
PDispSet frame1;

Return value Data type: pose

The displacement frame.

RAPID Reference Manual 9-DefDFrame-1

DefDFrame Functions

Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
OldP1 Data type: robtarget
The first original position.

OldP2 Data type: robtarget

The second original position.

OldP3 Data type: robtarget

The third original position.

NewP1 Data type: robtarget

The first displaced position. This position must be measured and determined with
great accuracy.

NewP2 Data type: robtarget

The second displaced position. It should be noted that this position can be
measured and determined with less accuracy in one direction, e.g. this position
must be placed on a line describing the new direction of p1 to p2.

NewP3 Data type: robtarget

The third displaced position. This position can be measured and determined with
less accuracy in two directions, e.g. it has to be placed in a plane describing the
new plane of p1, p2 and p3.

Syntax
DefDFrame’(’
[OldP1 ’:=’] <expression (IN) of robtarget> ’,’
[OldP2 ’:=’] <expression (IN) of robtarget> ’,’
[OldP3 ’:=’] <expression (IN) of robtarget> ’,’
[NewP1 ’:=’] <expression (IN) of robtarget> ’,’
[NewP2 ’:=’] <expression (IN) of robtarget> ’,’
[NewP3 ’:=’] <expression (IN) of robtarget> ’)’

A function with a return value of the data type pose.

Related information
Described in:
Activation of displacement frame Instructions - PDispSet
Manual definition of displacement frame User’s Guide - Calibration

9-DefDFrame-2 RAPID Reference Manual

Functions DefFrame

DefFrame Define a frame

DefFrame (Define Frame) is used to calculate a frame, from three positions defining
the frame.

Example

y
z p3
z

x
p2
y
frame1
p1
object frame x

Three positions, p1- p3, related to the object coordinate system, are used to define the
new coordinate system, frame1. The first position, p1, is defining the origin of frame1,
the second position, p2, is defining the direction of the x-axis and the third position,
p3, is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:

CONST robtarget p1 := [...];

CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR pose frame1;
.
.
frame1 := DefFrame (p1, p2, p3);
.
.
!activation of the displacement defined by frame1
PDispSet frame1;

Return value Data type: pose

The calculated frame.

The calculation is related to the active object coordinate system.

RAPID Reference Manual 9-DefFrame-1

DefFrame Functions

Arguments
DefFrame (NewP1 NewP2 NewP3 [\Origin])
NewP1 Data type: robtarget

The first position, which will define the origin of the new frame.

NewP2 Data type: robtarget

The second position, which will define the direction of the x-axis of the new
frame.

NewP3 Data type: robtarget

The third position, which will define the xy-plane of the new frame. The position
of point 3 will be on the positive y side, see the figure above.

[\Origin] Data type: num

Optional argument, which will define how the origin of the frame will be placed.
Origin = 1, means that the origin is placed in NewP1, i.e. the same as if this
argument is omitted. Origin = 2 means that the origin is placed in NewP2, see the
figure below.

z z y
New P3

x
y New P2

object frame x frame1

New P1

Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2
and so that NewP3 will be placed on the y axis, see the figure below.

9-DefFrame-2 RAPID Reference Manual

Functions DefFrame

z y

z New P3

x
y New P2

object frame x frame1

New P1

Other values, or if Origin is omitted, will place the origin in NewP1.

Syntax
DefFrame’(’
[NewP1 ’:=’] <expression (IN) of robtarget> ’,’
[NewP2 ’:=’] <expression (IN) of robtarget> ’,’
[NewP3 ’:=’] <expression (IN) of robtarget>
[’\’Origin ’:=’ <expression (IN) of num> ]’)’

A function with a return value of the data type pose.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Activation of displacement frame Instructions - PDispSet

RAPID Reference Manual 9-DefFrame-3

DefFrame Functions

9-DefFrame-4 RAPID Reference Manual

Functions Dim

Dim Obtains the size of an array

Dim (Dimension) is used to obtain the number of elements in an array.

Example
PROC arrmul(VAR num array{*}, num factor)

FOR index FROM 1 TO Dim(array, 1) DO

array{index} := array{index} * factor;
ENDFOR

ENDPROC

All elements of a num array are multiplied by a factor.

This procedure can take any one-dimensional array of data type num as an input.

Return value Data type: num

The number of array elements of the specified dimension.

Arguments
Dim (ArrPar DimNo)
ArrPar (Array Parameter) Data type: Any type

The name of the array.

DimNo (Dimension Number) Data type: num

The desired array dimension: 1 = first dimension

2 = second dimension
3 = third dimension

RAPID Reference Manual 9-Dim-1

Dim Functions

Example
PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})

IF Dim(array1,1) <> Dim(array2,1) OR Dim(array1,2) <> Dim(array2,2) OR

Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
FOR i2 FROM 1 TO Dim(array1, 2) DO
FOR i3 FROM 1 TO Dim(array1, 3) DO
array1{i1,i2,i3} := array1{i1,i2,i3} + array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;

ENDPROC

Two matrices are added. If the size of the matrices differs, the program stops and
an error message appears.
This procedure can take any three-dimensional arrays of data type num as an
input.

Syntax
Dim ’(’
[ArrPar’:=’] <reference (REF) of any type> ’,’
[DimNo’:=’] <expression (IN) of num> ’)’

A REF parameter requires that the corresponding argument be either a constant, a var-
iable or an entire persistent. The argument could also be an IN parameter, a VAR
parameter or an entire PERS parameter.

A function with a return value of the data type num.

Related information
Described in:
Array parameters Basic Characteristics - Routines
Array declaration Basic Characteristics - Data

9-Dim-2 RAPID Reference Manual

Functions DOutput

DOutput Reads the value of a digital output signal

DOutput is used to read the current value of a digital output signal.

Example
IF DOutput(do2) = 1 THEN . . .

If the current value of the signal do2 is equal to 1, then . . .

Return value Data type: dionum

The current value of the signal (0 or 1).

Arguments
DOutput (Signal)
Signal Data type: signaldo

The name of the signal to be read.

Program execution
The value read depends on the configuration of the signal. If the signal is inverted in
the system parameters, the value returned by this function is the opposite of the true
value of the physical channel.

Example
IF DOutput(auto_on) <> active THEN . . .

If the current value of the system signal auto_on is not active, then ..., i.e. if the
robot is in the manual operating mode, then ... Note that the signal must first be
defined as a system output in the system parameters.

Syntax
DOutput ’(’
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’)’

A function with a return value of the data type dionum.

RAPID Reference Manual 9-DOutput-1

DOutput Functions

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

9-DOutput-2 RAPID Reference Manual

Functions EulerZYX

EulerZYX Gets Euler angles from orient

EulerZYX (Euler ZYX rotations) is used to get an Euler angle component from an orient
type variable.

Example
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
.
anglex := GetEuler(\X, object.rot);
angley := GetEuler(\Y, object.rot);
anglez := GetEuler(\Z, object.rot);

Return value Data type: num

The corresponding Euler angle, expressed in degrees, range [-180, 180].

Arguments
EulerZYX ([\X] | [\Y] | [\Z] Rotation)
The arguments \X, \Y and \Z are mutually exclusive. If none of these are specified, a
run-time error is generated.

[\X] Data type: switch

Gets the rotation around the X axis.

[\Y] Data type: switch

Gets the rotation around the Y axis.

[\Z] Data type: switch

Gets the rotation around the Z axis.

Rotation Data type: orient

The rotation in its quaternion representation.

RAPID Reference Manual 9-EulerZYX-1

EulerZYX Functions

Syntax
EulerZYX’(’
['\'X ’,’] | ['\'Y ’,’] | ['\'Z ’,’]
[Rotation ’:=’] <expression (IN) of orient>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-EulerZYX-2 RAPID Reference Manual

Functions Exp

Exp Calculates the exponential value

Exp (Exponential) is used to calculate the exponential value, ex.

Example
VAR num x;
VAR num value;
.
.
value:= Exp( x);

Return value Data type: num

The exponential value ex .

Arguments
Exp (Exponent)
Exponent Data type: num

The exponent argument value.

Syntax
Exp’(’
[Exponent ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-Exp-1

Exp Functions

9-Exp-2 RAPID Reference Manual

Functions GetTime

GetTime Reads the current time as a numeric value

GetTime is used to read a specified component of the current system time as a numeric
value.

GetTime can be used to :

- have the program perform an action at a certain time,

- perform certain activities on a weekday,
- abstain from performing certain activities on the weekend,
- respond to errors differently depending on the time of day.

Example
hour := GetTime(\Hour);

The current hour is stored in the variable hour.

Return value Data type: num

One of the four time components specified below.

Argument
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )
[\WDay] Data type: switch

Return the current weekday.

Range: 1 to 7 (Monday to Sunday).

[\Hour] Data type: switch

Return the current hour.

Range: 0 to 23.

[\Min] Data type: switch

Return the current minute.

Range: 0 to 59.

[\Sec] Data type: switch

Return the current second.

Range: 0 to 59.

RAPID Reference Manual 9-GetTime-1

GetTime Functions

One of the arguments must be specified, otherwise program execution stops with an
error message.

Example
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF

If it is a weekday and the time is between 7:00 and 15:59 the robot performs pro-
duction. At all other times, the robot is in the maintenance mode.

Syntax
GetTime ’(’
[’\’ WDay ]
| [ ’\’ Hour ]
| [ ’\’ Min ]
| [ ’\’ Sec ] ’)’

A function with a return value of the type num.

Related Information
Described in:
Time and date instructions RAPID Summary - System & Time
Setting the system clock User’s Guide - System Parameters

9-GetTime-2 RAPID Reference Manual

Functions GOutput

GOutput Reads the value of a group of digital output signals

GOutput is used to read the current value of a group of digital output signals.

Example
IF GOutput(go2) = 5 THEN ...

If the current value of the signal go2 is equal to 5, then ...

Return value Data type: num

The current value of the signal (a positive integer).

The values of each signal in the group are read and interpreted as an unsigned binary
number. This binary number is then converted to an integer.

The value returned lies within a range that is dependent on the number of signals in the
group.

No. of signals Return value No. of signals Return value

1 0-1 9 0 - 511
2 0-3 10 0 - 1023
3 0-7 11 0 - 2047
4 0 - 15 12 0 - 4095
5 0 - 31 13 0 - 8191
6 0 - 63 14 0 - 16383
7 0 - 127 15 0 - 32767
8 0 - 255 16 0 - 65535

Arguments
GOutput (Signal)
Signal Data type: signalgo

The name of the signal group to be read.

RAPID Reference Manual 9-GOutput-1

GOutput Functions

Syntax
GOutput ’(’
[ Signal ’:=’ ] < variable (VAR) of signalgo > ’)’

A function with a return value of data type num.

Related information
Described in:
Input/Output instructions RAPID Summary -
Input and Output Signals
Input/Output functionality in general Motion and I/O Principles -
I/O Principles
Configuration of I/O User’s Guide - System Parameters

9-GOutput-2 RAPID Reference Manual

Functions IndInpos

IndInpos Independent In position status

IndInpos is used to test whether an independent axis has reached the selected position.

Example
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,2) = TRUE;
WaitTime 0.2;

Wait until axis 1 of Station_A is in the 90 degrees position.

Return value Data type: bool

The return values from IndInpos are:

Return value Axis status

TRUE In position and has zero speed.
FALSE Not in position and/or has not zero speed

Arguments
IndInpos MecUnit Axis
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).

Limitations
An independent axis executed with the instruction IndCMove always returns the value
FALSE, even when the speed is set to zero.

A wait period of 0.2 seconds should be added after the instruction, to ensure that the
correct status has been achieved. This time period should be longer for external axes
with poor performance.

RAPID Reference Manual 9-IndInpos-1

IndInpos Functions

Error handling
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.

Syntax
IndInpos ’(’
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num>’)’

A function with a return value of the data type bool.

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
Check the speed status for independent axes Functions - IndSpeed

9-IndInpos-2 RAPID Reference Manual

Functions IndSpeed

IndSpeed Independent Speed status

IndSpeed is used to test whether an independent axis has reached the selected speed.

Example

IndCMove Station_A, 2, 3.4;

WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;

Wait until axis 2 of Station_A has reached the speed 3.4 degrees/s.

Return value Data type: bool

The return values from IndSpeed are:

Return value Axis status

option \InSpeed
TRUE Has reached the selected speed.
FALSE Has not reached the selected speed.

option \ZeroSpeed
TRUE Zero speed.
FALSE Not zero speed

Arguments
IndSpeed MecUnit Axis [ \InSpeed ] | [ \ZeroSpeed ]
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).

[ \InSpeed ] Data type: switch

IndSpeed returns value TRUE if the axis has reached the selected speed other-
wise FALSE.

RAPID Reference Manual 9-IndSpeed-1

IndSpeed Functions

[ \ZeroSpeed ] Data type: switch

IndSpeed returns value TRUE if the axis has zero speed otherwise FALSE.

If both the arguments \InSpeed and \ZeroSpeed are omitted, an error message will be
displayed.

Limitation
The function IndSpeed\InSpeed will always return the value FALSE in the following
situations:

- The robot is in manual mode with reduced speed.

- The speed is reduced using the VelSet instruction.
- The speed is reduced from the production window.

A wait period of 0.2 seconds should be added after the instruction, to ensure that the
correct status is obtained. This time period should be longer for external axes with poor
performance.

Error handling
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.

Syntax
IndSpeed ’(’
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num>
[ ’\’ InSpeed ] | [ ’\’ ZeroSpeed ] ’)’

A function with a return value of the data type bool.

Related information
Described in:
Independent axes in general Motion and I/O Principles -
Program execution
More examples Instructions - IndCMove
Check the position status for independent axes Functions - IndInpos

9-IndSpeed-2 RAPID Reference Manual

Functions IsPers

IsPers Is Persistent
IsPers is used to test if a data object is a persistent variable or not.

Example
PROC procedure1 (INOUT num parameter1)
IF IsVar(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC

The procedure procedure1 will take different actions depending on whether the
actual parameter parameter1 is a variable or a persistent variable.

Return value Data type: bool

TRUE if the tested actual INOUT parameter is a persistent variable.

FALSE if the tested actual INOUT parameter is not a persistent variable.

Arguments
IsPers (DatObj)
DatObj (Data Object) Data type: any type

The name of the formal INOUT parameter.

Syntax
IsPers’(’
[ DatObj ’:=’ ] < var or pers (INOUT) of any type > ’)’

A function with a return value of the data type bool.

RAPID Reference Manual 9-IsPers-1

IsPers Functions

Related information
Described in:
Test if variable Function - IsVar
Types of parameters (access modes) RAPID Characteristics - Routines

9-IsPers-2 RAPID Reference Manual

Functions IsVar

IsVar Is Variable
IsVar is used to test whether a data object is a variable or not.

Example
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC

The procedure procedure1 will take different actions, depending on whether the
actual parameter parameter1 is a variable or a persistent variable.

Return value Data type: bool

TRUE if the tested actual INOUT parameter is a variable.

FALSE if the tested actual INOUT parameter is not a variable.

Arguments
IsVar (DatObj)
DatObj (Data Object) Data type: any type

The name of the formal INOUT parameter.

Syntax
IsVar’(’
[ DatObj ’:=’ ] < var or pers (INOUT) of any type > ’)’

A function with a return value of the data type bool.

RAPID Reference Manual 9-IsVar-1

IsVar Functions

Related information
Described in:
Test if persistent Function - IsPers
Types of parameters (access modes) RAPID Characteristics - Routines

9-IsVar-2 RAPID Reference Manual

Functions MirPos

MirPos Mirroring of a position

MirPos (Mirror Position) is used to mirror the translation and rotation parts of a posi-
tion.

Example
CONST robtarget p1;
VAR robtarget p2;
PERS wobjdata mirror;
.
.
p2 := MirPos(p1, mirror);

p1 is a robtarget storing a position of the robot and an orientation of the tool. This
position is mirrored in the xy-plane of the frame defined by mirror, relative to
the world coordinate system. The result is new robtarget data, which is stored in
p2.

Return value Data type: robtarget

The new position which is the mirrored position of the input position.

Arguments
MirPos (Point MirPlane [\WObj] [\MirY])
Point Data type: robtarget

The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.

MirPlane (Mirror Plane) Data type: wobjdata

The work object data defining the mirror plane. The mirror plane is the xy-plane
of the object frame defined in MirPlane. The location of the object frame is
defined relative to the user frame, also defined in MirPlane, which in turn is
defined relative to the world frame.

[\WObj] (Work Object) Data type: wobjdata

The work object data defining the object frame, and user frame, relative to which
the input position, Point, is defined. If this argument is left out, the position is
defined relative to the World coordinate system.
Note. If the position is created with a work object active, this work object must
be referred to in the argument.

RAPID Reference Manual 9-MirPos-1

MirPos Functions

[\MirY] (Mirror Y) Data type: switch

If this switch is left out, which is the default rule, the tool frame will be mirrored
as regards the x-axis and the z-axis. If the switch is specified, the tool frame will
be mirrored as regards the y-axis and the z-axis.

Limitations
No recalculation is done of the robot configuration part of the input robtarget data.

Syntax
MirPos’(’
[ Point ’:=’ ] < expression (IN) of robtarget>’,’
[MirPlane ’:=’] <expression (IN) of wobjdata> ’,’
[’\’WObj ’:=’ <expression (IN) of wobjdata> ]
[’\’MirY ]’)’

A function with a return value of the data type robtarget.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-MirPos-2 RAPID Reference Manual

Functions NumToStr

NumToStr Converts numeric value to string

NumToStr (Numeric To String) is used to convert a numeric value to a string.

Example
VAR string str;

str := NumToStr(0.38521,3);

The variable str is given the value "0.385".

reg1 := 0.38521

str := NumToStr(reg1, 2\Exp);

The variable str is given the value "3.85E-01".

Return value Data type: string

The numeric value converted to a string with the specified number of decimals, with
exponent if so requested. The numeric value is rounded if necessary. The decimal point
is suppressed if no decimals are included.

Arguments
NumToStr (Val Dec [\Exp])
Val (Value) Data type: num

The numeric value to be converted.

Dec (Decimals) Data type: num

Number of decimals. The number of decimals must not be negative or greater

than the available precision for numeric values.

[\Exp] (Exponent) Data type: switch

To use exponent.

RAPID Reference Manual 9-NumToStr-1

NumToStr Functions

Syntax
NumToStr’(’
[ Val ’:=’ ] <expression (IN) of num> ’,’
[ Dec ’:=’ ] <expression (IN) of num>
[ \Exp ]
’)’

A function with a return value of the data type string.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-NumToStr-2 RAPID Reference Manual

Functions Offs

Offs Displaces a robot position

Offs is used to add an offset to a robot position.

Examples
MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;

The robot is moved to a point 10 mm from the position p2 (in the z-direction).

p1 := Offs (p1, 5, 10, 15);

The robot position p1 is displaced 5 mm in the x-direction, 10 mm in the y-direc-

tion and 15 mm in the z-direction.

Return value Data type: robtarget

The displaced position data.

Arguments
Offs (Point XOffset YOffset ZOffset)
Point Data type: robtarget

The position data to be displaced.

XOffset Data type: num

The displacement in the x-direction.

YOffset Data type: num

The displacement in the y-direction.

ZOffset Data type: num

The displacement in the z-direction.

RAPID Reference Manual 9-Offs-1

Offs Functions

Example
PROC pallet (num row, num column, num distance, PERS tooldata tool,
PERS wobjdata wobj)

VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0],

[9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];

palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0);

MoveL palettpos, v100, fine, tool\WObj:=wobj;

ENDPROC

A routine for picking parts from a pallet is made. Each pallet is defined as a work
object (see Figure 1). The part to be picked (row and column) and the distance
between the parts are given as input parameters.
Incrementing the row and column index is performed outside the routine.

Columns
Y-axis
O O O O O O O O O O
O O O O O O O O O O
Rows O O O O O O O O O O
O O O O O O O O O O
X-axis
O O O O O O O O O O

Figure 1 The position and orientation of the pallet is specified by defining a work object.

Syntax
Offs ’(’
[Point ’:=’] <expression (IN) of robtarget> ’,’
[XOffset ’:=’] <expression (IN) of num> ’,’
[YOffset ’:=’] <expression (IN) of num> ’,’
[ZOffset ’:=’] <expression (IN) of num> ’)’

A function with a return value of the data type robtarget.

Related information
Described in:
Position data Data Types - robtarget

9-Offs-2 RAPID Reference Manual

Functions OpMode

OpMode Read the operating mode

OpMode (Operating Mode) is used to read the current operating mode of the system.

Example
TEST OpMode()
CASE OP_AUTO:
...
CASE OP_MAN_PROG:
...
CASE OP_MAN_TEST:
...
DEFAULT:
...
ENDTEST

Different program sections are executed depending on the current operating mode.

Return value Data type: symnum

The current operating mode as defined in the table below.

Return value Symbolic constant Comment

0 OP_UNDEF Undefined operating mode

1 OP_AUTO Automatic operating mode

2 OP_MAN_PROG Manual operating mode

max. 250 mm/s

3 OP_MAN_TEST Manual operating mode

full speed, 100 %

Syntax
OpMode’(’ ’)’
A function with a return value of the data type symnum.

Related information
Described in:
Different operating modes User’s Guide - Starting up
Reading running mode Functions - RunMode

RAPID Reference Manual 9-OpMode-1

OpMode Functions

9-OpMode-2 RAPID Reference Manual

Functions OrientZYX

OrientZYX Builds an orient from Euler angles

OrientZYX (Orient from Euler ZYX angles) is used to build an orient type variable out
of Euler angles.

Example
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
object.rot := OrientZYX(anglez, angley, anglex)

Return value Data type: orient

The orientation made from the Euler angles.

The rotations will be performed in the following order:

-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.

Arguments
OrientZYX (ZAngle YAngle XAngle)
ZAngle Data type: num

The rotation, in degrees, around the Z axis.

YAngle Data type: num

The rotation, in degrees, around the Y axis.

XAngle Data type: num

The rotation, in degrees, around the X axis.

The rotations will be performed in the following order:

-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.

RAPID Reference Manual 9-OrientZYX-1

OrientZYX Functions

Syntax
OrientZYX’(’
[ZAngle ’:=’] <expression (IN) of num> ’,’
[YAngle ’:=’] <expression (IN) of num> ’,’
[XAngle ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type orient.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-OrientZYX-2 RAPID Reference Manual

Functions ORobT

ORobT Removes a program displacement from a position

ORobT (Object Robot Target) is used to transform a robot position from the program
displacement coordinate system to the object coordinate system and/or to remove an
offset for the external axes.

Example
VAR robtarget p10;
VAR robtarget p11;

p10 := CRobT();
p11 := ORobT(p10);

The current positions of the robot and the external axes are stored in p10 and p11.
The values stored in p10 are related to the ProgDisp/ExtOffs coordinate system.
The values stored in p11 are related to the object coordinate system without any
offset on the external axes.

Return value Data type: robtarget

The transformed position data.

Arguments
ORobT (OrgPoint [\InPDisp] | [\InEOffs])
OrgPoint (Original Point) Data type: robtarget

The original point to be transformed.

[\InPDisp] (In Program Displacement) Data type: switch

Returns the TCP position in the ProgDisp coordinate system, i.e. removes exter-
nal axes offset only.

[\InEOffs] (In External Offset) Data type: switch

Returns the external axes in the offset coordinate system, i.e. removes program
displacement for the robot only.

RAPID Reference Manual 9-ORobT-1

ORobT Functions

Examples
p10 := ORobT(p10 \InEOffs );

The ORobT function will remove any program displacement that is active, leav-
ing the TCP position relative to the object coordinate system. The external axes
will remain in the offset coordinate system.

p10 := ORobT(p10 \InPDisp );

The ORobT function will remove any offset of the external axes. The TCP posi-
tion will remain in the ProgDisp coordinate system.

Syntax
ORobT ’(’
[ OrgPoint ’:=’ ] < expression (IN) of robtarget>
[’\’InPDisp] | [’\’InEOffs]’)’

A function with a return value of the data type robtarget.

Related information
Described in:
Definition of program displacement for Instructions - PDispOn, PDispSet
the robot
Definition of offset for external axes Instructions - EOffsOn, EOffsSet
Coordinate systems Motion and I/O Principles - Coordi-
nate Systems

9-ORobT-2 RAPID Reference Manual

Functions PoseInv

PoseInv Inverts the pose

PoseInv (Pose Invert) calculates the reverse transformation of a pose.

Example
z1
Pose1

z0 Frame1

y1
x1
Frame0
y0 Pose2
x0

Pose1 represents the coordinates of Frame1 related to Frame0.

The transformation giving the coordinates of Frame0 related to Frame1 is obtained by
the reverse transformation:

VAR pose pose1;

VAR pose pose2;
.
.
pose2 := PoseInv(pose1);

Return value Data type: pose

The value of the reverse pose.

Arguments
PoseInv (Pose)
Pose Data type: pose

The pose to invert.

RAPID Reference Manual 9-PoseInv-1

PoseInv Functions

Syntax
PoseInv’(’
[Pose ’:=’] <expression (IN) of pose>
’)’

A function with a return value of the data type pose.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-PoseInv-2 RAPID Reference Manual

Functions PoseMult

PoseMult Multiplies pose data

PoseMult (Pose Multiply) is used to calculate the product of two frame transforma-
tions. A typical use is to calculate a new frame as the result of a displacement acting
on an original frame.

Example

z1

pose1 y1 z2
z0 pose2
Frame1

x1 Frame2
Frame0
y0 y2
pose3 x2
x0

pose1 represents the coordinates of Frame1 related to Frame0.

pose2 represents the coordinates of Frame2 related to Frame1.

The transformation giving pose3, the coordinates of Frame2 related to Frame0, is

obtained by the product of the two transformations:

VAR pose pose1;

VAR pose pose2;
VAR pose pose3;
.
.
pose3 := PoseMult(pose1, pose2);

Return value Data type: pose

The value of the product of the two poses.

RAPID Reference Manual 9-PoseMult-1

PoseMult Functions

Arguments
PoseMult (Pose1 Pose2)
Pose1 Data type: pose

The first pose.

Pose2 Data type: pose

The second pose.

Syntax
PoseMult’(’
[Pose1 ’:=’] <expression (IN) of pose> ’,’
[Pose2 ’:=’] <expression (IN) of pose>
’)’

A function with a return value of the data type pose.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-PoseMult-2 RAPID Reference Manual

Functions PoseVect

PoseVect Applies a transformation to a vector

PoseVect (Pose Vector) is used to calculate the product of a pose and a vector.
It is typically used to calculate a vector as the result of the effect of a displacement on
an original vector.

Example

pos1
pos2 z1
z0

pose1 y1
Frame1
Frame0
y0 x1
x0

pose1 represents the coordinates of Frame1 related to Frame0.

pos1 is a vector related to Frame1.

The corresponding vector related to Frame0 is obtained by the product:

VAR pose pose1;

VAR pos pos1;
VAR pos pos2;
.
.
pos2:= PoseVect(pose1, pos1);

Return value Data type: pos

The value of the product of the pose and the original pos.

RAPID Reference Manual 9-PoseVect-1

PoseVect Functions

Arguments
PoseVect (Pose Pos)
Pose Data type: pose

The transformation to be applied.

Pos Data type: pos

The pos to be transformed.

Syntax
PoseVect’(’
[Pose ’:=’] <expression (IN) of pose> ’,’
[Pos ’:=’] <expression (IN) of pos>
’)’

A function with a return value of the data type pos.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-PoseVect-2 RAPID Reference Manual

Functions Pow

Pow Calculates the power of a value

Pow (Power) is used to calculate the exponential value in any base.

Example
VAR num x;
VAR num y
VAR num reg1;
.
reg1:= Pow(x, y);

reg1 is assigned the value xy.

Return value Data type: num

The value of the base x raised to the power of the exponent y ( xy ).

Arguments
Pow (Base Exponent)
Base Data type: num

The base argument value.

Exponent Data type: num

The exponent argument value.

Limitations
The execution of the function xy will give an error if:

. x < 0 and y is not an integer;

. x = 0 and y ≤ 0.

Syntax
Pow’(’
[Base ’:=’] <expression (IN) of num> ’,’
[Exponent ’:=’] <expression (IN) of num>
’)’

RAPID Reference Manual 9-Pow-1

Pow Functions

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

9-Pow-2 RAPID Reference Manual

Functions Present

Present Tests if an optional parameter is used

Present is used to test if an optional argument has been used when calling a routine.

An optional parameter may not be used if it was not specified when calling the routine.
This function can be used to test if a parameter has been specified, in order to prevent
errors from occurring.

Example
PROC feeder (\switch on | \switch off)

IF Present (on) Set do1;

IF Present (off) Reset do1;

ENDPROC

The output do1, which controls a feeder, is set or reset depending on the argu-
ment used when calling the routine.

Return value Data type: bool

TRUE = The parameter value or a switch has been defined when calling the routine.

FALSE = The parameter value or a switch has not been defined.

Arguments
Present (OptPar)
OptPar (Optional Parameter) Data type: Any type

The name of the optional parameter to be tested.

RAPID Reference Manual 9-Present-1

Present Functions

Example
PROC glue (\switch on, num glueflow, robtarget topoint, speeddata speed,
zonedata zone, PERS tooldata tool, \PERS wobjdata wobj)

IF Present (on) PulseDO glue_on;

SetAO gluesignal, glueflow;
IF Present (wobj) THEN
MoveL topoint, speed, zone, tool \WObj=wobj;
ELSE
MoveL topoint, speed, zone, tool;
ENDIF

ENDPROC

A glue routine is made. If the argument \on is specified when calling the routine,
a pulse is generated on the signal glue_on. The robot then sets an analog output
gluesignal, which controls the glue gun, and moves to the end position. As the
wobj parameter is optional, different MoveL instructions are used depending on
whether this argument is used or not.

Syntax
Present ’(’
[OptPar’:=’] <reference (REF) of any type> ’)’

A REF parameter requires, in this case, the optional parameter name.

A function with a return value of the data type bool.

Related information
Described in:
Routine parameters Basic Characteristics - Routines

9-Present-2 RAPID Reference Manual

Functions ReadBin

ReadBin Reads from a binary serial channel or file

ReadBin (Read Binary) is used to read a byte (8 bits) from a binary serial channel or
file.

Example
VAR iodev inchannel;
.
Open "sio1:", inchannel\Bin;
character := ReadBin(inchannel);

A byte is read from the binary channel inchannel.

Return value Data type: num

A byte (8 bits) is read from a specified serial channel. This byte is converted to the
corresponding positive numeric value. If the file is empty (end of file), the number -1
is returned.

Arguments
ReadBin (IODevice [\Time])
IODevice Data type: iodev

The name (reference) of the current serial channel or file.

[\Time] Data type: num

The max. time for the reading operation (timeout) in seconds. If this argument is
not specified, the max. time is set to 60 seconds.

If this time runs out before the reading operation is finished, the error handler
will be called with the error code ERR_DEV_MAXTIME. If there is no error
handler, the execution will be stopped.

The timeout function is in use also during program stop and will be noticed in
RAPID program at program start.

Program execution
Program execution waits until a byte (8 bits) can be read from the binary serial channel.

RAPID Reference Manual 9-ReadBin-1

ReadBin Functions

Example
Open “flp1:myfile.bin”, file\Bin;
.
Rewind file;
bindata := ReadBin(file);
WHILE bindata <> EOF_BIN DO
TPWrite ByteToStr(bindata\Char);
bindata := ReadBin(file);
ENDWHILE

Read the contents of a binary file myfile.bin from the beginning to the end of the
file and display the binary data received on the teach pendant, converted to ASCII
characters (one char on each line).

Limitations
The function can only be used for channels and files that have been opened for binary
reading and writing.

Error handling
If an error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.

Predefined data
The constant EOF_BIN can be used to stop reading at the end of the file.

CONST num EOF_BIN := -1;

Syntax
ReadBin’(’
[IODevice ’:=’] <variable (VAR) of iodev>
[’\’Time’:=’ <expression (IN) of num>]’)’

A function with a return value of the type num.

9-ReadBin-2 RAPID Reference Manual

Functions ReadBin

Related information
Described in:
Opening (etc.) serial channels RAPID Summary - Communication
Convert a byte to a string data Functions - ByteToStr
Byte data Data Types - byte

RAPID Reference Manual 9-ReadBin-3

ReadBin Functions

9-ReadBin-4 RAPID Reference Manual

Functions ReadMotor

ReadMotor Reads the current motor angles

ReadMotor is used to read the current angles of the different motors of the robot and
external axes. The primary use of this function is in the calibration procedure of the
robot.

Example
VAR num motor_angle2;

motor_angle2 := ReadMotor(2);

The current motor angle of the second axis of the robot is stored in
motor_angle2.

Return value Data type: num

The current motor angle in radians of the stated axis of the robot or external axes.

Arguments
ReadMotor [\MecUnit ] Axis
MecUnit (Mechanical Unit) Data type: mecunit

The name of the mechanical unit for which an axis is to be read. If this argument
is omitted, the axis for the robot is read. (Note, in this release only robot is per-
mitted for this argument).

Axis Data type: num

The number of the axis to be read (1 - 6).

Program execution
The motor angle returned represents the current position in radians for the motor and
independently of any calibration offset. The value is not related to a fix position of the
robot, only to the resolver internal zero position, i.e. normally the resolver zero posi-
tion closest to the calibration position (the difference between the resolver zero posi-
tion and the calibration position is the calibration offset value). The value represents
the full movement of each axis, although this may be several turns.

RAPID Reference Manual 9-ReadMotor-1

ReadMotor Functions

Example
VAR num motor_angle3;

motor_angle3 := ReadMotor(\MecUnit:=robot, 3);

The current motor angle of the third axis of the robot is stored in motor_angle3.

Syntax
ReadMotor’(’
[’\’MecUnit ’:=’ < variable (VAR) of mecunit>’,’]
[Axis ’:=’ ] < expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Reading the current joint angle Functions - CJointT

9-ReadMotor-2 RAPID Reference Manual

Functions ReadNum

ReadNum Reads a number from a file or the serial channel

ReadNum (Read Numeric) is used to read a number from a character-based file or the
serial channel.

Example
VAR iodev infile;
.
Open "flp1:file.doc", infile\Read;
reg1 := ReadNum(infile);

Reg1 is assigned a number read from the file file.doc on the diskette.

Return value Data type: num

The numeric value read from a specified file. If the file is empty (end of file), the
number 9.999E36 is returned.

Arguments
ReadNum (IODevice [\Time])
IODevice Data type: iodev

The name (reference) of the file to be read.

[\Time] Data type: num

The max. time for the reading operation (timeout) in seconds. If this argument is
not specified, the max. time is set to 60 seconds.

If this time runs out before the read operation is finished, the error handler will
be called with the error code ERR_DEV_MAXTIME. If there is no error han-
dler, the execution will be stopped.

The timeout function is also in use during program stop and will be noticed in
RAPID program at program start.

Program execution
The function reads a line from a file, i.e. reads everything up to and including the next
line-feed character (LF), but not more than 80 characters. If the line exceeds 80 char-
acters, the remainder of the characters will be read on the next reading.

RAPID Reference Manual 9-ReadNum-1

ReadNum Functions

The string that is read is then converted to a numeric value; e.g. “234.4” is converted
to the numeric value 234.4. If all the characters read are not digits, 0 is returned.

Example
reg1 := ReadNum(infile);
IF reg1 > EOF_NUM THEN
TPWrite "The file is empty"
..

Before using the number read from the file, a check is performed to make sure
that the file is not empty.

Limitations
The function can only be used for files that have been opened for reading.

Error handling
If an access error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC. If there is an attempt to read non numeric data, the system variable
ERRNO is set to ERR_RCVDATA. These errors can then be dealt with by the error
handler.

Predefined data
The constant EOF_NUM can be used to stop reading, at the end of the file.

CONST num EOF_NUM := 9.998E36;

Syntax
ReadNum ’(’
[IODevice ’:=’] <variable (VAR) of iodev>
[’\’Time’:=’ <expression (IN) of num>]’)’

A function with a return value of the type num.

Related information
Described in:
Opening (etc.) serial channels RAPID Summary - Communication

9-ReadNum-2 RAPID Reference Manual

Functions ReadStr

ReadStr Reads a string from a file or serial channel

ReadStr (Read String) is used to read text from a character-based file or from the serial
channel.

Example
VAR iodev infile;
.
Open "flp1:file.doc", infile\Read;
text := ReadStr(infile);

Text is assigned a text string read from the file file.doc on the diskette.

Return value Data type: string

The text string read from the specified file. If the file is empty (end of file), the string
"EOF" is returned.

Arguments
ReadStr (IODevice [\Time])
IODevice Data type: iodev

The name (reference) of the file to be read.

[\Time] Data type: num

The max. time for the reading operation (timeout) in seconds. If this argument is
not specified, the max. time is set to 60 seconds.

If this time runs out before the read operation is finished, the error handler will
be called with the error code ERR_DEV_MAXTIME. If there is no error han-
dler, the execution will be stopped.

Program execution
The function reads a line from a file, i.e. reads everything up to and including the next
line-feed character (LF), but not more than 80 characters. If the line exceeds 80 char-
acters, the remainder of the characters will be read on the next reading.

RAPID Reference Manual 9-ReadStr-1

ReadStr Functions

Example
text := ReadStr(infile);
IF text = EOF THEN
TPWrite "The file is empty";
.

Before using the string read from the file, a check is performed to make sure that
the file is not empty.

Limitations
The function can only be used for files that have been opened for reading.

Error handling
If an error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.

Predefined data
The constant EOF can be used to check if the file was empty when trying to read from
the file or to stop reading at the end of the file.

CONST string EOF := "EOF";

Syntax
ReadStr ’(’
[IODevice ’:=’] <variable (VAR) of iodev>
[’\’Time’:=’ <expression (IN) of num>]’)’

A function with a return value of the type string.

Related information
Described in:
Opening (etc.) serial channels RAPID Summary - Communication

9-ReadStr-2 RAPID Reference Manual

Functions RelTool

RelTool Make a displacement relative to the tool

RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed in
the tool coordinate system, to a robot position.

Example
MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1;

The robot is moved to a position that is 100 mm from p1 in the direction of the
tool.

MoveL RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;

The tool is rotated 25o around its z-axis.

Return value Data type: robtarget

The new position with the addition of a displacement and/or a rotation, if any, relative
to the active tool.

Arguments
RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])
Point Data type: robtarget

The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.

Dx Data type: num

The displacement in mm in the x direction of the tool coordinate system.

Dy Data type: num

The displacement in mm in the y direction of the tool coordinate system.

Dz Data type: num

The displacement in mm in the z direction of the tool coordinate system.

[\Rx] Data type: num

The rotation in degrees around the x axis of the tool coordinate system.

RAPID Reference Manual 9-RelTool-1

RelTool Functions

[\Ry] Data type: num

The rotation in degrees around the y axis of the tool coordinate system.

[\Rz] Data type: num

The rotation in degrees around the z axis of the tool coordinate system.

In the event that two or three rotations are specified at the same time, these will be per-
formed first around the x-axis, then around the new y-axis, and then around the new
z-axis.

Syntax
RelTool’(’
[ Point ’:=’ ] < expression (IN) of robtarget>’,’
[Dx ’:=’] <expression (IN) of num> ’,’
[Dy ’:=’] <expression (IN) of num> ’,’
[Dz ’:=’] <expression (IN) of num>
[’\’Rx ’:=’ <expression (IN) of num> ]
[’\’Ry ’:=’ <expression (IN) of num> ]
[’\’Rz ’:=’ <expression (IN) of num> ]’)’

A function with a return value of the data type robtarget.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Positioning instructions RAPID Summary - Motion

9-RelTool-2 RAPID Reference Manual

Functions Round

Round Round is a numeric value

Round is used to round a numeric value to a specified number of decimals or to an inte-
ger value.

Example
VAR num val;

val := Round(0.38521\Dec:=3);

The variable val is given the value 0.385.

val := Round(0.38521\Dec:=1);

The variable val is given the value 0.4.

val := Round(0.38521);

The variable val is given the value 0.

Return value Data type: num

The numeric value rounded to the specified number of decimals.

Arguments
Round ( Val [\Dec])
Val (Value) Data type: num

The numeric value to be rounded.

[\Dec] (Decimals Data type: num

Number of decimals.

If the specified number of decimals is 0 or if the argument is omitted, the value

is rounded to an integer.

The number of decimals must not be negative or greater than the available pre-
cision for numeric values.

RAPID Reference Manual 9-Round-1

Round Functions

Syntax
Round’(’
[ Val ’:=’ ] <expression (IN) of num>
[ \Dec ’:=’ <expression (IN) of num> ]
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Truncating a value Functions - Trunc

9-Round-2 RAPID Reference Manual

Functions RunMode

RunMode Read the running mode

RunMode (Running Mode) is used to read the current running mode of the system.

Example
IF RunMode() = RUN_CONT_CYCLE THEN
.
.
ENDIF

The program section is executed only for continuous or cycle running.

Return value Data type: symnum

The current running mode as defined in the table below.

Return value Symbolic constant Comment

0 RUN_UNDEF Undefined running mode

1 RUN_CONT_CYCLE Continuous or cycle running mode

2 RUN_INSTR_FWD Instruction forward running mode

3 RUN_INSTR_BWD Instruction backward running mode

4 RUN_SIM Simulated running mode

Syntax
RunMode’(’ ’)’

A function with a return value of the data type symnum.

Related information
Described in:
Reading operating mode Functions - OpMode

RAPID Reference Manual 9-RunMode-1

RunMode Functions

9-RunMode-2 RAPID Reference Manual

Functions Sin

Sin Calculates the sine value

Sin (Sine) is used to calculate the sine value from an angle value.

Example
VAR num angle;
VAR num value;
.
.
value := Sin(angle);

Return value Data type: num

The sine value, range [-1, 1] .

Arguments
Sin (Angle)
Angle Data type: num

The angle value, expressed in degrees.

Syntax
Sin’(’
[Angle’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-Sin-1

Sin Functions

9-Sin-2 RAPID Reference Manual

Functions Sqrt

Sqrt Calculates the square root value

Sqrt (Square root) is used to calculate the square root value.

Example
VAR num x_value;
VAR num y_value;
.
.
y_value := Sqrt( x_value);

Return value Data type: num

The square root value.

Arguments
Sqrt (Value)
Value Data type: num

The argument value for square root ( ); it has to be ≥0.

Syntax
Sqrt’(’
[Value’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics

RAPID Reference Manual 9-Sqrt-1

Sqrt Functions

9-Sqrt-2 RAPID Reference Manual

Functions StrFind

StrFind Searches for a character in a string

StrFind (String Find) is used to search in a string, starting at a specified position, for a
character that belongs to a specified set of characters.

Example
VAR num found;

found := StrFind("Robotics",1,"aeiou");

The variable found is given the value 2.

found := StrFind("Robotics",1,"aeiou"\NotInSet);

The variable found is given the value 1.

found := StrFind("IRB 6400",1,STR_DIGIT);

The variable found is given the value 5.

found := StrFind("IRB 6400",1,STR_WHITE);

The variable found is given the value 4.

Return value Data type: num

The character position of the first character, at or past the specified position, that
belongs to the specified set. If no such character is found, String length +1 is returned.

Arguments
StrFind (Str ChPos Set [\NotInSet])
Str (String) Data type: string

The string to search in.

ChPos (Character Position) Data type: num

Start character position. A runtime error is generated if the position is outside the
string.

Set Data type: string

Set of characters to test against.

RAPID Reference Manual 9-StrFind-1

StrFind Functions

[\NotInSet] Data type: switch

Search for a character not in the set of characters.

Syntax
StrFind’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ ChPos ’:=’ ] <expression (IN) of num> ’,’
[ Set’:=’ ] <expression (IN) of string>
[’\’NotInSet ]
’)’

A function with a return value of the data type num.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrFind-2 RAPID Reference Manual

Functions StrLen

StrLen Gets the string length

StrLen (String Length) is used to find the current length of a string.

Example
VAR num len;

len := StrLen("Robotics");

The variable len is given the value 8.

Return value Data type: num

The number of characters in the string (>=0).

Arguments
StrLen (Str)
Str (String) Data type: string

The string in which the number of characters is to be counted.

Syntax
StrLen’(’
[ Str ’:=’ ] <expression (IN) of string>
’)’

A function with a return value of the data type num.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

RAPID Reference Manual 9-StrLen-1

StrLen Functions

9-StrLen-2 RAPID Reference Manual

Functions StrMap

StrMap Maps a string

StrMap (String Mapping) is used to create a copy of a string in which all characters are
translated according to a specified mapping.

Example
VAR string str;

str := StrMap("Robotics","aeiou","AEIOU");

The variable str is given the value "RObOtIcs".

str := StrMap("Robotics",STR_LOWER, STR_UPPER);

The variable str is given the value "ROBOTICS".

Return value Data type: string

The string created by translating the characters in the specified string, as specified by
the "from" and "to" strings. Each character, from the specified string, that is found in
the "from" string is replaced by the character at the corresponding position in the "to"
string. Characters for which no mapping is defined are copied unchanged to the result-
ing string.

Arguments
StrMap ( Str FromMap ToMap)
Str (String) Data type: string

The string to translate.

FromMap Data type: string

Index part of mapping.

ToMap Data type: string

Value part of mapping.

RAPID Reference Manual 9-StrMap-1

StrMap Functions

Syntax
StrMap’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ FromMap’:=’ ] <expression (IN) of string> ’,’
[ ToMap’:=’ ] <expression (IN) of string>
’)’

A function with a return value of the data type string.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrMap-2 RAPID Reference Manual

Functions StrMatch

StrMatch Search for pattern in string

StrMatch (String Match) is used to search in a string, starting at a specified position,
for a specified pattern.

Example
VAR num found;

found := StrMatch("Robotics",1,"bo");

The variable found is given the value 3.

Return value Data type: num

The character position of the first substring, at or past the specified position, that is
equal to the specified pattern string. If no such substring is found, string length +1 is
returned.

Arguments
StrMatch (Str ChPos Pattern)
Str (String) Data type: string

The string to search in.

ChPos (Character Position) Data type: num

Start character position. A runtime error is generated if the position is outside the
string.

Pattern Data type: string

Pattern string to search for.

Syntax
StrMatch’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ ChPos ’:=’ ] <expression (IN) of num> ’,’
[ Pattern’:=’ ] <expression (IN) of string>
’)’

A function with a return value of the data type num.

RAPID Reference Manual 9-StrMatch-1

StrMatch Functions

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrMatch-2 RAPID Reference Manual

Functions StrMemb

StrMemb Checks if a character belongs to a set

StrMemb (String Member) is used to check whether a specified character in a string
belongs to a specified set of characters.

Example
VAR bool memb;

memb := StrMemb("Robotics",2,"aeiou");

The variable memb is given the value TRUE, as o is a member of the set "aeiou".

memb := StrMemb("Robotics",3,"aeiou");

The variable memb is given the value FALSE, as b is not a member of the set
"aeiou".

memb := StrMemb("S-721 68 VÄSTERÅS",3,STR_DIGIT);

The variable memb is given the value TRUE.

Return value Data type: bool

TRUE if the character at the specified position in the specified string belongs to the
specified set of characters.

Arguments
StrMemb (Str ChPos Set)
Str (String) Data type: string

The string to check in.

ChPos (Character Position) Data type: num

The character position to check. A runtime error is generated if the position is

outside the string.

Set Data type: string

Set of characters to test against.

RAPID Reference Manual 9-StrMemb-1

StrMemb Functions

Syntax
StrMemb’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ ChPos ’:=’ ] <expression (IN) of num> ’,’
[ Set’:=’ ] <expression (IN) of string>
’)’

A function with a return value of the data type bool.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrMemb-2 RAPID Reference Manual

Functions StrOrder

StrOrder Checks if strings are ordered

StrOrder (String Order) is used to check whether two strings are in order, according to
a specified character ordering sequence.

Example
VAR bool le;

le := StrOrder("FIRST","SECOND",STR_UPPER);

The variable le is given the value TRUE, because "FIRST" comes before
"SECOND" in the character ordering sequence STR_UPPER.

Return value Data type: bool

TRUE if the first string comes before the second string (Str1 <= Str2) when characters
are ordered as specified.

Characters that are not included in the defined ordering are all assumed to follow the
present ones.

Arguments
StrOrder ( Str1 Str2 Order)
Str1 (String 1) Data type: string

First string value.

Str2 (String 2) Data type: string

Second string value.

Order Data type: string

Sequence of characters that define the ordering.

RAPID Reference Manual 9-StrOrder-1

StrOrder Functions

Syntax
StrOrder’(’
[ Str1 ’:=’ ] <expression (IN) of string> ’,’
[ Str2 ’:=’ ] <expression (IN) of string> ’,’
[ Order ’:=’ ] <expression (IN) of string>
’)’

A function with a return value of the data type bool.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrOrder-2 RAPID Reference Manual

Functions StrPart

StrPart Finds a part of a string

StrPart (String Part) is used to find a part of a string, as a new string.

Example
VAR string part;

part := StrPart("Robotics",1,5);

The variable part is given the value "Robot".

Return value Data type: string

The substring of the specified string, which has the specified length and starts at the
specified character position.

Arguments
StrPart (Str ChPos Len)
Str (String) Data type: string

The string in which a part is to be found.

ChPos (Character Position) Data type: num

Start character position. A runtime error is generated if the position is outside the
string.

Len (Length) Data type: num

Length of string part. A runtime error is generated if the length is negative or

greater than the length of the string, or if the substring is (partially) outside the
string.

Syntax
StrPart’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ ChPos ’:=’ ] <expression (IN) of num> ’,’
[ Len’:=’ ] <expression (IN) of num>
’)’

A function with a return value of the data type string.

RAPID Reference Manual 9-StrPart-1

StrPart Functions

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrPart-2 RAPID Reference Manual

Functions StrToByte

StrToByte Converts a string to a byte data

StrToByte (String To Byte) is used to convert a string with a defined byte data format
into a byte data.

Example
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010", "A"];
VAR byte data_buffer{5};

data_buffer{1} := StrToByte(con_data_buffer{1});

The content of the array component data_buffer{1} will be 10 decimal after the
StrToByte ... function.

data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);

The content of the array component data_buffer{2} will be 174 decimal after the
StrToByte ... function.

data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);

The content of the array component data_buffer{3} will be 126 decimal after the
StrToByte ... function.

data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);

The content of the array component data_buffer{4} will be 10 decimal after the
StrToByte ... function.

data_buffer{5} := StrToByte(con_data_buffer{5}\Char);

The content of the array component data_buffer{5} will be 65 decimal after the
StrToByte ... function.

Return value Data type: byte

The result of the conversion operation in decimal representation.

RAPID Reference Manual 9-StrToByte-1

StrToByte Functions

Arguments
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
ConStr (Convert String) Data type: string

The string data to be converted.

If the optional switch argument is omitted, the string to be converted has decimal (Dec)
format.

[\Hex] (Hexadecimal) Data type: switch

The string to be converted has hexadecimal format.

[\Okt] (Octal) Data type: switch

The string to be converted has octal format.

[\Bin] (Binary) Data type: switch

The string to be converted has binary format.

[\Char] (Character) Data type: switch

The string to be converted has ASCII character format.

Limitations
Depending on the format of the string to be converted, the following string data
is valid:

Format: String length: Range:

Dec .....: ’0’ - ’9’ 3 "0" - "255"
Hex .....: ’0’ - ’9’, ’a’ -’f’, ’A’ - ’F’ 2 "0" - "FF"
Okt ......: ’0’ - ’7’ 3 "0" - "377"
Bin ......: ’0’ - ’1’ 8 "0" - "11111111"
Char ....: Any ASCII character 1 ASCII table

RAPID character codes (e.g. "\07" for BEL control character) cannot be used as
arguments in ConStr.

Syntax
StrToByte’(’
[ConStr ’:=’] <expression (IN) of string>
[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]
’)’ ’;’

9-StrToByte-2 RAPID Reference Manual

Functions StrToByte

A function with a return value of the data type byte.

Related information
Described in:
Convert a byte to a string data Instructions - ByteToStr
Other bit (byte) functions RAPID Summary - Bit Functions
Other string functions RAPID Summary - String Functions

RAPID Reference Manual 9-StrToByte-3

StrToByte Functions

9-StrToByte-4 RAPID Reference Manual

Functions StrToVal

StrToVal Converts a string to a value

StrToVal (String To Value) is used to convert a string to a value of any data type.

Example
VAR bool ok;
VAR num nval;

ok := StrToVal("3.85",nval);

The variable ok is given the value TRUE and nval is given the value 3.85.

Return value Data type: bool

TRUE if the requested conversion succeeded, FALSE otherwise.

Arguments
StrToVal ( Str Val )
Str (String) Data type: string

A string value containing literal data with format corresponding to the data type
used in argument Val. Valid format as for RAPID literal aggregates.

Val (Value) Data type: ANYTYPE

Name of the variable or persistent of any data type for storage of the result from
the conversion. The data is unchanged if the requested conversion failed.

Example
VAR string 15 := “[600, 500, 225.3]”;
VAR bool ok;
VAR pos pos15;

ok := StrToVal(str15,pos15);

The variable ok is given the value TRUE and the variable p15 is given the value
that are specified in the string str15.

RAPID Reference Manual 9-StrToVal-1

StrToVal Functions

Syntax
StrToVal’(’
[ Str ’:=’ ] <expression (IN) of string> ’,’
[ Val ’:=’ ] <var or pers (INOUT) of ANYTYPE>
’)’

A function with a return value of the data type bool.

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-StrToVal-2 RAPID Reference Manual

Functions Tan

Tan Calculates the tangent value

Tan (Tangent) is used to calculate the tangent value from an angle value.

Example
VAR num angle;
VAR num value;
.
.
value := Tan(angle);

Return value Data type: num

The tangent value.

Arguments
Tan (Angle)
Angle Data type: num

The angle value, expressed in degrees.

Syntax
Tan’(’
[Angle ’:=’] <expression (IN) of num>
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Arc tangent with return value in the
range [-180, 180] Functions - ATan2

RAPID Reference Manual 9-Tan-1

Tan Functions

9-Tan-2 RAPID Reference Manual

Functions TestDI

TestDI Tests if a digital input is set

TestDI is used to test whether a digital input is set.

Examples

IF TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 1, then . . .

IF NOT TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 0, then . . .

WaitUntil TestDI(di1) AND TestDI(di2);

Program execution continues only after both the di1 input and the di2 input have
been set.

Return value Data type: bool

TRUE = The current value of the signal is equal to 1.

FALSE = The current value of the signal is equal to 0.

Arguments
TestDI (Signal)
Signal Data type: signaldi

The name of the signal to be tested.

Syntax
TestDI ’(’
[ Signal ’:=’ ] < variable (VAR) of signaldi > ’)’

A function with a return value of the data type bool.

RAPID Reference Manual 9-TestDI-1

TestDI Functions

Related information
Described in:
Reading the value of a digital input signal Functions - DInput
Input/Output instructions RAPID Summary -
Input and Output Signals

9-TestDI-2 RAPID Reference Manual

Functions Trunc

Trunc Truncates a numeric value

Trunc (Truncate) is used to truncate a numeric value to a specified number of decimals
or to an integer value.

Example
VAR num val;

val := Trunc(0.38521\Dec:=3);

The variable val is given the value 0.385.

reg1 := 0.38521

val := Trunc(reg1\Dec:=1);

The variable val is given the value 0.3.

val := Trunc(0.38521);

The variable val is given the value 0.

Return value Data type: num

The numeric value truncated to the specified number of decimals.

Arguments
Trunc ( Val [\Dec] )
Val (Value) Data type: num

The numeric value to be truncated.

[\Dec] (Decimals) Data type: num

Number of decimals.

If the specified number of decimals is 0 or if the argument is omitted, the value

is truncated to an integer.

The number of decimals must not be negative or greater than the available pre-
cision for numeric values.

RAPID Reference Manual 9-Trunc-1

Trunc Functions

Syntax
Trunc’(’
[ Val ’:=’ ] <expression (IN) of num>
[ \Dec ’:=’ <expression (IN) of num> ]
’)’

A function with a return value of the data type num.

Related information
Described in:
Mathematical instructions and functions RAPID Summary - Mathematics
Rounding a value Functions - Round

9-Trunc-2 RAPID Reference Manual

Functions ValToStr

ValToStr Converts a value to a string

ValToStr (Value To String) is used to convert a value of any data type to a string.

Example
VAR string str;
VAR pos p := [100,200,300];

str := ValToStr(1.234567);

The variable str is given the value "1.23457".

str := ValToStr(TRUE);

The variable str is given the value "TRUE".

str := ValToStr(p);

The variable str is given the value "[100,200,300]".

Return value Data type: string

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,
the number is rounded to an integer.

A runtime error is generated if the resulting string is too long.

Arguments
ValToStr ( Val )
Val (Value) Data type: ANYTYPE

A value of any data type.

Syntax
ValToStr’(’
[ Val ’:=’ ] <expression (IN) of ANYTYPE>
’)’

A function with a return value of the data type string.

RAPID Reference Manual 9-ValToStr-1

ValToStr Functions

Related information
Described in:
String functions RAPID Summary - String Functions
Definition of string Data Types - string
String values Basic Characteristics -
Basic Elements

9-ValToStr-2 RAPID Reference Manual

 Predefined Data and Programs

CONTENTS
Page

1 System Module User ....................................................................................................... 3

1.1 Contents........................................................................................................................ 3
1.2 Creating new data in this module................................................................................. 3
1.3 Deleting this data.......................................................................................................... 4

RAPID Reference Manual 10-1

Predefined Data and Programs

10-2 RAPID Reference Manual

Predefined Data and Programs System Module User

1 System Module User

In order to facilitate programming, predefined data is supplied with the robot. This data
does not have to be created and, consequently, can be used directly.

If this data is used, initial programming is made easier. It is, however, usually better to
give your own names to the data you use, since this makes the program easier for you
to read.

1.1 Contents
User comprises five numerical data (registers), one work object data, one clock and
two symbolic values for digital signals.

Name Data type Declaration

reg1 num VAR num reg1:=0
reg2 . .
reg3 . .
reg4 . .
reg5 num VAR num reg5:=0
wobj1 wobjdata PERS wobjdata wobj1:=wobj0
clock1 clock VAR clock clock1
high dionum CONST dionum high:=1
low dionum CONST dionum low:=0

User is a system module, which means that it is always present in the memory of the
robot regardless of which program is loaded.

1.2 Creating new data in this module

This module can be used to create such data and routines that must always be present
in the program memory regardless of which program is loaded, e.g. tools and service
routines.

• Choose View: Modules from the Program window.

• Select the system module User and press Enter .
• Change, create data and routines in the normal way (see Programming and Testing).

RAPID Reference Manual 10-3

System Module User Predefined Data and Programs

1.3 Deleting this data

Warning: If the Module is deleted, the CallByVar instruction will not work.

To delete all data (i.e. the entire module)

• Choose View: Modules from the Program window.

• Select the module User.
• Press Delete .

To change or delete individual data

• Choose View: Data from the Program window.

• Choose Data: In All Modules.
• Select the desired data. If this is not shown, press the Types function key to select the
correct data type.
• Change or delete in the normal way (see Programming and Testing).

10-4 RAPID Reference Manual

 Programming off-line

CONTENTS
Page

1 Programming Off-line .................................................................................................... 3

1.1 File format ............................................................................................................. 3
1.2 Editing.................................................................................................................... 3
1.3 Syntax check.......................................................................................................... 3
1.4 Examples................................................................................................................ 4
1.5 Making your own instructions ............................................................................... 4

RAPID Reference Manual 11-1

Programming off-line

11-2 RAPID Reference Manual

 Programming Off-line

Programming Off-line

1 Programming Off-line
RAPID programs can easily be created, maintained and stored in an ordinary office
computer. All information can be read and changed directly using a normal text editor.
This chapter explains the working procedure for doing this. In addition to off-line
programming, you can use the computer tool, QuickTeach.

1.1 File format

The robot stores and reads RAPID programs in TXT format (ASCII) and can handle
both DOS and UNIX text formats. If you use a word-processor to edit programs, these
must be saved in TXT format (ASCII) before they are used in the robot.

1.2 Editing

When a program is created or changed in a word-processor, all information will be

handled in the form of text. This means that information about data and routines will
differ somewhat from what is displayed on the teach pendant.

Note that the value of a stored position is only displayed as an *on the teach pendant,
whereas the text file will contain the actual position value (x, y, z, etc.).

In order to minimise the risk of errors in the syntax (faulty programs), you should use
a template. A template can take the form of a program that was created previously on
the robot or using QuickTeach. These programs can be read directly to a word-
processor without having to be converted.

1.3 Syntax check

Programs must be syntactically correct before they are loaded into the robot. By this is
meant that the text must follow the fundamental rules of the RAPID language. One of
the following methods should be used to detect errors in the text:

• Save the file on diskette and try to open it in the robot. If there are any syntactical
errors, the program will not be accepted and an error message will be displayed. To
obtain information about the type of error, the robot stores a log called
PGMCPL1.LOG on the internal RAM disk. Copy this log to a diskette using the
robot’s File Manager. Open the log in a word-processor and you will be able to read
which lines were incorrect and receive a description of the error.
• Open the file in QuickTeach or ProgramMaker.
• Use a RAPID syntax check program for the PC.

When the program is syntactically correct, it can be checked and edited in the robot.

RAPID Reference Manual 11-3

Programming Off-line

To make sure that all references to routines and data are correct, use the command File:
Check Program. If the program has been changed in the robot, it can be stored on
diskette again and processed or stored in a PC.

1.4 Examples

The following shows examples of what routines look like in text format.

%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE main
VAR intnum process_int ;
! Demo of RAPID program
PROC main()
MoveL p1, v200, fine, gun1;
ENDPROC

TRAP InvertDo12
! Trap routine for TriggInt
TEST INTNO
CASE process_int:
InvertDO do12;
DEFAULT:
TPWrite “Unknown trap , number=”\Num:=INTNO;
ENDTEST
ENDTRAP

LOCAL FUNC num MaxNum(num t1, num t2)

IF t1 > t2 THEN
RETURN t1;
ELSE
RETURN t2;
ENDIF
ENDFUNC
ENDMODULE

1.5 Making your own instructions

In order to make programming easier, you can customize your own instructions. These
are created in the form of normal routines, but, when programming and test-running,
function as instructions:

- They can be taken from the instruction pick list and programmed as normal
instructions.
- The complete routine will be run during step-by-step execution.

11-4 RAPID Reference Manual

 Programming Off-line

• Create a new system module where you can place your routines that will function as
instructions. Alternatively, you can place them in the USER system module.
• Create a routine in this system module with the name that you want your new
instruction to be called. The arguments of the instruction are defined in the form of
routine parameters. Note that the name of the parameters will be displayed in the
window during programming and should therefore be given names that the user will
understand.
• Place the routine in one of the Most Common pick lists.
• If the instruction is to behave in a certain way during backward program execution,
this can be done in the form of a backward handler. If there is no such handler, it will
not be possible to get past the instruction during backward program execution (see
Chapter 13 in this manual - Basic Characteristics). A backward handler can be
entered using the command Routine: Add Backward Handler from the Program
Routines window.
• Test the routine thoroughly so that it works with different types of input data
(arguments).
• Change the module attribute to NOSTEPIN. The complete routine will then be run
during step-by-step execution. This attribute, however, must be entered off-line.

Example: To make the gripper easier to handle, two new instructions are made,
GripOpen and GripClose. The output signal’s name is given to the instruction’s
argument, e.g. GripOpen gripper1.

MODULE My_instr (SYSMODULE, NOSTEPIN)

PROC GripOpen (VAR signaldo Gripper)
Set Gripper;
WaitTime 0.2;
ENDPROC
PROC GripClose (VAR signaldo Gripper)
Reset Gripper;
WaitTime 0.2;
ENDPROC
ENDMODULE

RAPID Reference Manual 11-5

Programming Off-line

11-6 RAPID Reference Manual

 ArcWare
INDICE

seamdata Seam data

weavedata Weave data
welddata Weld data
ArcC Arc welding with circular motion
ArcL Arc welding with linear motion
ArcKill Kill the AW process
ArcRefresh Refresh arcweld data

Guía de Referencia RAPID 13-1

ArcWare

13-2 Guía de Referencia RAPID

ArcWare seamdata

seamdata Seam data

Seamdata is used to control the start and end of the weld. Seamdata is also used if the
process is restarted after a welding operation has been interrupted.

The actual weld phase is controlled using welddata.

Description
Seam data describes data, the values of which, as a rule, can be maintained unaltered
when welding a complete run and often also when welding several seams. Seam data
is used when preparing for the welding operation, when igniting the arc, when heating
after the ignition and also when ending the weld.

Seam data is included in all arc welding instructions to facilitate controlled end and
start phases irrespective of where the interrupts or restarts occur.

Note. Some of the components of seam data depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out of the seam data.
The conditions that must be met for components to exist are described in the system
parameters.

All voltages can be expressed in two ways (determined by the welding equipment):

- As absolute values (only positive values are used in this case).

- As corrections of values set in the process equipment (both positive and nega-
tive values are used in this case).

Feeding the weld electrode in this section refers to MIG/MAG welding. In the case of
TIG welding:

- A cold wire is supplied to the wire feed.

- The necessary welding current reference value can be connected to any of the
three analog outputs that are not used. (The Welding voltage reference is not
used.)

RAPID Reference Manual 13-seamdata-1

seamdata ArcWare

The welding sequence

IGNITION HEAT WELD END

gas

T1 T2 t

weld_sched
sched-no heat_sched
ign_sched

fill_sched
t
power on

T T t
5 5

wf on

t
4x anal.
ref.

ignition timeout t
signal supervision
arc_OK
(di SR)
t
robotmove forward next pos
to pos scrape

t
T D/T T T T
3 4 6 7 8

T1: max. gas_purge/arc_preset time T5: burnback time

T2: gas_preflow time T6: max cooling/arc_preset time
T3: ignition_movement_delay time T7: filling time
D/T4: heating distance/time T8: max cooling/gas_postflow time

13-seamdata-2 RAPID Reference Manual

ArcWare seamdata

Components

Component group: Ignition

purge_time Data type: num

The time (in seconds) it takes to fill gas lines and the welding gun with protective
gas, so-called “gas purging”.

If the first weld instruction contains the argument \On (flying start), the gas flow
is activated at the specified gas purge time before the programmed position is
reached.

If the positioning time to the start position of the weld is shorter than the gas
purge time, or if the \On argument is not used, the robot waits in the weld start
position until the gas purge time has expired.

preflow_time Data type: num

The time (in seconds) it takes to preflow the weld object with protective gas, so-
called “gas preflowing”.

The robot is stationary in position during this time before the arc is ignited.

ign_sched (ignition schedule) Data type: num

The identity (expressed as a number) of a weld program in connected welding

equipment. It is sent to the welding equipment to be used during ignition of the
arc.

See System Parameter Arc Welding - Equipment - schedport_type.

ign_voltage Data type: num

The welding voltage (in volts) during ignition of the arc.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

ign_wirefeed Data type: num

The feed speed of the weld electrode during ignition of the arc.

The unit is defined in the system parameter Arc Welding - Units - unit_feed and,
as a rule, is m/minute or inches per minute.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

ign_current Data type: num

The welding current during ignition of the arc.

RAPID Reference Manual 13-seamdata-3

seamdata ArcWare

The value specified is scaled and send to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

ign_volt_adj (ignition voltage adjustment)Data type: num

The welding voltage adjustment during ignition of the arc.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

ign_curr_adj (ignition current adjustment) Data type: num

The current adjustment during ignition of the arc.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

ign_move_delay (ignition movement delay) Data type: num

The delay (in seconds) from the time the arc is considered stable at ignition until
the heating phase is started. The ignition references remain valid during the igni-
tion movement delay.

scrape_start (scrape start type) Data type: num

Type of scrape at weld start. Scrape type at restart will not be affected (it will
always be Weaving scrape).

Scrape types:
0 No scrape. No scrape will occur at weld start.
1 Weaving scrape.
2 Fast scrape. The robot does not wait for the arc OK signal at the start point.
However, the ignition is considered incorrect if the ignition timeout has been
exceeded.

Component group: Heat

heat_speed Data type: num

The welding speed during heating at the start of the weld phase.

The unit is defined in the system parameter Arc Welding - Units- velocity_unit
and, as a rule, is mm/s or inches per minute.

heat_time Data type: num

The heating time (in seconds) at the start of the weld phase.

13-seamdata-4 RAPID Reference Manual

ArcWare seamdata

Heat_time is only used during timed positioning and when heat_distance or

heat_speed equal zero.

heat_distance Data type: num

The distance along which heat data must be active at the start of the weld.

The unit is defined in System Parameters - Arc Welding - Units - length_unit and
as a rule, is mm or inches.

heat_sched (heating schedule) Data type: num

The identity (expressed as a number) of a weld program in connected welding

equipment. It is sent to the welding equipment when the arc has been ignited and
is used during heating.

See System Parameter Arc Welding - Equipment - schedport_type.

heat_voltage Data type: num

The welding voltage (in volts) during heating.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

heat_wirefeed Data type: num

The feed speed of the weld electrode during heating.

The unit is defined in the system parameter Arc Welding - Units - unit_feed and,
as a rule, is m/minute or inches per minute.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

heat_current Data type: num

The welding current during heating.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog output.

heat_volt_adj (heating voltage adjustment) Data type: num

The voltage adjustment for heating.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

RAPID Reference Manual 13-seamdata-5

seamdata ArcWare

heat_curr_adj (heating current adjustment) Data type: num

The current adjustment during heating.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

13-seamdata-6 RAPID Reference Manual

ArcWare seamdata

Component group: End

cool_time (cooling time) Data type: num

The time (in seconds) during which the process is closed before other terminat-
ing activities (filling) take place.

fill_time Data type: num

The crater-filling time (in seconds) at the end phase of the weld.

bback_time (burnback time) Data type: num

The time (in seconds) during which the weld electrode is burnt back when elec-
trode feeding has stopped. This to prevent the electrode getting stuck to the hard-
ening weld when a MIG/MAG process is switched off.

Burnback time is used twice in the end phase; first when the weld phase is being
finished, the second time after crater-filling.

rback_time (rollback time) Data type: num

The time (in seconds) during which a cold wire is rolled back after the power
source has been switched off. This to prevent the wire getting stuck to the hard-
ening weld when a TIG process is switched off.

The functions burnback and rollback are mutually exclusive.

postflow_time Data type: num

The time (in seconds) required for purging with protective gas after the end of a
process. The purpose of gas postflow is to prevent the weld electrode and the
seam from oxidizing during cooling.

fill_sched (finish schedule) Data type: num

The identity (expressed as a number) of a weld program in connected welding

equipment. It is sent to the welding equipment when the weld phase is completed
and is used when crater-filling.

See System Parameter Arc Welding - Equipment - schedport_type.

fill_voltage (crater-filling voltage) Data type: num

The welding voltage (in volts) during crater-filling at the end phase of a process.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

fill_wirefeed (crater-filling wirefeed) Data type: num

The feed speed of the weld electrode when crater-filling.

RAPID Reference Manual 13-seamdata-7

seamdata ArcWare

The unit is defined in the system parameter Arc Welding - Units - unit_feed and,
as a rule, is m/minute or inches per minute.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

fill_current (crater-filling current) Data type: num

The welding current during crater-filling at the end phase of a process.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

fill_volt_adj (filling voltage adjustment) Data type: num

The voltage adjustment during crater-filling.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

fill_curr_adj (filling current adjustment) Data type: num

The current adjustment during crater-filling.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be con-
trolled using an analog output signal.

Structure
<data object of seamdata>
<gas_purge_time of num>
<gas_preflow_time of num>
<ign_sched of num>
<ign_voltage of num>
<ign_wirefeed of num>
<ign_current of num>
<ign_volt_adj of num>
<ign_curr_adj of num>
<ign_move_delay of num>
<heat_speed of num>
<heat_time of num>
<heat_distance of num>
<heat_sched of num>
<heat_voltage of num>
<heat_wirefeed of num>

13-seamdata-8 RAPID Reference Manual

ArcWare seamdata

heat_current of num>
<heat_volt_adj of num>
<heat_curr_adj of num>
<cool_time of num>
<fill_time of num>
<bback_time of num>
<rback_time of num>
<gas_postflow_time of num>
<fill_sched of num>
<fill_voltage of num>
<fill_wirefeed of num>
<fill_current of num>
<fill_volt_adj of num>
<fill_curr_adj of num>

Note that the structure changes depending on the configuration of the robot.

Related information
Described in:
Weld data Data Types - welddata
Installation parameters for weld- System Parameters - Arc Welding
ing equipment and functions
Process phases and time diagrams RAPID Summary- Arc Welding
Arc welding instructions Instructions - ArcL, ArcC

RAPID Reference Manual 13-seamdata-9

seamdata ArcWare

13-seamdata-10 RAPID Reference Manual

ArcWare weavedata

weavedata Weave data

Weavedata is used to define any weaving carried out during arc welding.

Weaving can be used during the heat and weld phases of a seam.

Description
Weaving is a movement, superimposed on the basic path of the process.

There are three types of weaving pattern to choose from: zigzag, V-shaped and
triangular weaving. These are illustrated in Figure 1 to Figure 3.

All weave data components apply to both the heat phase and the weld phase.

The unit for weave data components that specify a distance is defined in the parameter
Arc Welding - Units - length_unit and, as a rule, is mm or inches. (These components
are weave_length, _width, _height, _bias and dwell lengths.)

Note. Some of the components of weave data depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out of the weave data.
The conditions that must be met for components to exist are described in the system
parameters.

Components
weave_shape (weld weave shape) Data type: num

The shape of the weaving pattern in the weld phase.

Specified value Weaving pattern

0 No weaving.
1 Zigzag weaving as illustrated in Figure 1.
Yw Zw Zw

Xw Xw Yw

Figure 1 Zig-zag weaving results in weaving horizontal to the seam.

RAPID Reference Manual 13-weavedata-1

weavedata ArcWare

Specified value Weaving type

2 V-shaped weaving as illustrated in Figure 2.
Yw Zw Zw

Xw Xw Yw

Figure 2 V-shaped weaving results in weaving in the shape of a “V”, vertical to the seam.

3 Triangular weaving as illustrated in Figure 3.

Yw Zw Zw

Xw Xw Yw

Figure 3 Triangular weaving results in a triangular shape, vertical to the seam.

weave_type (weld weave interpolation type) Data type: num

The type of weaving in the weld phase.

Specified value Weaving type

0 Geometric weaving. All axes are used during weaving.
1 Wrist weaving.

weave_length Data type: num

The length of the weaving cycle in the weld phase (see Figure 4).

Yw Yw

Xw Xw

L L

Figure 4 The length (L) of the weaving cycle for zig-zag, V-shaped and triangular weaving.

weave_width Data type: num

The width of the weaving pattern in the weld phase (see Figure 5).

13-weavedata-2 RAPID Reference Manual

ArcWare weavedata

Yw Yw

Xw Xw
W

Figure 5 The width (W) of the weaving pattern for all weaving patterns.

weave_height Data type: num

The height of the weaving pattern during V-shaped and triangular weaving (see
Figure 6).

Zw Zw

Yw Yw H

Figure 6 The height (H) of the weaving pattern for V-shaped and triangular weaving.

dwell_left Data type: num

The length of the dwell used to force the TCP to move only in the direction of
the seam at the left turning point of the weave (see Figure 7).

Yw Yw
zigzag
V-shaped triangular
Xw Xw

DL DL
Figure 7 The length of the left dwell (DL) for different types of weaving patterns.

dwell_center Data type: num

The length of the dwell used to force the TCP to move only in the direction of
the seam at the centre point of the weave (see Figure 8).

Yw Yw
zigzag triangular
V-shaped
Xw Xw

DC DC DC
Figure 8 The length of the central dwell (DC) for different types of weaving patterns.

dwell_right Data type: num

The length of the dwell used to force the TCP to move only in the direction of
the seam at the right turning point of the weave (see Figure 9).

RAPID Reference Manual 13-weavedata-3

weavedata ArcWare

Yw zigzag Yw
V-shaped triangular
Xw Xw

DR DR
Figure 9 The length of the right dwell (DR) for different types of weaving patterns.

weave_dir (weave direction angle) Data type: num

The weave direction angle horizontal to the seam (see Figure 10). An angle of zero
degrees results in a weave vertical to the seam.

Yw Yw Yw

Xw Xw Xw

Figure 10 The shape of the weaving pattern at 0 degrees and at a positive and negative angle.

weave_tilt (weave tilt angle) Data type: num

The weave tilt angle, vertical to the seam (see Figure 11). An angle of zero degrees
results in a weave which is vertical to the seam.

Zw Zw Zw

Xw Xw Xw

Figure 11 V-weaving at 0 degrees and at a positive and negative angle.

weave_ori (weave orientation angle) Data type: num

The weave orientation angle, horizontal-vertical to the seam (see Figure 12).
An angle of zero degrees results in symmetrical weaving.

Zw Zw Zw

Yw Yw Yw

Figure 12 Triangular weaving at 0 degrees and at a positive and negative angle.

13-weavedata-4 RAPID Reference Manual

ArcWare weavedata

weave_bias (weave centre bias) Data type: num

The bias horizontal to the weaving pattern (see Figure 13). The bias can only be
specified for zig-zag weaving and may not be greater than half the width of the
weave.

Yw
Yw

B
Xw Xw

Figure 13 Zig-zag weaving with and without bias (B).

weave_sync_left Data type: num

The coordination position to the left of the weaving pattern. It is specified as a

percentage of the width on the left of the weaving centre. When weaving is
carried out beyond this point, a digital output signal is automatically set to one,
as illustrated in Figure 14. This type of coordination is intended for seam
tracking using WeldGuide.

The signal is set to one Yw The signal is set to zero

Xw

Figure 14 When WeldGuide is used, a sync. signal is required.

weave_sync_right Data type: num

The coordination position to the right of the weaving pattern. It is specified as a

percentage of the width on the right of the weaving centre. When weaving is
carried out beyond this point, a digital output signal is automatically set to one,
as illustrated in Figure 15. This type of coordination is intended for seam
tracking using WeldGuide.

Yw

Xw
The signal is set to one
The signal is set to zero
Figure 15 When WeldGuide is used, a sync. signal is required.

RAPID Reference Manual 13-weavedata-5

weavedata ArcWare

wg_track_on Data type: num

Activate the weldguide seam tracker.

Limitations
The maximum weaving frequency is 2 Hz.

The inclination of the weaving pattern must not exceed the ratio 1:10 (84 degrees).
(See Figure 16).

dy
dy/dx < 10

dx

Figure 16 The weaving pattern may not be inclined more than in the ratio 1:10.

Structure
<data object of weavedata>
<weave_shape of num>
<weave_type of num>
<weave_length of num>
<weave_width of num>
<weave_height of num>
<dwell_left of num>
<dwell_center of num>
<dwell_right of num>
<weave_dir of num>
<weave_tilt of num>
<weave_ori of num>
<weave_bias of num>
<weave_sync_left of num>
<weave_sync_right of num>
<wg_track_on of num>

Related information
Described in:
Installation parameters for weld- System Parameters - Arc Welding
ing equipment and functions
Process phases and timing RAPID Summary - Arc Welding
schedules
Arc-welding instructions Instructions - ArcL, ArcC

13-weavedata-6 RAPID Reference Manual

ArcWare welddata

welddata Weld data

Welddata is used to control the weld during the weld phase, that is, from when the arc
is established until the weld is completed.

Other phases, such as the start and end phases, are controlled using seamdata.

Description
Weld data describes data that is often changed along a seam. Weld data used in a given
instruction along a path affects the weld until the specified position is reached. Using
instructions with different weld data, it is thus possible to achieve optimum control of
the welding equipment along an entire seam.

Weld data affects the weld when fusion has been established (after heating) at the start
of a process.

In the case of a flying start, the arc is not ignited until the destination position of the
arc welding instruction with the \On argument is reached, which means that weld data
does not have any effect on the weld in this instruction.

If one arc welding instruction is exchanged for another during a weld, new weld data
will occur in the middle of the corner path.

Note. Some of the components of weld data depend on the configuration of the robot.
If a given feature is omitted, the corresponding component is left out of the weld data.
The conditions that must be met for components to exist are described in the system
parameters.

All voltages can be expressed in two ways (determined by the welding equipment):

- As absolute values (only positive values are used in this case).

- As corrections of values set in the process equipment (both positive and
negative values are used in this case).

Feeding the weld electrode in this section refers to MIG/MAG welding. In the case of
TIG welding:

- A cold wire is supplied to the wire feed.

- The necessary welding current reference value can be connected to any of the
three analog outputs that are not used. (The Welding voltage reference is not
used.)

RAPID Reference Manual 13-welddata-1

welddata ArcWare

Example
MoveJ p1, v100, z10, gun1;
MoveJ p2, v100, fine, gun1;
ArcL \On, p3, v100, seam1, weld1, weave1, fine, gun1;
ArcL p4, v100, seam1, weld2, weave1, z10, gun1;
ArcL \Off, p5, v100, seam1,weld3, weave3, fine, gun1;
MoveJ p6, v100, z10, gun1;

p6
p1
p2
xx

p5
xx
xx
xx
xx
xx

p3
xx

p4
weld3
weld2
Movement with no welding
xxxxxx Flying start
Direction of welding
Welding
Figure 1 Weld data, such as speed and welding voltage, can be changed at each position.

Weld data is changed in every instruction. As the argument \On is used in the first
instruction, the first weld data is never used.

13-welddata-2 RAPID Reference Manual

ArcWare welddata

The welding sequence

IGN/HEAT DATA WELD DATA 1 WELD DATA 2 WELD DATA 3 END

DATA
weld_sched 1

weld_sched 3
weld_sched 2
(heat_sched)

(fill_sched)
sched-no

4 x anal.
ref.

welding
speed

t
delay_distance 1 delay_distance 2

INSTRUCTION 3
p3
INSTRUCTION 1 INSTRUCTION 2
p1
positions:
p0 p2

RAPID Reference Manual 13-welddata-3

welddata ArcWare

Components
weld_sched (weld schedule) Data type: num

The identity (expressed as a number) of weld programs to send to the welding

equipment.

See System Parameter Arc Welding - Equipment- schedport_type.

weld_speed Data type: num

The desired welding speed.

The unit is defined in the system parameter Arc Welding - Units- velocity_unit
and, as a rule, is mm/s or inches per minute.

If the movements of external axes are coordinated, the welding speed is the
relative speed between the tool and the object.

If the movements of external axes are not coordinated, the welding speed is the
TCP speed. The speed of the external axes is then described in the instruction’s
speed data. The slowest axis determines the speed to enable all axes to reach the
destination position at the same time.

weld_voltage Data type: num

The welding voltage (in volts) during the weld phase.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

weld_wirefeed Data type: num

The feed speed of the weld electrode during the weld phase.

The unit is defined in the system parameter Arc Welding - Units - unit_feed and,
as a rule, is metres per minute or inches per minute.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

weld_current Data type: num

The welding current during the weld phase.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

delay_distance Data type: num

The delay distance (after the destination position) for a changeover to new weld
data in the next arc welding instruction.

13-welddata-4 RAPID Reference Manual

ArcWare welddata

The unit is defined in System Parameters - Arc Welding - Units - length_unit and
as a rule, is mm or inches.

Usually, when changing from one arc welding instruction to another, a fly-by
point is used. This results in a changeover point in the middle of the corner path.
By using delay distance, the new weld data starts to take effect somewhat later
(see Figure 2).

In a weld end instruction the delay distance will have no effect.

ArcL weld1
ArcL weld2

Delay distance

ArcL\Off weld3

weld1
weld3
weld2
Movement with no welding
Welding
with different data
Figure 2 In the above example, the weld data changeover from weld1 to weld2 is delayed and
weld2 has a delay_distance=0. The delay_distance in weld3 will thus have no effect.

Delay_distance can, for example, be used in ArcC instructions to move the

changeover of weld data without reprogramming the circle positions.

weld_volt_adj (welding voltage adjustment) Data type: num

The voltage adjustment during the weld phase.

The value specified is scaled and sent to the corresponding analog output, in
accordance with the setting in the system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be
controlled using an analog output signal.

weld_curr_adj (weld current adjustment) Data type: num

The current adjustment during the weld phase.

The specified value is scaled and sent in accordance with the setting in the
system parameters for analog signals.

This signal can be used for arbitrary purposes when something needs to be
controlled using an analog output signal.

RAPID Reference Manual 13-welddata-5

welddata ArcWare

org_weld_speed (original weld speed) Data type: num

The original weld speed during the weld phase.

Note! Used internally by tuning functions.

org_weld_voltage (original weld voltage) Data type: num

The original weld voltage during the weld phase.

Note! Used internally by tuning functions.

org_weld_wfeed (original weld wirefeed speed) Data type: num

The original weld wirefeed speed during the weld phase.

Note! Used internally by tuning functions.

Examples
The type of weld shown in Figure 3 is desired, with a welding voltage of 30 V and a
wire feed speed of 15 m/min. The welding speed is 20 mm/s.

p1
xx
xx

p2 Movement with no welding

xx
xx

xxxxxx Flying start

x

p4
p3 Welding

Figure 3 Welding between two points.

PERS welddata weld1 := [20,30,15,0];

MoveJ p1, v100, z20, gun1;

ArcL \On, p2, v100, seam1, weld1, noweave, fine, gun1;
ArcL \Off, p3, v100, seam1, weld1, noweave, fine, gun1;
MoveJ p4, v100, z20, gun1;

The weld data values for a weld such as the one in Figure 3 are as follows:

Component weld1
weld_speed 20 mm/s Speed in relation to the seam
weld_voltage 30 V Sent to an analog output signal
weld_wirefeed 15 m/min. Sent to an analog output signal
delay_distance 0 mm No delay

The weld schedule identity, weld voltage adjustment and weld current adjustment

13-welddata-6 RAPID Reference Manual

ArcWare welddata

components are not active in this example.

The weld data argument does not have any effect in the ArcL \On instruction.

The type of weld shown in Figure 4 is required. The first section is to be welded using
a voltage of 50 V and a wire feed speed of 20 m/min. After a specified distance on the
circular arc, the voltage is to be increased to 55 V. The welding speed is 30 mm/s in
each section.

p7
p1 p6
xx
xx

p2
xx
xx
x

p5
p3 Movement with no welding
p4 xxxxxx Flying start
50 V Welding
55 V

Figure 4 The weld data is changed after a specified distance on the circular path.

PERS welddata weld1 := [10,30,50,20,0];

PERS welddata weld2 := [10,30,55,20,17];

MoveJ p1, v100, z20, gun1;

ArcL \On, p2, v100, seam1, weld1, noweave, fine, gun1;
ArcL p3, v100, seam1, weld1, noweave, z10, gun1;
ArcC p4, p5, v100, seam1, weld2, noweave, z10, gun1;
ArcL \Off, p6, v100, seam1, weld2, noweave, fine, gun1;
MoveJ p7, v100, z20, gun1;

The weld data values for a weld such as the one in Figure 4 are as follows:

Component weld1 weld2

weld_sched 10 10 Identity sent to the
welding equipment
weld_speed 30 mm/s 30 mm/s
weld_voltage 50 V 55 V
weld_wirefeed 20 m/min. 20 m/min.
delay_distance 0 mm 17 mm weld2 is delayed 17 mm

The weld voltage adjustment and weld current adjustment components are not
active in this example.

The weld data argument does not have any effect in the ArcL \On instruction.

RAPID Reference Manual 13-welddata-7

welddata ArcWare

Structure
<data object of welddata>
<weld_sched of num>
<weld_speed of num>
<weld_voltage of num>
<weld_wirefeed of num>
<weld_current of num>
<delay_distance of num>
<weld_volt_adj of num>
<weld_curr_adj of num>
<org_weld_speed of num>
<org_weld_voltage of num>
<org_weld_wfeed of num>

Note that the structure changes depending on the configuration of the robot.

Related information
Described in:
Seam data Data Types - seamdata
Installation parameters for weld- System Parameters - Arc Welding
ing equipment and functions
Process phases RAPID Summary- Arc Welding
Arc welding instructions Instructions - ArcL, ArcC

13-welddata-8 RAPID Reference Manual

ArcWare ArcC

ArcC Arc welding with circular motion

ArcC1
ArcC2
ArcC (Arc Circular) is used to weld along a circular path. The instruction controls and
monitors the entire welding process as follows:

- The tool centre point is moved in a circle to the specified destination position.
- All phases, such as the start and end phases, of the welding process are control-
led.
- The welding process is monitored continuously.

The only difference between ArcC, ArcC1 and ArcC2 is that they are connected to dif-
ferent process systems configured in the System Parameters. Although ArcC is used in
the examples, ArcC1 or ArcC2 could equally well be used.

Example
MoveL . . . .
ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcC \Off, p2, p3, v100, seam1, weld5, noweave, fine, gun1;
MoveL . . . .

This welds a circular seam between points p1 and p3 (via point p2) as illustrated
in Figure 1.

MoveL

MoveL
xx

ArcL\On
xx
xx
xx
xx

p3
xx
xx

p1
p2 ArcC\Off

Direction of welding
Movement with no welding
xxxxxx Flying start
Welding and weld end
Figure 1 Welding with flying start.

On the way to p1, preparations for the weld start, such as gas preflowing, are carried
out. The process and the actual weld movement then start at position p1 and end at p3.
The start and end processes are determined by seam1 and the welding process by
weld5. Weaving data is carried out according to noweave. (No weaving if the
weave_shape component value is zero.)

V100 specifies the speed attained during the flying start to p1.

RAPID Reference Manual 13-ArcC-1

ArcC ArcWare

Arguments
ArcC [\On] | [\Off] CirPoint ToPoint Speed [\T ] Seam Weld
Weave Zone [\Z] Tool [\WObj]
[\On] Data type: switch

The argument \On is used to get a flying start (see Figure 1) which, in turn, results
in shorter cycle times.

The argument \On may only be used in the first of the arc welding instructions to
result in a seam. As the end instructions cannot include the argument \On, weld-
ing with a flying start must include at least two instructions.

The start preparations at a flying start, e.g. gas purging, are carried out on the way
to the weld start position.

When the argument \On is not used, the weld starts at the position before the
ArcC instruction (see Figure 2) and the robot remains stationary at the previous
position whilst all weld start activities are in progress.

Whether or not a flying start is used, the start position for the weld will always be
a stop point – regardless of what is specified in the Zone argument for that posi-
tion.

MoveL

ArcC\On MoveL

Direction of welding ArcC\Off

Movement with no welding

Welding and weld end
Figure 2 If welding is started without the argument \On, the weld is begun at the previous posi-
tion.

[\Off] Data type: switch

If the argument \Off is used, welding ends when the robot reaches the destination
position. Regardless of what is specified in the Zone argument, the destination
position will be a stop point.

If an ArcC instruction without the argument \Off is followed by MoveJ, for exam-
ple, welding will end, but in an uncontrolled fashion. Logical instructions, such
as Set do1, however, can be used between two arc welding instructions without
ending the welding process.

13-ArcC-2 RAPID Reference Manual

ArcWare ArcC

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).

ToPoint Data type: robtarget

The destination position of the robot and external axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).

Speed Data type: speeddata

The speed of the TCP is controlled by the argument Speed in the following cases:

- When the argument \On is used (weld start preparations at a flying start).
- When the program is run instruction-by-instruction (no welding).

The speed of the TCP during welding is the same as for the arguments Seam and
Weld (see Figure 3).

Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated external axes.

MoveJ

ArcL\On MoveJ
xx
xx
xx
xx
xx
x

ArcC\Off

Movement with no welding; speed in accordance with Speed

xxxxxx Flying start; speed in accordance with Speed
Welding; speed in accordance with the Seam and Weld arguments
(specified in the heat and weld speed components).
Figure 3 The speed at different phases of the welding process.

[ \T] (Time) Data type: num

The argument \T is used to specify the total time of movement in seconds,

directly in the instruction. Time is thus substituted for the speed specified in the
arguments Speed, Seam and Weld.

RAPID Reference Manual 13-ArcC-3

ArcC ArcWare

This argument can be used when, for example, one or more uncoordinated
external axes participate in the movement. Uncoordinated external axes should
be avoided because when they are used, the program becomes more difficult to
adjust. Use coordinated external axes instead. Weaving is deactivated during exe-
cution of ArcX instructions with \T arguments.

Seam Data type: seamdata

Seam data describes the start and end phases of a welding process.

The argument Seam is included in all arc welding instructions so that, regardless
of the position of the robot when the process is interrupted, a proper weld end and
restart are achieved.

Normally the same seam data is used in all instructions of a seam.

Weld Data type: welddata

Weld data describes the weld phase of the welding process.

Weld data is often changed from one instruction to the next, along a seam.

Weave Data type: weavedata

Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by specifying, for example, the
weave data noweave. (No weaving if the weave_shape component value is zero.)

Zone Data type: zonedata

Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.

In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.

A stop point is always generated automatically at the start position of a weld

(even in the case of a flying start) and at a controlled weld end position. Fly-by
points, such as z10, should be used for all other weld positions.

Weld data changes over to the next arc welding instruction at the centre point of
the corner path (if not delayed by the delay_distance component in the Weld argu-
ment).

[ \Z ] (Zone) Data type: num

This argument is used to specify the positional accuracy of the robot’s TCP
directly in the instruction. The size of the zone is specified in mm and is thus sub-
stituted in the corresponding zone specified in the zone data. The \Z argument is
also useful when trimming individual corner paths.

13-ArcC-4 RAPID Reference Manual

ArcWare ArcC

Tool Data type: tooldata

The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.

[ \WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the instruction’s robot position is
referenced.

When this argument is omitted, the robot position is referenced to the world
coordinate system. It must, however, be specified if a stationary TCP or coordi-
nated external axes are used.

\WObj can be used if a coordinate system is defined for either the object in ques-
tion or the weld seam.

Program execution

Controlling process equipment

The process equipment is controlled by the robot in such a way that the entire process
and each of its phases are coordinated with the robot’s movements.

Motion

Robot and external axes are moved to the destination position as follows:

- The TCP of the tool is moved circularly at a constant programmed speed. When
coordinated axes are used, they are moved circularly at constant programmed
speed relative to the work object.
- The tool is reorientated at even intervals throughout the entire course.
- Uncoordinated external axes are executed at a constant speed which means that
they reach their destination at the same time as the robot axes.

If the programmed speed of reorientation or of the external axes is exceeded, these

speeds will be limited, thereby reducing the speed of the TCP.

The destination position is referenced to:

- the specified object coordinate system if the argument \WObj is used;

- the world coordinate system if the argument \WObj is not used.

Limitations
When weaving, the distance between the programmed positions should be longer than
the periodic time of weaving. If the distance is shorter and if there is a significant

RAPID Reference Manual 13-ArcC-5

ArcC ArcWare

change of angle in the path, the weaving pattern will be distorted.

The instruction ArcC 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 with that programmed).

Error management
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed, the
errors defined below can be remedied without stopping production. See the example in
the RestoPath instruction.

Error constant (ERRNO value) Description

AW_START_ERR Start condition error; torch, gas or water supervision
AW_IGNI_ERR Ignition error; arc supervision
AW_WELD_ERR Weld error; arc supervision
AW_EQIP_ERR Weld equipment error; voltage, current, water or gas
supervision during welding
AW_WIRE_ERR Wire stick error; wire stick supervision
AW_STOP_ERR Welding interrupted with the stop process input

The process supervision is determined as a part of the process equipment configuration.

At the start of the process the robot checks that the following preconditions have been
met:

- stop_process
- water_OK
- gas_OK
- torch_OK

If, after the start command is given, no approved start profile is indicated on the digital
input, arc_OK, within a predetermined time period, the process start will be inter-
rupted.

When the process is started, all supervision inputs selected are monitored continuously:

- stop_process, water_OK, gas_OK, arc_OK, volt_OK, curr_OK, feed_OK.

The wirestick_err supervision is checked at the end of the weld.

13-ArcC-6 RAPID Reference Manual

ArcWare ArcC

Example
MoveL ...
ArcL \On, *,v100, seam1, weld5, weave1, fine, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcC \Off, *, *, v100, seam1,weld3, weave3, fine, gun1\Wobj:=wobj1;
MoveL...

In this example, a weld is performed in which weld data and weave data are
changed in the final part of the weld, which is illustrated in Figure 4. Note that
an arc welding instruction must be used to change the direction of the path
despite the fact that no weld data is changed.

MoveL

ArcC\On
xx
xx

ArcL ArcC MoveL

weld5, weave1
ArcC\Off

weld3, weave3 Movement with no welding

xxxxxx Flying start
Welding
Figure 4 The direction and weld data can be changed by programming several arc welding
instructions.

It is assumed, in this example, that a coordinated external axis is used in the

movement. In this case, the wobj1 work object must be specified in the instruc-
tion.

RAPID Reference Manual 13-ArcC-7

ArcC ArcWare

Syntax
ArcC
[ ’\’On’,’ ] | [ ’\’Off’,’ ]
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ( ’\’ T ’:=’ < expression (IN) of num > ) ] ’,’
[ Seam ’:=’ ] < persistent (PERS) of seamdata > ’,’
[ Weld ’:=’ ] < persistent (PERS) of welddata > ’,’
[ Weave ’:=’ ] < persistent (PERS) of weavedata > ’,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Z ’:=’ < expression (IN) of num > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

Related information
Described in:
Performing a linear weld Instructions - ArcL
Other positioning instructions RAPID Summary - Motion
Definition of speed Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Definition of seam data Data Types - seamdata
Definition of weld data Data Types - welddata
Definition of weave data Data Types - weavedata
Installation parameters for welding System Parameters - Arc Welding
equipment and welding functions
Movements in general Motion Principles
Coordinate systems Motion Principles - Coordinate
Systems
Process phases and sub-activities RAPID Summary -
Arc Welding

13-ArcC-8 RAPID Reference Manual

ArcWare arcdata

arcdata Arc process data

Arcdata (Arc Process Data) is used to define a number of arc welding process
parameters that are essential for the process:

- The latest used parameters (velocity, wirefeed speed and voltage).

- Statistical data (mean and min/max values for voltage and current in the latest
seam).

This data type does not normally have to be used since these values can be accessed
using the system variable ARC_DATA.

Description
The latest used parameters (stored in the system variable ARC_DATA) are affected in
any circumstances.
The following requirements are applicable for affecting the statistical data:

- The system is an ARCITEC system.

- The system is configured so it uses the analog inputs for voltage and current. In
this case external measuring equipment must be used.

Components
req_vel Data type: num

Latest requested velocity.

req_volt Data type: num

Latest requested weld voltage.

req_wfd_sp Data type: num

Latest requested weld wirefeed speed.

act_volt Data type: num

Current measured weld voltage.

min_volt Data type: num

Lowest measured value of the weld voltage during the current seam (or latest
seam).

RAPID Reference Manual 13-arcdata-9

arcdata ArcWare

max_volt Data type: num

Highest measured value of the weld voltage during the current seam (or latest
seam).

mean_volt Data type: num

Mean value of the measured weld voltage during the current seam (or latest
seam).

act_curr Data type: num

Measured weld current at this time.

min_curr Data type: num

Lowest measured value of the weld current during the current seam (or latest
seam).

max_curr Data type: num

Highest measured value of the weld current during the current seam (or latest
seam).

mean_curr Data type: num

Mean value of the measured weld current during the current seam (or latest
seam).

Example

ArcL\On ...
ArcL\Off ...
TPWrite “Voltage mean value for the latest seam = ”\Num:=ARC_DATA.mean_volt;

When the seam is finished, the mean value of the process parameter voltage will be
displayed on the TeachPendant.

Structure
<data object of arcdata>
<req_vel of num>
<req_volt of num>
<req_wfd_sp of num>
<act_volt of num>
<min_volt of num>
<max_volt of num>
<mean_volt of num>
<act_curr of num>
<min_curr of num>

13-arcdata-10 RAPID Reference Manual

ArcWare arcdata

<max_curr of num>
<mean_curr of num>

Related information
Described in:
Installation parameters for welding System Parameters - Arc Welding
equipment and functions
Process phases and timing schedules RAPID Summary - Arc Welding
Arc welding instructions Instructions - ArcL, ArcC

RAPID Reference Manual 13-arcdata-11

arcdata ArcWare

13-arcdata-12 RAPID Reference Manual

ArcWare ArcL

ArcL Arc welding with linear motion

ArcL1
ArcL2
ArcL (Arc Linear) is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:

- The tool centre point is moved linearly to the specified destination position.
- All phases of the welding process, such as the start and end phases, are control-
led.
- The welding process is monitored continuously.

The only difference between ArcL, ArcL1 and ArcL2 is that they are connected to dif-
ferent process systems configured in the System Parameters. Although ArcL is used in
the examples, ArcL1 or ArcL2 could equally well be used.

Example
MoveJ . . . .
ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;
MoveJ . . . .

This welds a straight seam between points p1 and p2, as illustrated in Figure 1.

MoveJ

MoveJ
xx

ArcL\On
xx
xx
xx
xx

p2
xx
xx

p1
ArcL\Off
Direction of welding
Movement with no welding
xxxxxx Flying start
Welding and weld end
Figure 1 Welding with flying start.

On the way to p1, preparations for the weld start, such as gas preflowing, are carried
out. The process and the actual weld movement then start at position p1 and end at p2.
The start and end processes are determined by seam1 and the welding process by
weld5. Weaving data is carried out according to noweave. (No weaving if the
weave_shape component value is zero.)

V100 specifies the speed attained during the flying start to p1.

RAPID Reference Manual 13-ArcL-1

ArcL ArcWare

Arguments
ArcL [\On] | [\Off] ToPoint Speed [\T ] Seam Weld Weave Zone
[\Z] Tool [\WObj]
[\On] Data type: switch

The argument \On is used to obtain a flying start (see Figure 1) which, in turn,
results in shorter cycle times.

The argument \On may only be used in the first of the arc welding instructions to
result in a seam. As the end instructions cannot include the argument \On, weld-
ing with a flying start must include at least two instructions.

The start preparations at a flying start, e.g. gas purging, are carried out on the way
to the weld start position.

When the argument \On is not used, the weld starts at the position before the ArcL
instruction (see Figure 2) and the robot remains stationary at the previous posi-
tion whilst all weld start activities are in progress.

Whether or not a flying start is used, the start position for the weld will always be
a stop point – regardless of what is specified in the Zone argument for that posi-
tion.

MoveJ

ArcL MoveJ

ArcL\Off
Direction of welding
Movement with no welding
Welding and weld end
Figure 2 If welding is started without the argument \On, the weld is begun at the previous posi-
tion.

[\Off] Data type: switch

If the argument \Off is used, welding ends when the robot reaches the destination
position. Regardless of what is specified in the Zone argument, the destination
position will be a stop point.

If an ArcL instruction without the argument \Off is followed by MoveJ, for exam-
ple, welding will end, but in an uncontrolled fashion. Logical instructions, such
as Set do1, however, can be used between two arc welding instructions without
ending the welding process.

13-ArcL-2 RAPID Reference Manual

ArcWare ArcL

ToPoint Data type: robtarget

The destination position of the robot and external axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).

Speed Data type: speeddata

The speed of the TCP is controlled by the argument Speed in the following cases:

- When the argument \On is used (weld start preparations at a flying start).
- When the program is run instruction-by-instruction (no welding).

The speed of the TCP during welding is the same as for the arguments Seam and
Weld. (See Figure 3)

Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated external axes.

MoveJ

ArcL\On MoveJ
xx
xx
xx
xx
xx
x

ArcL\Off

Movement with no welding; speed in accordance with Speed

xxxxxx Flying start; speed in accordance with Speed
Welding; speed in accordance with the Seam and Weld arguments
(specified in the heat and weld speed components).
Figure 3 The speed at different phases of the welding process.

[ \T] (Time) Data type: num

The argument \T is used to specify the total time of movement in seconds directly
in the instruction. Time is thus substituted for the speed specified in the argu-
ments Speed, Seam and Weld.

This argument can be used when, for example, one or more uncoordinated exter-
nal axes participate in the movement. Uncoordinated external axes should, how-
ever, be avoided since, if used, the program becomes more difficult to adjust. Use
coordinated external axes instead. Weaving is deactivated during execution of
ArcX instructions with \T arguments.

Seam Data type: seamdata

Seam data describes the start and end phases of a welding process.

RAPID Reference Manual 13-ArcL-3

ArcL ArcWare

The argument Seam is included in all arc welding instructions so that, regardless
of the position of the robot when the process is interrupted, a proper weld end and
restart is achieved.

Normally the same seam data is used in all instructions of a seam.

Weld Data type: welddata

Weld data describes the weld phase of the welding process.

Weld data is often changed from one instruction to the next along a seam.

Weave Data type: weavedata

Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by specifying, for example, the
weave data noweave. (No weaving if the weave_shape component value is zero.)

Zone Data type: zonedata

Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.

In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.

A stop point is always generated automatically at the start position of a weld

(even in the case of a flying start) and at a controlled weld end position. Fly-by
points, such as z10, should be used for all other weld positions.

Weld data changes over to the next arc welding instruction at the centre point of
the corner path (if not delayed by the delay_distance component in the Weld
argument).

[ \Z ] (Zone) Data type: num

This argument is used to specify the positional accuracy of the robot’s TCP
directly in the instruction. The size of the zone is specified in mm and is thus sub-
stituted in the corresponding zone specified in the zone data. The \Z argument is
also useful when trimming individual corner paths.

Tool Data type: tooldata

The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.

[ \WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the instruction’s robot position is
referenced.

13-ArcL-4 RAPID Reference Manual

ArcWare ArcL

When this argument is omitted, the robot position is referenced to the world
coordinate system. It must, however, be specified if a stationary TCP or coordi-
nated external axes are used.

\WObj can be used if a coordinate system is defined for either the object in ques-
tion or the weld seam.

Program execution

Controlling process equipment

The process equipment is controlled by the robot in such a way that the entire process
and each of its phases are coordinated with the robot’s movements.

Motion

Robot and external axes are moved to the destination position as follows:

- The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, they are moved linearly at constant programmed
speed relative to the work object.
- The tool is reorientated at even intervals throughout the entire course.
- Uncoordinated external axes are executed at a constant speed which means that
they reach their destination at the same time as the robot axes.

If the programmed speed of reorientation or of the external axes is exceeded, these

speeds will be limited, thereby reducing the speed of the TCP.

The destination position is referenced to:

- the specified object coordinate system if the argument \WObj is used;

- the world coordinate system if the argument \WObj is not used.

Limitations
When weaving, the distance between the programmed positions should be longer than
the periodic time of weaving. If the distance is shorter and if there is a significant
change of angle in the path, the weaving pattern will be distorted.

Fault management
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the exam-

RAPID Reference Manual 13-ArcL-5

ArcL ArcWare

ple in the RestoPath instruction.

Error constant (ERRNO value) Description

AW_START_ERR Start condition error; torch, gas or water supervision
AW_IGNI_ERR Ignition error; arc supervision
AW_WELD_ERR Weld error; arc supervision
AW_EQIP_ERR Weld equipment error; voltage, current, water or gas
supervision during welding
AW_WIRE_ERR Wire stick error; wire stick supervision
AW_STOP_ERR Welding interrupted using the stop process input

The process supervision is determined as a part of the process equipment configuration.

At the start of the process the robot checks that the following preconditions have been
met:

- stop_process
- water_OK
- gas_OK
- torch_OK

If, after the start command is given, no approved start profile is indicated on the digital
input, arc_OK, within a predetermined time period, the process start will be inter-
rupted.

When the process is started, all supervision inputs selected are monitored continuously:

- stop_process, water_OK, gas_OK, arc_OK, volt_OK, curr_OK, feed_OK

The wirestick_err supervision is checked at the end of the weld.

Example
MoveL ...
ArcL \On, *, v100, seam1, weld5, weave1, fine, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcL \Off, *, v100, seam1,weld3, weave3, fine, gun1\Wobj:=wobj1;
MoveL ...

In this example, a weld is performed in which weld data and weave data are
changed in the final part of the weld, which is illustrated in Figure 4. Note that an
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.

13-ArcL-6 RAPID Reference Manual

ArcWare ArcL

MoveL
ArcL\On
xxxxxx

ArcL ArcL MoveL

weld5, weave1
ArcL\Off
weld3, weave3
Movement with no welding
xxxxxx Flying start
Welding
Figure 4 The direction and weld data can be changed by programming several ArcL instruc-
tions.

It is assumed, in this example, that a coordinated external axis is used in the

movement. In this case, the wobj1 work object must be specified in the instruc-
tion.

Syntax
ArcL
[ ’\’On’,’ ] | [ ’\’Off’,’ ]
[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ( ’\’ T ’:=’ < expression (IN) of num > ) ] ’,’
[ Seam ’:=’ ] < persistent (PERS) of seamdata > ’,’
[ Weld ’:=’ ] < persistent (PERS) of welddata > ’,’
[ Weave ’:=’ ] < persistent (PERS) of weavedata > ’,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Z ’:=’ < expression (IN) of num > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ’;’

RAPID Reference Manual 13-ArcL-7

ArcL ArcWare

Related information
Described in:
Performing a circular weld Instructions - ArcC
Other positioning instructions RAPID Summary - Motion
Definition of speed Data Types - speeddata
Definition of zone data Data Types - zonedata
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
Definition of seam data Data Types - seamdata
Definition of weld data Data Types - welddata
Definition of weave data Data Types - weavedata
Installation parameters for welding System Parameters - Arc Welding
equipment and welding functions
Movements in general Motion Principles
Coordinate systems Motion Principles - Coordinate
Systems
Process phases and sub-activities RAPID Summary -
Arc Welding

13-ArcL-8 RAPID Reference Manual

ArcWare ArcKill

ArcKill Kill the AW process

ArcKill is used in advanced error handlers to kill the AW process.

Example
PROC main()

WeldSeam1;
WeldSeam2;

ERROR
TPReadFk ans “The weld failed”, ““, ““, ““,”Service”,”OK”;

TEST ans
CASE 4:
service_routine;
TRYNEXT;

DEFAULT:
TRYNEXT
ENDTEST

ENDPROC

PROC WeldSeam1()

! Weld the seam

ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;

ERROR
TEST ERRNO
CASE AW_IGNI_ERR:
! Try to restart the process if this was an ignition error.
RETRY;

DEFAULT:
! Kill the aw process and raise the error to the main routine
ArcKill;
RAISE
ENDTEST

ENDPROC

RAPID Reference Manual 13-ArcKill-1

ArcRefresh ArcWare

Syntax
ArcKill ‘;’

Related information
Described in:
Performing a circular weld Instructions - ArcC
Performing a linear weld Instructions - ArcL

13-ArcKill-2 RAPID Reference Manual

ArcWare ArcRefresh

ArcRefresh Refresh arcweld data

ArcRefresh is used to tune aw process parameters during program execution.

Example
PROC PulseWeld()

! Setup a two Hz timer interrupt

CONNECT intno1 WITH TuneTrp;
ITimer ,0.5 ,intno1;

! Weld the seam

ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;

IDelete intno1;

ENDPROC

TRAP TuneTrp

! Modify the weld_voltage component of active welddata.

IF HighValueFlag =TRUE THEN

weld5.weld_voltage := 10;
HighValueFlag := FALSE;
ELSE
weld5.weld_voltage := 15;
HighValueFlag := TRUE;
ENDIF

! Order the process control to refresh process parameters

ArcRefresh;

ENDTRAP

The weld voltage will be switched between 10 and 15 volts

by the trap routine at a two Hz rate.

Syntax
ArcRefresh ‘;’

RAPID Reference Manual 13-ArcRefresh-1

ArcRefresh ArcWare

Related information
Described in:
Performing a circular weld Instructions - ArcC
Performing a linear weld Instructions - ArcL
Definition of weld data Data Types - welddata
Definition of weave data Data Types - weavedata
Installation parameters for welding System Parameters - Arc Welding
equipment and welding functions

13-ArcRefresh-2 RAPID Reference Manual

 SpotWare
CONTENTS

gundata Spot weld gun data

spotdata Spot weld data
SpotL Spot Welding with motion
System Module SWUSRC
System Module SWUSRF
System Module SWTOOL

RAPID Reference Manual 14-1

SpotWare

14-2 RAPID Reference Manual

SpotWare gundata

gundata Spot weld gun data

Gundata is used to define spot weld gun specific data, to control the gun in an optimal
way in the weld process.

Description
Gundata is used in spot weld instructions and has the following structure:

- Number of electrode pairs.

- Number of pressure levels.
- Flag to indicate if a signal is required to test accurate gun closure.
- Flag to indicate if a signal is required to test accurate gun opening.
- Counter for the number of welds done and maximum allowed number (one
counter and maximum value for each pair).
- Closing times.
- Opening times.

Components
nof_tips (number of tips) Data type: num

Number of electrode pairs (1 or 2)

nof_plevels (number of pressure levels) Data type: num

Number of pressure levels (1 - 4)

close_request (closure request) Data type: bool

If the flag is TRUE, the ordered pressure level is tested before the weld may start.

open_request (opening request) Data type: bool

If the flag is TRUE, the gun open signal is tested before the next motion is
released. The time out is defined by sw_go_timeout.
(See Predefined Data and Programs - System Module SWUSER)

Note. The open_time must elapse before the test is done (see below).

If the flag is FALSE, the next motion is always released after open_time (see
below).

RAPID Reference Manual 14-gundata-1

gundata SpotWare

tip1_counter Data type: num

Counter for the number of welds done with the first pair of electrode tips. The
counter is automatically incremented. Use of counter is optional. The zeroing
shall be handled by the user program.

tip2_counter Data type: num

Counter for the number of welds done with the second pair of electrode tips. The
counter is automatically incremented. Use of counter is optional. The zeroing
shall be handled by the user program.

tip1_max 1 Data type: num

Maximum number of welds to be made by the first pair of electrode tips before
tip service is required. This parameter may be used for automatic tip dressing etc.

tip2_max 1 Data type: num

Maximum value for number of welds allowed with the second pair of electrode
tips before tip service shall be performed. To be used if desired by the user
program.

close_time1 Data type: num

Time [s] to close the gun if pressure p1 is activated.

close_time2 Data type: num

Time [s] to close the gun if pressure p2 is activated.

close_time3 Data type: num

Time [s] to close the gun if pressure p3 is activated.

close_time4 Data type: num

Time [s] to close the gun if pressure p4 is activated.

build_up_p11 Data type: num

Time [s] elapsed to build up the pressure from the moment when the gun has just
about closed. The pressure p1 has to be set in advance. This parameter may be
used to measure the closing time automatically.

build_up_p21 Data type: num

Time [s] elapsed to build up the pressure from the moment when the gun has just
about closed. The pressure p2 has to be set in advance.

1. To be defined only if used by the user program.

14-gundata-2 RAPID Reference Manual

SpotWare gundata

build_up_p31 Data type: num

Time [s] elapsed to build up the pressure from the moment when the gun has just
about closed. The pressure p3 has to be set in advance.

build_up_p41 Data type: num

Time [s] elapsed to build up the pressure from the moment when the gun has just
about closed. The pressure p4 has to be set in advance.

open_time Data type: num

The time [s] that always elapses between the gun opening order and the release
of the next motion or the test of gun open (see above).

Structure
< dataobject of gundata>
<nof_tips of num>
<nof_plevels of num>
<close_request of bool>
<open_request of bool>
<tip1_counter of num>
<tip2_counter of num>
<tip1_max of num>
<tip2_max of num>
<close_time1 of num>
<close_time2 of num>
<close_time3 of num>
<close_time4 of num>
<build_up_p1 of num>
<build_up_p2 of num>
<build_up_p3 of num>
<build_up_p4 of num>
<open_time of num>

.Related information

Described in:
Spot weld instruction Instructions - SpotL
Definition of tool TCP, weight etc. Data types - tooldata

1. To be defined only if used by the user program.

RAPID Reference Manual 14-gundata-3

gundata SpotWare

14-gundata-4 RAPID Reference Manual

SpotWare spotdata

spotdata Spot weld data

Spotdata is used to define the parameters that control a weld timer and weld gun for
welding a certain spot.

Description
Spotdata is referred to spot weld instructions and contains data which controls the
welding in the actual instruction.

Spotdata has the following structure:

- Program number for the program in the weld timer to be used.

- Electrode tip to be activated (in case of a double gun).
- Desired gun pressure (if connected).
- Weld timer number (if more than one).

Components
prog_no (program number) Data type: num

Defines the internal program in the weld timer to be used for the welding.

The allowed range is 0..sw_prog_max (defined in the system module

SWUSER).

tip_no (electrode pair number) Data type: num

Defines the electrode pair to be activated. The following alternatives are

available:

1: Electrode pair 1
2: Electrode pair 2
12: Electrode pairs 1 and 2. Both pairs are closing at the same time.
The welding is done in sequence, pair 1 first and pair 2 second.
Then, both electrodes are opening together.
21: Electrode pairs 2 and 1. Both pairs are closing at the same time.
The welding is done in sequence, pair 2 first and pair 1 second.
Then, both electrodes are opening together.

For guns with only one pair of electrodes the value shall be 1.

RAPID Reference Manual 14-spotdata-1

spotdata SpotWare

gun_pressure (gun pressure) Data type: num

Defines the gun pressure to use.

The following alternatives are available: Gun pressure 1-4

timer_no (weld timer number) Data type: num

Defines the weld timer to be used. Only used for certain type of weld timers.

If only one timer is used (normal case) the value shall be 1.

Example
PERS spotdata spot1:= [16, 1,4,1];

The spotdata spot1 is programmed for an equipment containing one single gun
and one weld timer. When spot1 is used the following occurs:

- The program number 16 is controlling the welding.

- The gun pressure must reach level 4 before the weld is allowed to start.

Structure
<dataobject of spotdata>
<prog_no of num>
<tip_no of num>
<gun_pressure of num>
<timer_no of num>

Related information
Described in:
The Spot weld instruction Instructions - SpotL
Gundata Data Types - Gundata

14-spotdata-2 RAPID Reference Manual

SpotWare SpotL

SpotL Spot Welding with motion

SpotL (SpotLinear) is used in spotwelding to control the motion, gun closure/opening

and the welding process. SpotL moves the TCP linearly to the end position.

Example
SpotL p100, vmax, spot10, gun7, tool7;

This is the only instruction needed to implement a complete welding operation.

The TCP for tool7 is moved on a linear path to the position p100 with the speed
given in vmax. The weld position is always a stop position since the welding is
always performed while the robot is standing still. The gun closes in advance on
it’s way to the position. The welding is started and supervised until finished and
the gun is reopening.

Note. The program continues to execute after the weld has started and is not
blocked until the next order that contains a robot motion. This may be inhibited
by the switch \NoConc (see below).

Spotdata spot10 contains parameters to the welding equipment.

Gundata gun7 contains gun specific weld data.

Arguments
SpotL ToPoint Speed Spot [\InPos] [\NoConc] [\Retract]
Gun Tool [\WObj]
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).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity for the
tool centre point, the tool reorientation and external axes.

Spot Data type: spotdata

Spot data that is associated with the weld process equipment.

RAPID Reference Manual 14-SpotL-1

SpotL SpotWare

[\InPos] Data type: switch

The optional argument \InPos inhibits the preclosing of the gun. The gun is
closed first when the robot has reached the end position. This argument will
increase the execution time but is useful in narrow situations.

[\NoConc] Data type: switch

The optional argument \NoConc prevents the program from continuing the
execution until the actual weld is finished. It should be used when the next
instruction is a logical instruction.

[\Retract] Data type: switch

The optional argument \Retract will make the gun open to its large gap (retract)
after the weld. If the argument is omitted the gun opens to its small gap (work).

Gun Data type: gundata

Weld specific tool data for the gun in use.

Tool Data type: tooldata

The tool in use when the robot moves. The tool centre point is the point moved
to the specified destination position, and should be the position of the tips when
the gun is closed.

[\WObj] 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 it is, 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 to perform a linear
movement relative to the work object.

Customising
The SpotWare package gives the user plenty of scope for customising the SpotL
instruction:

- by user defined data which affects the internal behaviour in SpotL.

(See Predefined Data and Programs - System Module SWUSRF, SWUSRC).
- by user defined routines which are called at predefined spots in the internal
sequence. (See Predefined Data and Programs - System Module SWUSRF,
SWUSRC).
- by changing the I/O configuration. (See System Parameters - Spot Welding).

However, the main subject of this SpotL instruction description is the default setup.

14-SpotL-2 RAPID Reference Manual

SpotWare SpotL

Program execution
Internal sequence in a SpotL instruction:

- The gun starts to move towards the position.

- The weld program number is set for the external weld timer.
- The gun pressure is set.
- The preweld supervision is done.
- The gun starts to close at a defined time before the position (if argument \InPos
is not used).
- The gun is closed when it reaches the position.
- The OK signal for pressure reached is expected.
- The weld counter is incremented.
- The movement to the next position is blocked.
- The start signal is sent to the weld timer.
- The program execution continues to the next movement instruction
(unless argument \NoConc is used).
- When the ready signal from the timer is reached, the gun is opened.
- The motion is released on a release signal or a certain time after the gun opening
and after successful post weld supervision.

RAPID Reference Manual 14-SpotL-3

14-SpotL-4

SpotL
SpotL ... SpotL.. MoveL ...
Fetch instruction and inpos inpos
prepare motion
Figure 1 Spot weld sequence.

Motion

Close gun

Gun closed

Set pressure

Pressure OK

Gun open

Set weld program no.

Start weld

Weld ready
RAPID Reference Manual

Block motion

SpotWare
SpotWare SpotL

Gun closure

The gun closure is activated at a defined time before the weld position, irrespective of
the actual speed. Closure shall be finished when the gun arrives at the end position. The
close time is defined in the gun data. It relates to the time for closing the gun from the
work stroke and is dependent on the chosen gun pressure (in spot data).

A maximum of four discrete gun pressures can be chosen in spot data. The gun
pressure is set as soon as the motion towards the position starts. A check is made on
whether or not the gun pressure has been attained, if so demanded by gun data.

When the gun is closing, the work_select is set to 1, if desired. See Predefined Data and
Programs.

Welding

The start signal is sent to the timer as soon as the robot has reached the end position.
Before the start signal is sent, a number of supervisions must also be acknowledged.
These are user defined routines. See Predefined Data and Programs.

The start signal is high during the entire welding period. It is reset either after weld
ready or weld timeout.

When the option for program triggered timers is used the program number is set with
the start signal and reset to zero after a successful weld or timeout.

Gun opening

The gun opens to a small or large stroke, after the welding has finished, depending on
the parameter \Retract. The opening is supervised in such a way that a gun open signal
is expected. This will release the next motion.

The gun is also opened after a weld error and other error situations.

Motion

To gain time the program pointer goes on to the next motion instruction while the
welding is still preforming. This makes it possible to perform the next motion
immediately on a release order.

This means that instructions after SpotL, other than motional, such as logical
instructions, will be performed concurrently with the welding. If this is not the
intention the parameter NoConc shall be used.

A move enable for the next motion can be configured to be a signal from the gun or a
certain time after weld ready.

The end position is related to the used object coordinate system in WObj.

RAPID Reference Manual 14-SpotL-5

SpotL SpotWare

Customising

There is a wide range of tools for customising the SpotWare package by offering
RAPID user routines. These are straight forward routines hooked into the base
software. The following functions can be programmed freely by the user:

Preweld supervision - sw_preweld_sup

Postweld supervision - sw_postweld_sup

Gun closure - sw_close_gun

Gun opening - sw_open_gun

Pressure setting - sw_set_pressure

Preclose time calculation - sw_close_time

Error recovery - sw_error_recover

Note that the default code gives the same behaviour as described in the SpotWare
documentation.

See Predefined Data and Programs - System Modules SWUSRC.

Internal sequence: The start to the timer can be initiated immediately after the preweld
supervision has been acknowledged, if so configured. See Predefined Data and
Programs - System Module SWUSRC.

Program stop and restart

Stop during the motion and restart

The robot stops on the path. If the signal to close the gun has already been sent the gun
reopens at the stop.

On restart, the robot continues towards the programmed position, closes the gun again
and the sequence in SpotL carries on as normal.

Stop during welding and restart

The welding is finished. The validation of the weld is done after the stop and the gun
opens. If \NoConc was not used, the program pointer will leave the current instruction
and will point to the next instruction containing a robot motion.

Instruction by instruction execution

Forwards

The motion and the welding are done.

14-SpotL-6 RAPID Reference Manual
SpotWare SpotL

Backwards

The gun is set to work or retract stroke depending on \Retract.

The motion is performed backwards.

Simulated welding

Full simulation of a timer.

Activated by setting sw_sim_weld TRUE. This will inhibit the start signal to the timer.
The simulation time is defined in sw_sim_time. No preweld supervision is performed.

Simulation in the timer

Activated by setting sw_inhib_weld TRUE. This will set the current_enable signal low
at the next weld. No preweld supervisions performed.

Error handling

Events in an error situation

When SpotL is stopped by a supervision, the following take place:

- The signal process_error is set.

- An error message is displayed.
- The error message is logged.

Error situations

The following error situations can occur:

- Instruction parameter error.

- Supervision error before welding.
- Weld error.
- Supervision error after welding and before the next motion.
- Supervision error for gun pressure.
- Supervision error for gun closure (SpotWare Plus)
- Supervision error for gun opening.

All the supervision behaviour described above, except weld error and parameter error,
can be modified by the user.

To stop execution with an error message, simply put the desired message in the

RAPID Reference Manual 14-SpotL-7

SpotL SpotWare

assigned error string and it will show on the teach pendant.

The behaviour below is programmed as default.

See also Predefined Data and Programs.

Instruction parameter error

The error occurs when SpotL is called with faulty parameters. The program stops.

The parameter must be changed and the current instruction restarted from the
beginning.

Supervision before welding

The supervisions in sw_preweld_sup are in progress. See Predefined Data and

Programs - System Module SWUSRC.

Weld error

A weld error occurs if the ready signal from the weld timer has not been set to a certain
time (sw_wr_timeout). SpotL can be configured to automatically reweld a certain
number of times before the error is displayed and the execution stops, waiting for a
manual action.

- The start signal is set low.

- The gun opens.
- The process error signal is set high.
- The following manual choices are available:
Automatic mode: Service / Reweld
Manual mode: Service / Skip / Reweld (see the dialog box in Figure 2).

Program Waiting for Data!

Weld_ready timeout

Service Skip Reweld

Figure 2 Dialog box for weld error.

14-SpotL-8 RAPID Reference Manual

SpotWare SpotL

Restart by choice Service

This is not available in execution mode “stepwise forward”

- The process error signal is reset.

- The user defined routine sw_service_wf is executing, for instance moving to a
home position.
- The robot moves back to the spot welding point.
- Back to the dialog as shown in Figure 2.

Restart by choice Skip

- The reset_fault signal is pulsed.

- The process error signal is reset.
- The program execution is resumed but omitting the faulty weld.

Restart by manual action SwRunProc

- Same result as Reweld.

Restart by choice Reweld

- The reset_fault signal is pulsed.

- The process error signal is reset.
- The gun closes.
- The start signal is set with a time delay of sw_reset_time2 and the program
execution is resumed.

Supervision after the weld

Supervisions in the user defined routine sw_postweld_sup are executing. See

Predefined Data and Programs - System Module SWUSRC.

Gun closure error

The error occurs if the chosen pressure is not reached after a certain time. The signal
p1_ok is supervised if gun_pressure=1 i spotdata etc.

- The process error signal is set high.

- The following manual choice is available: Service / Retry.
- Choice Service: the user defined routine sw_service_cg is executing.
- Back to the manual choice: Service / Retry.
- Choice Retry: The gun is closing and the pressure is tested again.

RAPID Reference Manual 14-SpotL-9

SpotL SpotWare

Gun opening error

The error occurs if the gun has not opened after a certain time. The signal tip1_open or
tip1_open and tip2_open if nof_tips=2 in gundata.

- The process error signal is set high.

- The following manual choice is available: Service / Retry
- Choice Service: the user defined routine sw_service_og is executing.
- Back to the dialog shown in Figure 2.
- Choice Retry: The gun is opening and the signals are tested again.

User defined error recovery

When user defined error recovery is switched on, the routine sw_user_recover is called
if any of the above error cases occur, except for parameter error. The input parameters
carry information about the error case and the chosen error text.

This routine allows customising the error handling response, i.e. the teach pendant
layout and how to resume. See Predefined Data and Programs - System Module
SWUSRC.

Note: no standard error logging is done by SpotWare when this option is used.

Error recovery when program instance 0 is stopped

When the program task 0 is stopped (user program stopped / stepwise execution /
manual action) the service action is not a possible choice since it contains robot
movements. Instead a “Break” choice is possible, which aborts the current process.

Program Waiting for Data!

Weld_ready timeout

Break Reweld

Manual actions
Manual actions allow the execution of spot weld functions without having to program
a SpotL-instruction. It can be used as a tool to test user defined code before
programming the line program.

The manual actions execute the same process code as when running SpotL, i.e. full

14-SpotL-10 RAPID Reference Manual

SpotWare SpotL

error recovery etc. is provided.

Manual actions execute in any system state except when a SpotL-instruction is in

progress. Manual actions are activated by assigned virtual outputs.

See System Parameters - Spot Welding.

Communication
SpotL communicates with its equipment using parallel signals.

For a complete description of the I/O configuration, see System Parameters - Spot
Welding.

Some weld timers with serial interface are supported. In those cases the SpotL still
faces a parallel interface and the serial communication messages are mapped
internally. See separate documentation.

Power failure handling

At system restart after power failure:

- All spotweld output signals are set to the old status, as well as gun close signals
and weld start signals.

At program restart after power failure:

- The robot returns to the path and the program execution which was interrupted
is continued.
- If a power failure occurred when a weld process was active, the current spot is
automatically rewelded.

Syntax
SpotL
[ ToPoint ‘:=’ ] < expression (IN) of robtarget > ‘,’
[ Speed ‘:=’ ] < expression (IN) of speeddata > ‘,’
[ Spot‘:=’ ] < persistent (PERS) of spotdata >
[ ‘\’ InPos ]
[ ‘\’ NoConc ]
[ ‘\’ Retract] ‘,’
[ Gun‘:=’ ] < persistent (PERS) of gundata> ‘,’
[ Tool ‘:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

RAPID Reference Manual 14-SpotL-11

SpotL SpotWare

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data types - speeddata
Definition of zone data Data types - zonedata
Definition of tool Data types - tooldata
Definition of work objects Data types - wobjdata
Definition of spot data Data types - spotdata
Definition of gun data Data types - gundata
Overview Spot welding RAPID Summary - Spot Welding
Customising tools Predefined data and programs -
System Module SwUsrF, SwUsrC
I/O configuration System parameters - Spot Welding
Motion in general Motion and I/O Principles
Coordinate systems Motion and I/O Principles -
Coordinate systems

14-SpotL-12 RAPID Reference Manual

SpotWare SWUSRC

System Module SWUSRC

The system module SWUSRC contains data and routines aimed at customising the
behaviour of the SpotWare application. They are used and executed commonly by all
RAPID tasks of SpotWare.

NB. Any change of routines in SWUSRC requires the following three steps to
affect the application (see also System Parameters Multitasking):

- save to ramdisk
- touch the multitasking configuration
- WARM START to affect the application

The names are predefined and used internally when a SpotL instruction is used. They
must therefore not be changed.

Contents

Data

The following global data are predefined:

Name Declaration Description

sw_weld_counter PERS num Counter for welded spots. The

sw_weld_counter := 0 counter is automatically incremented
in the SpotL instruction.
sw_gp_timeout PERS num Gun pressure timeout [s]
sw_gp_timeout := 2
sw_wr_timeout PERS num Weld ready timeout [s]
sw_wr_timeout := 2
sw_go_timeout PERS num Gun open timeout [s]
sw_go_timeout := 2
sw_prog_max PERS num Max. value for prog_no in spotdata.
sw_prog_max := 63
sw_inhib_weld PERS bool Flag to set the weld timer in
sw_inhib_weld := simulation mode.
FALSE If TRUE: The signal current_enable
is cleared when the next SpotL
instruction is executed.
If FALSE: The signal current_enable
is set when the next SpotL instruction
is executed.

RAPID Reference Manual 14-SWUSRC-1

SWUSRC SpotWare

Name Declaration Description

sw_sim_weld PERS bool Flag to internally simulate the weld

sw_sim_weld := timer.
FALSE If TRUE: Weld start signal is not
activated.
sw_spot_id_req PERS bool Flag to request the spot identity of the
sw_spot_id_req := programmed spots.
FALSE If TRUE: It‘s possible to fetch the
current spot identity (the spot
parameter name of the current
spotdata) using the function
SwGetCurrSpotID.
If the serial link for Bosch PSS 5000
is in use, the weld programs will be
requested by the spotdata name
instead of using the program number.
sw_sim_time PERS num Simulated weld time if sw_sim_weld
sw_sim_time := 0.5 = TRUE.
sw_aut_reweld PERS num Number of automatic tries to reweld
sw_aut_reweld := 0 after weld_ready timeout.
sw_parity PERS num sw_parity:= 0 = none, 1 = odd, 2 = even
0
sw_reset_time1 PERS num Reset pulse [s]
sw_reset_time1 := 0.5
sw_reset_time2 PERS num Wait time after the reset pulse and
sw_reset_time2 := 0.5 after each time current_enable is
changed [s].
sw_async_weld PERS num TRUE means the start of the weld is
sw_async_weld := set independently of inpos, i.e.
FALSE immediately after closing the gun
sw_servo_corr PERS num Correction time for internal delay.
sw_servo_corr := 0.061 This value affects the preclosing
time. The correct time which is
dependent on motion configuration is
automatically set at start up.

14-SWUSRC-2 RAPID Reference Manual

SpotWare SWUSRC

Name Declaration Description

sw_start_type PERS num Tells the system how to start the weld
sw_start_type:=0 process in the timer:
0: The weld process start is triggered
by a specific start signal (e.g. start1).
The program number is set in
advance.
1: The weld process is triggered by
the program number outputs. No
presetting of the program number
sw_user_recover PERS num TRUE means the user function
sw_user_recover := sw_error_recover is called in case of
FALSE a process error. No error logging is
performed by SpotWare.
FALSE means standard error
recovery is used.

The following predefined data is used by the manual actions to operate on:

Name Declaration

sw_man_gun PERS gundata gun1 := [1, 4, TRUE, TRUE, 0,

0, 20000, 20000, 0.050, 0.050, 0.050, 0.050, 0,
0, 0, 0, 0]
sw_man_spot PERS spotdata spot1 := [1, 1, 1, 1];
sw_man_retr PERS num sw_man_retr := 0;

Routines

The following predefined routines are installed with the application. They are all used
by the SpotL instruction.

These routines have a default functionality but can easily be changed.

User defined supervision routines for SpotL:

The following routines are called by the SpotL sequence.

PROC sw_preweld_sup ()
spotweld preweld supervision

The routine is executed before each start of the weld process.

If an error text is assigned to the text string errtext, then the system is automatically
stopped with the error text on the display and with a possibility to restart the

RAPID Reference Manual 14-SWUSRC-3

SWUSRC SpotWare

supervision routine and continue the program execution.

Default functionality:
If the simulate weld or inhibit weld functions are not activated, then the following
digital input signals are tested:

timer_ready
flow_ok
temp_ok
current_ok

In the event of an error, a suitable error text is assigned to the text string errtext.

If timer_ready = 0, then one attempt to reset the timer is made and a new check of the
input is made before an error is indicated.

PROC sw_postweld_sup ()
spotweld postweld supervision

The routine is executed after the weld process before movement to the next position.

If an error text is assigned to the text string errtext, then the system is automatically
stopped with the error text on the display and with a possibility to restart the
supervision routine and continue the program execution.

Default functionality:
The work_select signal is set or reset according to the Retract switch in the instruction.

User defined independent supervision routines:

The following routines are called independently of the SpotL-sequence.

PROC sw_sup_init ()
spotweld supervision init

The routine is executed at warm start. Here the user interrupt numbers used by
sw_sup_trap should be initialised.

Default functionality:
Connection and activation of signals and interrupts used by sw_sup_trap.

PROC sw_motor_on ()
spotweld motor on

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number imotor_on. Set weld_power and pulse water_on
outputs.

14-SWUSRC-4 RAPID Reference Manual

SpotWare SWUSRC

PROC sw_motor_off ()
spotweld motor off

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number imotor_off. Reset weld_power output.

PROC sw_proc_ok ()
spotweld process ok

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number iproc_ok. Set weld_power and pulse water_on outputs.

PROC sw_proc_error ()
spotweld process error

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number iproc_error. Reset weld_power output.

PROC sw_sup_curren ()
spotweld supervise current enable

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number icurr_enable. Set weld_power and pulse water_on
outputs.

PROC sw_sup_currdis ()
spotweld supervise current disable

Routine called by the trap sw_sup_trap.

Default functionality:
Connected to interrupt number icurr_disable. Reset weld_power output.

User defined trap routines:

The interrupts in these trap routines will always be alert to execute independently of
the actual system state.

TRAP sw_sup_trap ()
spotweld supervision trap

RAPID Reference Manual 14-SWUSRC-5

SWUSRC SpotWare

Trap routine connected to the supervision.

Default functionality:
Control of the output signals water_start and weld_power depending on the system
state. See System Parameters - Spotwelding.

User defined process routines and functions for SpotL:

The following routines are called by the SpotL sequence.

PROC sw_close_gun ()
spotweld close gun

The routine is executed each time a closing of the gun is ordered. N.B. also the manual
action.

If an error text is assigned to the text string errtext_close, then the system is
automatically stopped with the error text on the display and with a possibility to restart
the supervision routine and continue the program execution.

Default functionality:
See Instructions - SpotL.

PROC sw_open_gun (num context)

spotweld open gun

The routine is executed each time an opening of the gun is ordered. N.B. also the
manual action.

Parameters:
• context: reason for opening. A negative value is used to leave out the gun open tests
and to ignore the errtext_open when a quick open is needed in an error situation.

If an error text is assigned to the text string errtext_open, then the system is
automatically stopped with the error text on the display and with a possibility to restart
the supervision routine and continue the program execution.

Default functionality:
See Instructions - SpotL.

PROC sw_set_pressure ()
spotweld set pressure

The routine is executed in the preparation phase of the spot weld process.

Default functionality:
Sets the pressure output group according to gun_pressure. See Instructions - SpotL.

FUNC num sw_error_recover (num error_type, string err_text)

spotweld error recover

14-SWUSRC-6 RAPID Reference Manual

SpotWare SWUSRC

The function is called in an error situation if the variable sw_user_recover is set TRUE.

Parameters:

• error_type: type of error that occurred. Possible cases are:

- SW_WELD_ERR: weld error timeout
- SW_OG_ERR: open gun error. Error reported by sw_open_gun
- SW_CG_ERR: close gun error. Error reported by sw_close_gun
- SW_PRESUP_ERR: preweld supervision error. Error reported by
sw_preweld_sup.
- SW_POSUP_ERR: postweld supervision error. Error reported by
sw_postweld_sup.
• err_text: text string that was returned by the function that reported the error. In case
of a weld error it is the standard “weld ready timeout” message.

The return value of this function defines how the SpotWare shall resume after this
error. There are three possible return values:

- SW_RETRY: the action that produced the error is re-executed.

- SW_CANCEL: the current spot weld process is abandoned and cleaned up.
- SW_SERVICE: the service routine corresponding to the error produced is
executing. Note that no service routines exist for preweld and postweld
supervision.

RAPID Reference Manual 14-SWUSRC-7

SWUSRC SpotWare

14-SWUSRC-8 RAPID Reference Manual

SpotWare SWUSRF

System Module SWUSRF

The system module SWUSRF contains data and routines aimed at customising the
behaviour of the SpotWare application. They are used and executed by the RAPID
foreground task of SpotWare.

The routine names are predefined and used internally when a SpotL instruction is used.
They must therefore not be changed.

Contents

Data

The following global data are predefined:

Name Declaration Description

sw_inpos PERS bool sw_inpos := If TRUE: Gun preclosing is

FALSE deactivated.
sw_close_corr VAR num Correction factor used when the next
sw_close_corr := 100 gun preclose time is calculated [%].
Is automatically reset to 100 after
each preclose calculation. Preferably
this data can be changed in a separate
assignment instruction just before the
influenced SpotL instruction.

Normally it is suitable to use the module SWUSRF to store variables of the type
spotdata, gundata and tooldata, used for the application. The following variables are
predefined but their names and values can be changed freely.

Name Declaration

gun1 PERS gundata gun1 := [1, 4, TRUE, TRUE, 0,

0, 20000, 20000, 0.050, 0.050, 0.050, 0.050, 0,
0, 0, 0, 0]
toolg1 PERS tooldata toolg1 := [TRUE, [[0, 0, 0], [1,
0, 0, 0]], [-1, [0, 0, 0],[1, 0, 0, 0], 0, 0, 0]]
spot1 PERS spotdata spot1 := [1, 1, 1, 1]

RAPID Reference Manual 14-SWUSRF-1

SWUSRF SpotWare

Routines

The following predefined routines are installed with the application. They are all used
by the SpotL instruction.

These routines have a default functionality but can easily be changed.

User defined service routines:

After execution of a service routine, the robot moves to the interrupted weld position
with reduced speed. The text “Service routine ready” and the old function keys are
shown.

PROC sw_service_cg ();

spotweld service close gun

The routine is executed when the gun error “Gun pressure not reached” occurs and the
function key “Service” is pressed.

By pressing Retry back from the service routine, a new attempt to close the gun is made
and then program execution continues.

Default functionality:
No functions, only an information text and a “Return” key are shown. The service
routine is ended when “Return” is pressed.

PROC sw_service_og ();

spotweld service open gun

The routine is executed when the gun error “Gun open timeout” occurs and the function
key “Service” is pressed.

By pressing Retry back from the service, a new test will be made if the gun is open, and
then program execution continues.

Default functionality:
No functions, only an information text and a “Return” key are shown. The service
routine is ended when “Return” is pressed.

PROC sw_service_wf ();

spotweld service weld fault

The routine is executed when the error “Weld ready timeout” occurs and the function
key “Service” is pressed.

By pressing Reweld back from the service, a new attempt to weld the spot is made and
then program execution is continued.

14-SWUSRF-2 RAPID Reference Manual

SpotWare SWUSRF

Default functionality:
No functions, only an information text and a “Return” key are shown. The service
routine is ended when “Return” is pressed.

General user routines and functions:

The following routines are connected to different entries in the SpotWare RAPID base
software.

FUNC num sw_close_time (spotdata spot, gundata gun);

spotweld close time calculation

The function is executed during motion preparation. It returns the preclosing time for
the gun.

Input parameters:
spot of type spotdata: actual spot given in the SpotL-instruction in preparation
gun of type gundata: actual gun given in the SpotL-instruction in preparation

Default functionality:
The resulting time is dependent on the four pressure levels in gundata.

RAPID Reference Manual 14-SWUSRF-3

SWUSRF SpotWare

14-SWUSRF-4 RAPID Reference Manual

SpotWare SWTOOL

System Module SWTOOL

The system module SWTOOL contains data functions and routines. The module is
declared NOVIEW and contains utilities to be used as a toolbox when customising
SpotWare. This module is accessible commonly by all RAPID tasks of SpotWare.

Contents

Function return values

SW_OK

SW_RETRY

SW_SERVICE

SW_ERROR

SW_TIMOUT

SW_CANCEL

User error recovery types (see function sw_user_recover in SWUSRC)

SW_WELD_ERR

SW_CG_ERR

SW_OG_ERR

SW_PRESUP_ERR

SW_POSUP_ERR

RAPID Reference Manual 14-SWTOOL-1

SWTOOL SpotWare

Routines

The following predefined routines are installed with the application. They are used to
influence SpotL instruction.

PROC SwSetCurrSpot (spotdata spot)

SpotWeldSetCurrentSpot.

The function changes the spotdata parameter of the running spotware process.

PROC SwSetCurrGun (gundata gun)

SpotWeldSetCurrentGun

The function changes the gundata parameter of the running spotware process.

PROC SwSetCurrRetr (num retr)

SpotWeldSetCurrentRetract

The function changes the retract switch parameter of the running spotware process.

retr 0: work stroke

retr 1: retract stroke

PROC SwGetCurrNoConc (bool noconc)

SpotWeldSetCurrentNoConcurrency

The function changes the NoConc switch parameter of the running spotware process.

noconc TRUE: NoConc is present

noconc FALSE: NoConc is not present

PROC SwSetCurrSpotID (string spot_id)

SpotWeldSetCurrentSpotIdentity

The function changes the spotdata parameter name of the running spotware process.

14-SWTOOL-2 RAPID Reference Manual

SpotWare SWTOOL

Functions

The following predefined functions are installed with the application.

FUNC spotdata SwGetCurrSpot

SpotWeldGetCurrentSpot.

The function returns the content of the spotdata parameter of the running spotware
process.

FUNC gundata SwGetCurrGun

SpotWeldGetCurrentGun

The function returns the content of the gundata parameter of the running spotware
process.

FUNC num SwGetCurrRetr

SpotWeldGetCurrentRetract

The function returns the content of the retract switch parameter of the running
spotware process.

Return value 0: work stroke

Return value 1: retract stroke

FUNC bool SwGetCurrNoConc

SpotWeldGetCurrentNoConcurrency

The function returns the content of the NoConc switch parameter of the running
spotware process.

Return value TRUE: NoConc is present

Return value FALSE: NoConc is not present

FUNC string SwGetCurrSpotID

SpotWeldGetCurrentSpotIdentity

The function returns the spotdata parameter name of the running spotware process.

RAPID Reference Manual 14-SWTOOL-3

SWTOOL SpotWare

FUNC num SwWaitInput (VAR signaldi input, num value \num MaxWait)

SpotWeldWaitInput

Waits until the signal input has reached value. A max. time MaxWait can be added as
an optional parameter. When running a user routine called by the spot weld process, in
which the process is supposed to wait for an input signal, this function is used to let the
system abandon the current process.

Return value SW_OK: Signal was set to output value.

Return value SW_TIMEOUT: The time specified in MaxWait has been exceeded.

Return value SW_CANCEL: The SpotWare process has received an abort and wants to
cancel the current process. It shall cause a return from the current user routine.

FUNC num SwWaitOutput (VAR signaldo output, num value \num MaxWait)

SpotWeldWaitOutput

Waits until the signal output has reached value. A maximum time MaxWait can be
added as an optional parameter. When running a user routine called by the spotweld
process, in which the process is supposed to wait for an output signal, this function is
used to let the system abandon the current process.

Return value SW_OK: Signal was set to value.

Return value SW_TIMEOUT: The time specified in MaxWait has been exceeded.

Return value SW_CANCEL: The SpotWare process has received an abort and wants to
cancel the current process. It shall cause a return from the current user routine.

FUNC num SwErrorAck (VAR num input_key, string alert, string ktxt1, string ktxt2,
string ktxt3, string ktxt4, string ktxt5)

SpotWeldErrorAcknowledge

This function is a modified TPReadFK which can be aborted by the SpotWare kernel.
The parameters are consistent with the standard TPReadFK. When this routine is not
used for teach pendant dialogs, the SpotWare is hung up until released from the TP. The
function is used by sw_error_recover in the module SWUSRC.

Return value SW_OK: normal execution, the result of the pushing a function key
resides in input_key.

Return value SW_CANCEL: the spot weld process was aborted. Return from the
calling user routine.

14-SWTOOL-4 RAPID Reference Manual

 GlueWare
CONTENTS

ggundata Gluing gun data

GlueC Gluing with circular motion
GlueL Gluing with linear motion
System Module GLUSER

RAPID Reference Manual 15-1

GlueWare

15-2 RAPID Reference Manual

GlueWare ggundata

ggundata Gluing gun data

Ggundata is used to define gluing gun specific data, which is then to be used to control
the gun in an optimal way during the gluing process.

Note that the TCP and weight of the gluing gun are defined in tooldata.

Description
Ggundata is used in glue instructions and has the following structure:

- Which gun is to be used (1 or 2).

- Time for preopening and preclosing the gun.
- Type of flow1 and flow2.
- Times for presetting of flow1 and flow2 on.
- Times for presetting flow1 and flow2 changes.
- Times for presetting of flow1 and flow2 off.
- Times for lag in glue gun for speed dips
- Value for the speed, at which the logical maximum value for the analog outputs
shall be set.

Components
ggun_no (number of gun to use) Data type: num

Number to define if this ggundata is for gun 1 or gun 2.

gl_on_time (preopen time for the gun) Data type: num

Time in s needed for the gun to open.

gl_off_time (preclose time for the gun) Data type: num

Time in s needed for the gun to close.

fl1_type (type of flow1) Data type: num

Type of flow1 signal, set to none, fixed or speed proportional, where none = 0,
fixed = 1 and speed proportional = 2.

fl1_on_time (preset on time flow1) Data type: num

Time in s needed to set up the flow1 in the gun when the instruction is
programmed with the \On argument.

RAPID Reference Manual 15-ggundata-1

ggundata GlueWare

fl1_time (preset change time flow1) Data type: num

Time in s needed to set up the flow1 in the gun when the instruction is
programmed without the \On and \Off argument (i.e. time needed to change the
flow from one specific value to another).

fl1_off_time (preset off time flow1) Data type: num

Time in s needed to reset the flow1 in the gun when the instruction is
programmed with the \Off argument.

fl1_delay (lag delay flow1) Data type: num

Time in s to compensate for the lag in the gluegun for TCP speed dips.

fl1_refspeed (glue reference speed) Data type: num

Glue reference speed in mm/s. Normally the max. used glue speed for this gun.
Used in calculation of the flow1 value for speed proportional signals. This value
must be > 0 also when flow type=fixed.

fl2_type (type of flow2) Data type: num

Type of flow2 signal, set to none, fixed or speed proportional, where none = 0,
fixed = 1 and speed proportional = 2.

fl2_on_time (preset on time flow2) Data type: num

Time in s needed to set up the flow2 in the gun when the instruction is
programmed with the \On argument.

fl2_time (preset change time flow2) Data type: num

Time in s needed to set up the flow2 in the gun when the instruction is
programmed without the \On and \Off argument (i.e. time needed to change the
flow from one specific value to another).

fl2_off_time (preset off time flow2) Data type: num

Time in s needed to reset the flow2 in the gun when the instruction is
programmed with the \Off argument.

fl2_delay (lag delay flow2) Data type: num

Time in s to compensate for the lag in the gluegun for TCP speed dips.

fl2_refspeed (glue reference speed) Data type: num

Glue reference speed in mm/s. Normally the tax. used glue speed for this gun.
Used in calculation of the flow2 value for speed proportional signals. This value
must be > 0 also when flow type=fixed.

15-ggundata-2 RAPID Reference Manual

GlueWare ggundata

Limitations
Max. number of guns: 2

Max. real lag compensation (fl1_delay and fl2_delay) is normally: 40 - 60ms

If the system parameter (EventPresetTime) is changed, the compensation for lag will
increase to a corresponding degree.

The values for the different times within the dataset must be between 0 to 1 seconds.

The value for the reference speed has to be > 0.

Predefined data
The predefined data ggun1 defines the use of gun no 1, a flow1 and flow2 of type 2,
i.e. proportional flow values are used, all belonging times are set to zero and the
reference speed is 1000 mm/s for each flow.1

PERS ggun1 := [1,0,0,2,0,1,0,0,0,1000,2,0,1,0,0,0,1000];

Structure
< dataobject of ggundata>
<ggun_no of num>
<gl_on_time of num>
<gl_off_time of num>
<fl1_type of num>
<fl1_on_time of num>
<fl1_time of num>
<fl1_off_time of num>
<fl1_delay of num>
<fl1_refspeed of num>
<fl2_type of num>
<fl2_on_time of num>
<fl2_time of num>
<fl2_off_time of num>
<fl2_delay of num>
<fl2_refspeed of num>

1. The preset on time for flows 1 and 2 is set to 0.1s. (The flow signals will normally be activated before the
gun is opened).

RAPID Reference Manual 15-ggundata-3

ggundata GlueWare

Related information
Described in:
Glue instruction Instructions - GlueL / GlueC

15-ggundata-4 RAPID Reference Manual

GlueWare GlueC

GlueC Gluing with circular motion

GlueC (GlueCircular) is used in gluing to control the motion, gun opening and the
gluing process. GlueC moves the TCP on a circular path to the end position.

Example 1
GlueL \On, p1, v250, ggun1 \F1:=100 \F2:=80, z30, tool7;
GlueC p2, p3, v250, ggun1 \F1:=90 \F2:=70, z30, tool7;
GlueL \Off, p4, v250, ggun1, z30, tool7;

1. The TCP for tool7 is moved on a linear path to the position p1 with the speed
given in v250. Due to the \On argument the gun opens and the glue flow is started
according to the data given in ggundata ggun1 in advance on its way to p1. The
glue flow is started with the percentage values given by the \F1:=100 and
\F2:=80 parameters.

2. The TCP is then moved from p1 towards p3 with the flow values given by the
preceding glue instruction. Before p3 is reached, the flow values are changed to
90% and 70% respectively. The time when that is performed is specified in
ggun1.

3. The TCP is then moved from p3 towards p4 with the flow values given by the
preceding glue instruction. Due to the \Off argument the outputs will be reset
according to the times given in ggun1 before p3 is reached.

MoveJ
p4
GlueL
GlueL\On
xx

S2
xx

p3
xx
xx

p1
Pre-actions p2 GlueC
S1
Movement without gluing
Direction of movement xxxxxx Pre-actions
Gluing with pre-actions at
end of gluing

Figure 1 Glue example 1

S1: Flow1=100, Flow2=80, i.e. the glue values given by the first instruction are
active.
S2: Flow1=90, Flow2=70, i.e. the glue values given by the second instruction are
active.

RAPID Reference Manual 15-GlueC-1

GlueC GlueWare

Arguments
GlueC [\On|]\[Off] [\Conc] CirPoint ToPoint Speed Gluegun [\F1]
[\F2] [\D] Zone Tool [\WObj]
[\On] Data type: switch

The argument \On is used in the first Glue instruction to start the glue process (see
Figure 1).
The argument may only be used in the first glue instruction to perform the
necessary gun opening and setting of the flow in advance. Executing two
consecutive instructions with \On argument will result in an error message.

As the instruction cannot contain the arguments \On and \Off together, the gluing
path must have at least 2 instructions, one containing the \On and one containing
the \Off argument.

The pre-actions, which are performed on the path to the programmed position,
are setting of the gun opening output and setting of the analog glue outputs.

[\Off] Data type: switch

The argument \Off is used in the last gluing instruction to terminate the gluing
when the programmed position is reached. On the way to the end position the
output for opening the gun as well as the flow outputs will be reset according to
the given time within the specified ggundata.

So it is not possible to terminate gluing without using the \Off argument during
movements.

[\Conc] (Concurrent) Data type: switch

Subsequent instructions are executed while the robot is moving. This argument
is used in the same situations as corresponding argument in other Move instruc-
tions but for gluing it is also useful to permit higher speeds when consecutive
glue instructions are close to each other.

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, the subsequent instruction is only executed after the
robot has reached the specified zone.

CirPoint Data type: robtarget

The circle point of the robot. The circle point is a point 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 end point, the robot may give a warning. The circle point is
defined as a named position or stored directly in the instruction (if marked with

15-GlueC-2 RAPID Reference Manual

GlueWare GlueC

an * in the instruction).

ToPoint Data type: robtarget

The destination point of the robot and the external axes. It is defined as a named
position or stored directly in the instruction (if marked with an * in the instruct-
ion).

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity for the
tool centre point, the tool reorientation and external axes.

GlueGun Data type: ggundata

Gun specific data, e.g. the reaction time for setting a flow etc., for the gun in use.

[\F1] (Flow1) Data type: num

The argument \F1 gives a value in percent to adjust the flow1 for the next part of
the path. If no value is programmed the same value as in previous glue
instruction is used. If no value is programmed in a glue instruction with \On
argument the value 0 is used.

[\F2] (Flow2) Data type: num

The argument \F2 gives a value in percent to adjust the flow2 for the next part of
the path. If no value is programmed the same value as in previous glue
instruction is used. If no value is programmed in a glue instruction with \On
argument the value 0 is used.

[\D] (Distance) Data type: num

The optional argument \D gives the possibility to perform all pre-actions during
the instruction the given distance (mm) in advance of the programmed position.

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 centre point is the point moved
to the specified destination position, and should be the position of the tip when
the gun is open.

[\WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the robot position in the
instruction is related.

RAPID Reference Manual 15-GlueC-3

GlueC GlueWare

This argument can be omitted, and if it is, 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 to perform a linear
movement relative to the work object.

Customizing
The GlueWare package provides opportunities for the user to customize the GlueC
instruction:

- by user defined data which affects the internal behaviour in GlueC. (See Prede-
fined Data and Programs - System Module GLUSER).
- by changing the I/O configuration. (See System Parameters - Gluing).

However, the main subject of this GlueC instruction description is the default setup.

Program execution
Internal sequence in a GlueC instruction:

- The gun starts to move towards the position.

- If the argument \On is used the gun opening output DO_Ggun1 or DO_Ggun2
is set at the specified time before the position is reached. If the argument \D is
used the output is set at the specified distance plus the specified times before the
position is reached.
- The values for flow1 and flow2 are set at the analog outputs AO_G1Flow1 and
AO_G1Flow2, and AO_G2Flow1 and AO_G2Flow2 respectively at the
specified time before the position is reached. If the argument \D is used the
outputs are set at the specified distance plus the specified times before the
position is reached.
- When the programmed position is reached, the program execution continues
with the next instruction.

Calculation of the glue flow values

See corresponding description of GlueL

Program stop and restart

Stop during the glue process

If a stop occurs when the glue process is active, the gluing outputs are cleared and an
error message is displayed. When the restart is ordered, the remaining instructions in
the current set of glue instructions are performed as normal positioning instructions.
The gluing is restarted with the next glue instruction with an \On argument.
15-GlueC-4 RAPID Reference Manual
GlueWare GlueC

Instruction by instruction execution

Forwards

The gun is closed and motion without gluing is done.

Backwards

The gun is closed and the motion is performed backwards without gluing.

Simulated gluing
Activated by setting the variable gl_sim_glue to TRUE. This will inhibit the gun
opening and the flow signals. (See Predefined Data and Programs - System Module
GLUSER)

Limitations
It is not possible to restart the current glue sequence after a stop. The gluing is restarted
with the next glue instruction with an \On argument.

The max. gluing speed is dependent on the distance between the programmed
positions. If the speed programmed is too high, the error message 50082 will appear.
Avoid this error message by:

- changing the positions so that they are not so close to each other
- using the argument \Conc in the gluing instructions
- decreasing the speed.

Error handling

Error situations

The following error situations are handled:

- Instruction argument error.

- Wrong ggundata values.
- Start without \On argument.
- Start with two instructions with \On argument.
- End with \Off argument without having started with \On argument.
- Stop during execution of glue instructions.

The faulty instruction or data must be changed and the current set of glue instructions

RAPID Reference Manual 15-GlueC-5

GlueC GlueWare

must be restarted from the beginning.

Syntax
GlueC
[[‘\’On ]|[‘\’Off ]
[’\’ Conc]’,’]
[CirPoint‘:=’]<expression (IN) of robtarget>‘,’
[ToPoint‘:=’]<expression (IN) of robtarget>‘,’
[Speed‘:=’]<expression (IN) of speeddata>’,’
[Gluegun‘:=’]<persistent (PERS) of ggundata>
[’\’F1’:=’<expression (IN) of num>]
[’\’F2’:=’<expression (IN) of num>]
[’\’D’:=’<expression (IN) of num>]’,’
[Zone‘:=’]<expression (IN) of zonedata>’,’
[Tool‘:=’]<persistent (PERS) of tooldata>
[’\’WObj’:=’<persistent (PERS) of wobjdata>]’;’

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data types - speeddata
Definition of zone data Data types - zonedata
Definition of tool Data types - tooldata
Definition of work objects Data types - wobjdata
Definition of gluegun data Data types - ggundata
Overview Gluing RAPID Summary - GlueWare
Customizing tools Predefined data and programs -
System Module GLUSER
I/O configuration System parameters - GlueWare
Motion in general Motion and I/O Principles

15-GlueC-6 RAPID Reference Manual

GlueWare GlueL

GlueL Gluing with linear motion

GlueL (GlueLinear) is used in gluing to control the motion, gun opening and the gluing
process. GlueL moves the TCP linearly to the end position.

Example 1
GlueL \On, p1, v250, ggun1 \F1:=100 \F2:=80, z30, tool7;
GlueL p2, v250, ggun1 \F1:=90 \F2:=70, z30, tool7;
GlueL \Off, p3, v250, ggun1, z30, tool7;

1. The TCP for tool7 is moved on a linear path to the position p1 with the speed
given in v250. Due to the \On argument the gun opens and the glue flow is started
according to the data given in ggundata ggun1 in advance on its way to p1. The
glue flow is started with the percentage values given by the \F1:=100 and
\F2:=80 parameters.

2. The TCP then is moved from p1 towards p2 with the flow values given by the
preceding glue instruction. Before p2 is reached, the flow values are changed to
90% and 70% respectively. The time when that is performed is specified in
ggun1.

3. The TCP then is moved from p2 towards p3 with the flow values given by the
preceding glue instruction. Due to the \Off argument the outputs will be reset
according to the times given in ggun1 before p3 is reached.

MoveJ

GlueL\On GlueL MoveX

xx
xx

p3
xx
xx

Pre-actions p1 S1 p2 S2 GlueL\Off
Direction of movement
Movement without gluing
xxxxxx Pre-actions
Gluing and pre-action at
end of gluing

Figure 1 Glue example 1

S1: Flow1=100, Flow2=80, i.e. the glue values given by the first instruction are
active.
S2: Flow1=90, Flow2=70, i.e. the glue values given by the second instruction are
active.

RAPID Reference Manual 15-GlueL-1

GlueL GlueWare

Arguments
GlueL [\On]|[\Off] [\Conc] ToPoint Speed GlueGun [\F1] [\F2] [\D]
Zone Tool [\WObj]
[\On] Data type: switch

The argument \On is used in the first Glue instruction to start the glue process (see
Figure 1).
The argument may only be used in the first glue instruction to perform the
necessary gun opening and setting of the flow in advance. Executing two
consecutive instructions with \On argument will result in an error message.

As the instruction cannot contain the arguments \On and \Off together, the gluing
path must have at least 2 instructions, one containing the \On and one containing
the \Off argument.

The pre-actions, which are performed on the path to the programmed position,
are setting of the gun opening output and setting of the analog glue outputs.

[\Off] Data type: switch

The argument \Off is used in the last gluing instruction to terminate the gluing
when the programmed position is reached. On the way to the end position the
output for opening the gun as well as the flow outputs will be reset according to
the given time within the specified ggundata.

So it is not possible to terminate gluing without using the \Off argument during
movements.

[\Conc] (Concurrent) Data type: switch

Subsequent instructions are executed while the robot is moving. This argument
is used in the same situations as corresponding argument in other Move instruc-
tions but for gluing it is also useful to permit higher speeds when consecutive
glue instructions are close to each other.

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, the subsequent instruction is only executed after the
robot has reached the specified zone.

ToPoint Data type: robtarget

The destination point of the robot and the external axes. It is defined as a named
position or stored directly in the instruction (if marked with an * in the instruct-
ion).

15-GlueL-2 RAPID Reference Manual

GlueWare GlueL

Speed Data type: speeddata

The speed data that applies to movements. Speed data defines the velocity for the
tool centre point, the tool reorientation and external axes.

GlueGun Data type: ggundata

Gun specific data, e.g. the reaction time for setting a flow etc., for the gun in use
(see Datatypes - Ggundata).

[\F1] (Flow1) Data type: num

The argument \F1 gives a value in percent to adjust the flow1 for the next part of
the path. If no value is programmed the same value as in previous glue
instruction is used. If no value is programmed in a glue instruction with \On
argument the value 0 is used.

[\F2] (Flow2) Data type: num

The argument \F2 gives a value in percent to adjust the flow2 for the next part of
the path. If no value is programmed the same value as in previous glue
instruction is used. If no value is programmed in a glue instruction with \On
argument the value 0 is used.

[\D] (Distance) Data type: num

The optional argument \D gives the possibility to perform all pre-actions given
the distance (mm) in advance of the programmed position.

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 centre point is the point moved
to the specified destination position, and should be the position of the tip when
the gun is open.

[\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 it is, 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 to perform a
linear movement relative to the work object.

RAPID Reference Manual 15-GlueL-3

GlueL GlueWare

Customizing
The GlueWare package provides opportunities for the user to customize the GlueL
instruction:

- by user defined data which affects the internal behaviour in GlueL. (See Prede-
fined Data and Programs - System Module GLUSER).
- by changing the I/O configuration. (See System Parameters - Gluing).

However, the main subject of this GlueL instruction description is the default setup.

Program execution
Internal sequence in a GlueL instruction:

- The gun starts to move towards the position.

- If the argument \On is used the gun opening output DO_Ggun1 or DO_Ggun2
is set at the specified time before the position is reached. If the argument \D is
used the output is set at the specified distance plus the specified times before the
position is reached.
- The values for flow1 and flow2 are set at the analog outputs AO_G1Flow1 and
AO_G1Flow2, and AO_G2Flow1 and AO_G2Flow2 respectively at the
specified time before the position is reached. If the argument \D is used the
outputs are set at the specified distance plus the specified times before the
position is reached.
- When the programmed position is reached, the program execution continues
with the next instruction.

15-GlueL-4 RAPID Reference Manual

GlueWare GlueL

Calculation of the glue flow values

The following data is used when the logical flow1 value is calculated (The logical
flow2 is calculated in a similar way):

F1 instruction parameter (0-100)

gl_fl1_ovr global override (Default: 100). (See Predefined Data and

Programs - System Module GLUSER)

gl_fl1_ref logical max. value (Default: 1000). (See Predefined Data and
Programs - System Module GLUSER)

current speed current robot speed (mm/s).

fl1_refspeed glue reference speed (mm/s). (See Data Types- ggundata)

Calculation of logical flow1 when fl1_type = 1 (fixed):

logical flow1 = F1 * gl_fl1_ovr * gl_fl1_ref/ 10000

Calculation of logical flow1 when fl1_type = 2 (proportional):

logical flow1 = (F1 * gl_fl1_ovr * gl_fl1_ref/ 10000) * current speed/fl1_refspeed

This means: With the default values above and with the default setup for logical max.
and min. for the analog glue outputs (See System Parameters - GlueWare) we get
following result:

If flow1_type = 1 (fixed): Physical max. value is activated if F1 = 100 (%) in the

instruction.

If flow1_type = 2 (proportional): Physical max. value is activated if F1 = 100 (%) in

the instruction and the actual speed is the same as fl1_refspeed in current ggundata.

RAPID Reference Manual 15-GlueL-5

GlueL GlueWare

Example 2
GlueL \On, p1, v250, ggun1 \F1:=100 \F2:=80 \D:=50, z30, tool7;
GlueL p2, v250, ggun1 \F1:=90 \F2:=70 \D:=50, z30, tool7;
GlueL \Off, p3, v250, ggun1 \D:=50, z30, tool7;

MoveJ

GlueL\On GlueL MoveX

xx
xx
xx

p1
xx

p2 p3
Pre-actions

S1 S2 GlueL\Off
Direction of movement

Start of gluing is performed End of gluing is performed

50 mm before the position is 50 mm before the position is
reached. reached.
Movement without gluing
xxxxxx Pre-actions
Gluing and pre-actions at
end of gluing
Figure 2 Glue example 2

In this example everything is the same as in example 1 except that all glue
specific actions are executed an additional distance (50 mm) before the
programmed positions are reached.
Assume that the logical maximum value for the signals is 10. When fl1_type=1
(fixed) and gl_fl1_our=100 (normal value for glue flow override), the values 10
on stretch S1 and 9 on stretch S2 are obtained for flow 1. When gl_fl1.our is
changed to 50, the values 500 and 450 respectively will be obtained. When
fl2_type=2 (proportional) and gl_fl2_our=100, the values 800 on stretch S1 and
700 on stretch S2 are obtained for flow 2, if the current speed is the same as the
reference speed (fl2_refspeed).
When the speed is reduced, e.g. in a corner path , the flow will also be reduced
correspondingly. The physical values of the signals are also determined by how
the analog signals are configured in the system parameters (relationship between
physical and logical values).

Program stop and restart

Stop during the glue process

If a stop occurs when the glue process is active, the gluing outputs are cleared and an
error message is displayed. When the restart is ordered, the remaining instructions in
the current set of glue instructions are performed as normal positioning instructions.
15-GlueL-6 RAPID Reference Manual
GlueWare GlueL

The gluing is restarted with the next glue instruction with an \On argument.

Instruction by instruction execution

Forwards

The gun is closed and motion without gluing is done.

Backwards

The gun is closed and the motion is performed backwards without gluing.

Simulated gluing
Activated by setting the variable gl_sim_glue to TRUE. This will inhibit the gun
opening and the flow signals. (See Predefined Data and Programs - System Module
GLUSER)

Limitations
It is not possible to restart the current glue sequence after a stop. The gluing is restarted
with the next glue instruction with an \On argument.

The max. gluing speed is dependent on the distance between the programmed
positions. If the speed is programmed too high, the error message 50082 will appear.
Avoid this error message by:

- changing the positions so they are not so close to each other

- using the argument \Conc in the gluing instructions
- decreasing the speed.

Error handling

Error situations

The following error situations are handled:

- Instruction argument error.

- Wrong ggundata values.
- Start without \On argument.
- Start with two instructions with \On argument.

RAPID Reference Manual 15-GlueL-7

GlueL GlueWare

- End with \Off argument without having started with \On argument.
- Stop during execution of glue instructions.

The faulty instruction or data must be changed and the current set of glue instructions
must be restarted from the beginning.

Syntax
GlueL
[[‘\’On ]|[‘\’Off ]
[’\’ Conc]’,’]
[ToPoint‘:=’]<expression (IN) of robtarget>‘,’
[Speed‘:=’]<expression (IN) of speeddata>’,’
[Gluegun‘:=’]<persistent (PERS) of ggundata>
[’\’F1’:=’<expression (IN) of num>]
[’\’F2’:=’<expression (IN) of num>]
[ ’\’D’:=’<expression (IN) of num >]’,’
[Zone‘:=’]<expression (IN) of zonedata>’,’
[Tool‘:=’]<persistent (PERS) of tooldata>
[’\’WObj’:=’<persistent (PERS) of wobjdata>]’;’

Related information
Described in:
Other positioning instructions RAPID Summary - Motion
Definition of velocity Data types - speeddata
Definition of zone data Data types - zonedata
Definition of tool Data types - tooldata
Definition of work objects Data types - wobjdata
Definition of gluegun data Data types - ggundata
Overview Gluing RAPID Summary - GlueWare
Customizing tools Predefined data and programs -
System Module GLUSER
I/O configuration System parameters - GlueWare
Motion in general Motion and I/O Principles

15-GlueL-8 RAPID Reference Manual

GlueWare GLUSER

System Module GLUSER

The system module GLUSER contains data and routines aimed to customising the
behaviour of the GlueWare application.

The names are predefined and used internally when a GlueL or GlueC instruction is
used. The names must therefore not be changed.

Contents

Data

The following global data are predefined:

Name Declaration Description

gl_fl1_ovr CONST num gl_fl1_ovr := 100 Global override for flow1 signal
Range: 0-200%

gl_fl2_ovr CONST num gl_fl2_ovr := 100 Global override for flow2 signal
Range: 0-200%

gl_fl1_ref CONST num gl_fl1_ref := 1000 Reference value used in calculation

of glue flow1. Normally the same
value as Logical Max for the analog
output signal for flow 1.

gl_fl2_ref CONST num gl_fl2_ref := 1000 Reference value used in calculation

of glue flow2. Normally the same
value as Logical Max for the analog
output signal for flow 2.

gl_sim_glue CONST bool gl_sim_glue := FALSEFlag to simulate the gluing. If

TRUE: No glue signals are
activated.

ggun1 PERS ggundata ggun1 := Predefined ggundata with

[1,0,0,2,0,0,0,0,1000,2,0,0,0,0,1000] default values.

Routines

There are some predefined routines installed with the application. These routines have
no default functionality, but can be changed to customise the behaviour of GlueWare.

routine gl_err_actions

This routine is executed when an error detected by the GlueWare occurs.

RAPID Reference Manual 15-GLUSER-1

GLUSER GlueWare

routine gl_preglue_actions1

This routine is executed when the motion to a Glue\On instruction is started (when the
signal DO_GL_Active is set to 1).

routine gl_postglue_actions1

This routine is executed when the glue phase is ended (when the signal DO_GL_Active
is set to 0).

routine gl_power_on

This routine is executed each time the system is switched on.

routine gl_start

The routine is executed each time the execution of a program is started from the
beginning. (From Main)

routine gl_restart

The routine is executed each time the execution of a stopped program is continued.

routine gl_stop

This routine is executed when a normal stop during program execution is performed.

routine gl_qstop

This routine is executed when an emergency stop during program execution is

performed.

1. The routines gl_preglue_actions and gl_postglue_actions are executed during the motion phase. If there is
too much time-consuming code in these routines, the maximum possible glue speed will be reduced.

15-GLUSER-2 RAPID Reference Manual

 Quick Reference

CONTENTS
Page

1 The Jogging Window ...................................................................................................... 3

1.1 Window: Jogging.................................................................................................... 3
1.1.1 Menu: Special............................................................................................... 3
2 The Inputs/Outputs Window ......................................................................................... 4
2.1 Window: Inputs/Outputs......................................................................................... 4
2.1.1 Menu: File .................................................................................................... 4
2.1.2 Menu: Edit.................................................................................................... 5
2.1.3 Menu: View.................................................................................................. 5
3 The Program Window .................................................................................................... 6
3.1 Moving between different parts of the program..................................................... 6
3.2 General menus ........................................................................................................ 7
3.2.1 Menu: File .................................................................................................... 7
3.2.2 Menu: Edit.................................................................................................... 8
3.2.3 Menu: View.................................................................................................. 9
3.3 Window: Program Instr .......................................................................................... 10
3.3.1 Menu: IPL1 (shows different instruction pick lists) .................................... 10
3.3.2 Menu: IPL2 (shows different instruction pick lists) .................................... 10
3.4 Window: Program Routines ................................................................................... 11
3.4.1 Menu: Routine.............................................................................................. 12
3.4.2 Menu: Special .............................................................................................. 12
3.5 Window: Program Data .......................................................................................... 13
3.5.1 Menu: Data................................................................................................... 13
3.5.2 Menu: Special .............................................................................................. 14
3.6 Window: Program Data Types ............................................................................... 15
3.6.1 Menu: Types ................................................................................................ 15
3.7 Window: Program Test........................................................................................... 16
3.7.1 Menu: Test ................................................................................................... 16
3.8 Window: Program Modules.................................................................................... 17
3.8.1 Menu: Module.............................................................................................. 17
4 The Production Window................................................................................................. 18
4.1 Window: Production............................................................................................... 18
4.1.1 Menu: File .................................................................................................... 18
4.1.2 Menu: Edit.................................................................................................... 18
4.1.3 Menu: View.................................................................................................. 19
5 The FileManager ............................................................................................................. 20
5.1 Window: FileManager............................................................................................ 20

RAPID Reference Manual 18-1

Quick Reference

5.1.1 Menu: File .................................................................................................... 20

5.1.2 Menu: Edit.................................................................................................... 21
5.1.3 Menu: View.................................................................................................. 21
5.1.4 Menu: Options.............................................................................................. 21
6 The Service Window ....................................................................................................... 22
6.1 General menus ........................................................................................................ 22
6.1.1 Menu: File .................................................................................................... 22
6.1.2 Menu: Edit.................................................................................................... 22
6.1.3 Menu: View.................................................................................................. 23
6.2 Window Service Log.............................................................................................. 24
6.2.1 Menu: Special .............................................................................................. 24
6.3 Window Service Calibration .................................................................................. 25
6.3.1 Menu: Calib ................................................................................................. 25
6.4 Window Service Commutation .............................................................................. 26
6.4.1 Menu: Com .................................................................................................. 26
7 The System Parameters .................................................................................................. 27
7.1 Window: System Parameters.................................................................................. 27
7.1.1 Menu: File .................................................................................................... 27
7.1.2 Menu: Edit.................................................................................................... 28
7.1.3 Menu: Topics ............................................................................................... 28
8 Special ArcWare windows ............................................................................................. 29
8.1 Window: Program Test .......................................................................................... 29
8.1.1 Window: Program Run ................................................................................ 30

18-2 RAPID Reference Manual

Quick Reference The Jogging Window

1 The Jogging Window

1.1 Window: Jogging

Jogging Robot pos:

Unit: Robot x: 1234.5

Motion: Linear y: -244.9 Current
z: 12.8 position
Q1: 0.7071
Current Coord: Base Q2: 0.0000
motion Tool: tool0... Q3: 0.0000
parameters Wobj: wobj0... Q4: -0.7071

Joystick lock: None Motion

Incremental: No x y z resulting from
different
World Base Tool Wobj joystick
deflections

1.1.1 Menu: Special

Special
1 Align...
2 Increments...

Command Used to:

Align Align the tool
Increments Specify the sizes of the user defined increments

RAPID Reference Manual

The Inputs/Outputs Window Quick Reference

2 The Inputs/Outputs Window

2.1 Window: Inputs/Outputs

File Edit View

Inputs/Outputs
Name of All signals
the I/O list Name Value Type
4(64)
di1 1 DI
di2 0 DI
grip1 0 DO
grip2 1 DO
I/O list grip3 1 DO
grip4 1 DO
progno 13 GO
welderror 0 DO

0 1

2.1.1 Menu: File

File
1 Print...
2 Preferences...

Command Used to:

Print print the current I/O list
Preferences make preferences in the Inputs/Outputs window

18-4 RAPID Reference Manual

Quick Reference The Inputs/Outputs Window

2.1.2 Menu: Edit

Edit
1 Goto...
2 Goto Top
3 Goto Bottom

Command: Used to:

Goto go to a specific line in the list
Goto Top go to the first line in the list
Goto Bottom go to the last line in the list

2.1.3 Menu: View

View
1 Most Common
2 All Signals
3 Digital In
4 Digital Out
5 Analog
6 Groups
7 Safety
8 Units

Command: Used to view:

Most Common the most common list
All Signals all user signals
Digital In all digital inputs
Digital Out all digital outputs
Analog all analog signals
Groups all groups of digital signals
Safety all safety signals
Units all I/O units

RAPID Reference Manual

The Program Window Quick Reference

3 The Program Window

3.1 Moving between different parts of the program

Program memory

Program
View: Data

Program data

View: Main Routine

View: Routines
Current routine
View: Routine Data
Main Sub-
routine Data routines
View: Instructions
Instructions
View: Error Handler
Error Handler

View: Modules

System modules

18-6 RAPID Reference Manual

Quick Reference The Program Window

3.2 General menus

3.2.1 Menu: File

File
1 Open...
2 New...
3 Save Program
4 Save Program As...

5 Print...
6 Preferences...
7 Check Program
8 Close Program

9 Save Module Only shown in

0 Save Module As... the module window

Command: Used to:

Open read programs from mass storage
New create new programs
Save Program save programs on mass storage
Save Program As save programs on mass storage with new names
Print print the program
Preferences make preferences in the Program window
Check Program check that the program is correct
Close Program erase the program from the program memory
Save Module save a module on mass storage
Save Module As save a module on mass storage with a new name

RAPID Reference Manual

The Program Window Quick Reference

3.2.2 Menu: Edit

Edit
Undo “Latest action”
1 Cut
2 Copy
3 Paste
4 Goto Top
5 Goto Bottom
6 Mark
7 Change Selected
8 Value
9 ModPos
0 Search...
Show/Hide IPL

Command Used to:

Undo perform an undo on the latest action possible to
undo in selected window
Cut cut selected lines to the clipboard buffer
Copy copy selected lines to the clipboard buffer
Paste paste the contents of the clipboard buffer into a
program
Goto Top go to the first line
Goto Bottom go to the last line
Mark select several lines
Change Selected change an instruction argument
Value show the current value (for the selected argument)
ModPos modify a position
Search search for/replace a specific argument
Show/Hide IPL show/hide an instruction pick list

18-8 RAPID Reference Manual

Quick Reference The Program Window

3.2.3 Menu: View

View
1 Instr.”<latest routine>”
2 Routines
3 Data ”<latest type>”
4 Data Types
5 Test
6 Modules

7 Main Routine
8 Selected Routine

9 Error Handler

Command Used to view:

Instr. instructions for the current routine – Program
Instruction window –
Routines all routines – Program Routines window –
Data program data – Program Data window –
Data Types all data types – Program Data Types window –
Test the Program Test window
Modules all modules – Program Modules window –
Main Routine instructions for the main routine
Selected Routine instructions for the selected routine
Error Handler error handler of the current routine

RAPID Reference Manual

The Program Window Quick Reference

3.3 Window: Program Instr

File Edit View IPL1 IPL2

Program Instr WELDPIPE/main

1(26)
!Init data
counter:=0;
!Go to start position
MoveL pstart,v500,fine,gripper;
Instructions WaitUntil di1=1;
!Start
Set startsignal;
open_gripper;
MoveJ *,v500,z10,gripper;

Copy Paste OptArg (Modpos) Test

Go to the window Program Test

3.3.1 Menu: IPL1 (shows different instruction pick lists)

IPL1
1 Common
2 Prog. Flow
3 Various
4 Motion Settings
5 Motion&Process
6 IO
7 Communicate
8 Interrupts
9 Error Recovery
0 System&Time
Mathematics

3.3.2 Menu: IPL2 (shows different instruction pick lists)

IPL2
1 Most Common 1
2 Most Common 2
3 Most Common 3

4 Motion Set Adv

5 Motion Adv
6 Ext. Computer
7 Multi Tasking
8 RAPID Support
9 Service

18-10 RAPID Reference Manual

 Quick Reference The Program Window

3.4 Window: Program Routines

File Edit View Routine Special

Program Routines WELDPIPE/

Routines In Module
Name Type
4(6)
cleangun
errorout1
givedist num Return value
main of a function
Routines weldseq1
weldseq2

New... Decl... Dupl... Data > Test

Create a new routine Duplicate

Change the declaration View routine data

RAPID Reference Manual

The Program Window Quick Reference

3.4.1 Menu: Routine

Routine
1 Routine Data

2 Instructions
(Error Handler)
(Backward Handler)

5 In Module
6 In System

7 Add Error Handler

8 Add Backward Handler

Command: Used to:

Routine Data create a new routine
Instructions view the instructions of the selected routine
Error Handler view the error handler of the selected routine
Backward Handler view the backward handler of the selected
routine
In Module view only the routines in the current module
In System view all routines in all modules
Add/Remove Error Handler add/remove an error handler to the selected
routine
Add/Remove Backward Handler add/remove a backward handler to the selected
routine (see RAPID Reference Manual -
Programming off-line)

3.4.2 Menu: Special

Special
Mirror...

Command: Used to:

Mirror mirror a routine or a module

18-12 RAPID Reference Manual

Quick Reference The Program Window

3.5 Window: Program Data

File Edit View Data Special

Program Data WELDPIPE/

Data type tooldata In Module

Name
3(3)
Data gripper
gun1
gun2

New... Decl... Dupl... Types Test

Create new data Duplicate Go to the window Program Test

Change the declaration View all data types

3.5.1 Menu: Data

Data
1 Value
2 Types

3 In Module
4 In System
5 In Routine “routine name”

6 New Array

Command: Used to:

Value read or change the current value of selected data
Types call up the list with all data types
In Module call up only the data in the current module
In System create new data
In Routine call up all routine data
New Array declare a new array data

RAPID Reference Manual

The Program Window Quick Reference

3.5.2 Menu: Special

Special
1 Define Coord...

2 Go to selected position

Command: Used to:

Define Coord define a tool, work object or program displacement
Go to selected position go to a selected position

18-14 RAPID Reference Manual

 Quick Reference The Program Window

3.6 Window: Program Data Types

File Edit View Types

Program Data Types WELDPIPE/

5(6)
All data
bool
num
robtarget
Data types tooldata
wobjdata

All Data

3.6.1 Menu: Types

Types
1 Data

2 Used Types
3 All Types

Command: Used to:

Data call up all data of a selected type
Used Types call up only those data types that are used
All Types call up all data types

RAPID Reference Manual

The Program Window Quick Reference

3.7 Window: Program Test

File Edit View Special

Program Test WELDPIPE/main

Speed:= 50%
Test running Running:= Continuous
parameters 1(26)
Program pointer !Init data
counter:=0;
!Go to start position
Instructions MoveL pstart,v100,FINE,gripper;
WaitUntil DInput(ready)=1;
!Start
Set startsignal;
open_gripper;

Start FWD BWD (Modpos) Instr

Go to the Program Instr window

3.7.1 Menu: Test

Special
1 Move Cursor to PP
2 Move PP to Cursor
3 Move PP to Main
4 Move PP to Routine

5 Go to selected position...

6 Simulate...

Command: Used to:

Move Cursor to PP start from the latest stopped instruction
Move PP to Cursor start from the selected instruction
Move PP to Main start from the main routine
Move PP to Routine start from any routine
Go to selected position go to a selected position
Simulate allow program execution in MOTORS OFF mode

18-16 RAPID Reference Manual

 Quick Reference The Program Window

3.8 Window: Program Modules

File Edit View Module

Program Modules WELDPIPE

Name Type
2(4)
Cadpositions Program Module
Modules Mainmodule Program Module
System1 System Module
System2 System Module

New... Decl... Data

Create a new module View program data

Change the declaration

3.8.1 Menu: Module

Module
1 Data
2 Module List...

Command: Used to:

Data view program data
Module List view the complete module in a list

RAPID Reference Manual

The Production Window Quick Reference

4 The Production Window

4.1 Window: Production

File Edit View

Production Info CAR_LIN1

Routine : main :
Status : Stopped
Speed:= 75 %
Running mode:= Continuous
2(39)
MoveL p1, v500, z20, tool1;
Program pointer MoveL p2, v500, z20, tool1;
MoveL p3, v500, z20, tool1;
Program list Set do1;
Set do2;

Start FWD BWD

4.1.1 Menu: File

File

1 Load Program...

Command Used to:

Load Program load a program

4.1.2 Menu: Edit

Edit
1 Goto...
2 Start from Beginning

Command Used to:

Goto go to a specific instruction
Start from Beginning go to the first instruction in the program

18-18 RAPID Reference Manual

Quick Reference The Production Window

4.1.3 Menu: View

View
1 Info ...
2 Position

Command Used to:

Info display the program in the lower part of the
window
Position tune a position

RAPID Reference Manual 18-19

The FileManager Quick Reference

5 The FileManager

5.1 Window: FileManager

File Edit View Options

FileManager
Current unit flp1:/WELDINGS/TEST Current directory
Name Type Date Latest change
2(12)
.. Go Up One Level ..
PROC1 Program 1993-05-28
PROC2 Program 1993-05-09
Files PROCFUNC Program Module 1993-05-01
WDATA Program Module 1993-05-01
WTOOLS Directory 1993-05-01
RESULTS Directory 1993-06-01

Up

5.1.1 Menu: File

File
1 New Directory...
2 Rename...
3 Copy...
4 Move...
5 Print File...

Command: Used to:

New Directory create a new directory

Rename change the name of a selected file
Copy copy a selected file or directory to another mass
memory or directory
Move move a selected file or directory to another mass
memory or directory
Print File print a file on a printer

18-20 RAPID Reference Manual

Quick Reference The FileManager

5.1.2 Menu: Edit

Edit
1 Goto...
2 Goto Top
3 Goto Bottom

Command: Used to:

Goto go to a specific line in a list

Goto Top go to the first file in a list
Goto Bottom go to the last file in a list

5.1.3 Menu: View

View
1 [ram1disk:]
2 [flp1:] Disc#12

Command: Used to view:

ram1disk: the files on the RAM disk

flp1: the files on the diskette

5.1.4 Menu: Options

Options
1 Format...
2 Rapid Converters...

Command: Used to:

Format format a diskette

Rapid Converters convert old program versions

RAPID Reference Manual 18-21

The Service Window Quick Reference

6 The Service Window

6.1 General menus

6.1.1 Menu: File

File
1 Save logs as...
2 Save all logs as...
3 Backup...
4 Restore...

Restart...

Command Used to:

Save logs as save logs on a diskette or other mass memory
Save all logs as save all logs on a diskette or other mass memory
Backup perform a backup
Restore perform a restore
Restart restart the robot

6.1.2 Menu: Edit

Edit
1 Goto...
2 Goto Top
3 Goto Bottom
4 Info...

Command Used to:

Goto go to a specific line in a list
Goto Top go to the first line in a list
Goto Bottom go to the last line in a list
Info view information about selected log messages

18-22 RAPID Reference Manual

Quick Reference The Service Window

6.1.3 Menu: View

View
1 Log
2 Date & Time
3 Calibration

4 Commutation
5 BaseFrame
6 Two Axes Definition
7 System Info

Command Used to:

Log display the different logs
Date & Time set the date and time
Calibration calibrate the robot
Commutation commutate the motors
BaseFrame calibrate the base coordinate system
Two Axes Definition calibrate the base coordinate system for a two axes
manipulator
System Info display system information

RAPID Reference Manual

The Service Window Quick Reference

6.2 Window Service Log

File Edit View Special

No. of messages
Service Log Time of most recent
Messages message
Name # Latest
4(9)
Common 10 0810 20:30.32
Operational status 20 0810 20:25.14
System 0
Hardware 1 0810 20:30.32
Log list Program 0
Motion 3 0810 19:15.12
Operator 4 0809 12:30.00
Process 0

Msg->

Displays the messages in selected log

6.2.1 Menu: Special

Special
1 Erase Log
2 Erase All Logs

3 Update log on Event

Command: Used to:

Erase Log erase contents in selected log
Erase All Logs erase contents in all logs
Update log on Event update the log directly when a message is sent – the
command is changed to “Update log on Com-
mand” when selected, which means that the log is
not updated until the function key Update is
pressed

18-24 RAPID Reference Manual

Quick Reference The Service Window

6.3 Window Service Calibration

File Edit View Calib

Service Calibration

Unit Status
1(4)
Robot Synchronized
Calibration Manip1 Synchronized
status Manip2 Synchronized
Trackm Synchronized

6.3.1 Menu: Calib

Calib
1 Rev.Counter Update...
2 Calibrate...

Command: Used to:

Rev.Counter Update update the counter
Calibrate calibrate using the measurement system

RAPID Reference Manual

The Service Window Quick Reference

6.4 Window Service Commutation

File Edit View Com

Service Commutation

Unit Status
1(4)
Robot Commutated
Manip1 Commutated
Status Manip2 Commutated
Trackm Commutated

6.4.1 Menu: Com

Com
1 Commutate...

Command: Used to:

Commutate commutate using the measurement
system

18-26 RAPID Reference Manual

Quick Reference The System Parameters

7 The System Parameters

7.1 Window: System Parameters

File Edit Topics Types

System Parameters IO Parameter topic

Parameter type User signals
Parameters Info
1(10)
Signal Name do1
Unit Name DSQC232_1
Parameters Signal Type DO
Signal Number 1
Logical Max 0.000000
Physical Max 0.000000
Logical Min 0.000000
Physical Min 0.000000

Cancel OK

7.1.1 Menu: File

File
1 Load Saved Parameters...
2 Add New Parameters...
3 Save All As...
4 Save As...
5 Check Parameters
Restart...

Command: Used to:

Load Saved Parameters load parameters from mass storage
Add New Parameters add parameters from mass storage
Save All As save all parameters on mass storage
Save As save parameters on mass storage
Check Parameters check parameters before restart
Restart restart the robot

RAPID Reference Manual 18-27

The System Parameters Quick Reference

7.1.2 Menu: Edit

Edit
2 Goto Top
3 Goto Bottom
3 Goto...

4 Show Change Log...

5 Change Pass Codes...

Command: Used to:

Goto Top go to the first line in a list

Goto Bottom go to the last line in a list
Goto go to a specific line in a list
Show Change Log view information about the latest modifications
made
Change Pass Codes change pass codes

7.1.3 Menu: Topics

Topics
1 Controller
2 Communication
3 IO Signals
4 Manipulator
5 Arc Weld
6 Teach Pendant

All Topics

Command: Used to view:

Controller the parameter of the Controller topic

Communication the parameter of the Communication topic
IO Signals the parameters of the IO topic
Manipulator the parameters of the Manipulator topic
Arc Weld the parameters of the Arc Weld topic
Teach Pendant the parameters of the Teach Pendant topic
All Topics all topics

18-28 RAPID Reference Manual

Quick Reference The System Parameters

RAPID Reference Manual 18-29

Special ArcWare windows Quick Reference

8 Special ArcWare windows

8.1 Window: Production

File Edit View Arcweld

Production Info WELDPIPE
Routine : main
Status : Stopped
Speed:= 100 %
Running mode:= Continuous
Blocked: Weave Track
1(26)
>> !Init data
counter:=0;
!Go to start position
MoveL pstart,vfast,fine,weldgun1;
WaitUntil DInput(ready)=1;
Start FWD BWD

Menu: Arcweld

Arcweld
1 Manual wirefeed...
2 Gas on/off...
3 Select AW system...
4 Increments...

Command Used to:

Manual wirefeed feed the wire forwards or backwards
Gas on/off activate/deactivate the gas manually
Select AW system choose arcwelding system
Increments change the tuning increments

18-30 RAPID Reference Manual

Quick Reference Special ArcWare windows

8.2 Window: Program Test

File Edit View Test Arcweld

Program Test WELDPIPE/main

Speed: 100%
Running:= Continuous

Blocked: Weave Track

1(26)
>> !Init data
counter:=0;
!Go to start position
MoveL pstart,vfast,fine,weldgun1;
WaitUntil DInput(ready)=1;
Start (Modpos) Instr

Menu: Arcweld

Arcweld
1 Weld Tuning...
2 Weave Tuning...
3 Sensor...
4 Blocking...
5 Manual wirefeed...
6 Gas on/off...
7 Select AW system...
8 Increments...

Command Used to:

Weld Tuning tune weld data
Weave Tuning tune weave data
Sensor communicate with seamtracker sensor
Blocking block certain parts of the process
Manual wirefeed feed the wire forwards or backwards
Gas on/off activate/deactivate the gas manually
Select AW system choose arcwelding system
Increments change the tuning increments

RAPID Reference Manual

Special ArcWare windows Quick Reference

8.3 Window when executing

Test Arcweld

Program Run WELDPIPE

Speed: 100%
Running:= Continuous
Blocked: Weave Track
Welddata: welddata1

Tuning Present
1(3)
weld_speed + 5.5 105.5 mm/s
weld_wirefeed - 0.15 2.30 m/min
weld_voltage + 3.50 33.50 Volts

Tuning

Menu: Arcweld

Arcweld
1 Weld Tuning...
2 Weave Tuning...
3 Meas. values...

Command: Used to:

Weld Tuning tune current weld data
Weave Tuning tune current weave data
Meas. values read measurement values

18-32 RAPID Reference Manual

 INDEX

A C
Abs 9-Abs-1 C_MOTSET 7-System data-1
absolute value 9-Abs-1 C_PROGDISP 7-System data-1
acceleration reduction 8-AccSet-1 call 8-ProcCall-1
AccSet 8-AccSet-1 CallByVar 8-CallByVar-1
ACos 9-ACos-1 calling a subroutine 3-6
ActUnit 8-ActUnit-1 CDate 9-CDate-1
Add 8-Add-1 circular movement 6-15, 8-MoveC-1
aggregate 5-18 CJointT 9-CJointT-1
alias data type 5-18 Clear 8-Clear-1
analog output ClkRead 9-ClkRead-1
set 8-SetAO-1 ClkReset 8-ClkReset-1
AND 5-27 ClkStart 8-ClkStart-1
AOutput 9-AOutput-1 ClkStop 8-ClkStop-1
arc welding 13-ArcC-1, 13-ArcL-1 clock 7-clock-1
ArcC 13-ArcC-1 read 9-ClkRead-1
ArcL 13-ArcL-1 reset 8-ClkReset-1
arcus cosine 9-ACos-1 start 8-ClkStart-1
arcus sine 9-ASin-1 stop 8-ClkStop-1
arcus tangent 9-ATan-1, 9-ATan2-1 Close 8-Close-1
ArgName 9-ArgName-1 comment 3-8, 5-5, 8-comment-1
argument common drive unit 8-ActUnit-1, 8-DeActU-
conditional 5-29 nit-1
argument name 9-ArgName-1 communication 3-37
arithmetic 8-:=-1 communication instructions 3-21
arithmetic expression 5-26 Compact IF 8-Compact IF-1
array 5-21, 5-22 component of a record 5-18
get size 9-Dim-1 concurrent execution 6-28
ASin 9-ASin-1 condition 8-IF-1
assigning a value to data 3-8 conditional argument 5-29
assignment 8-:=-1 confdata 7-confdata-1
ATan 9-ATan-1 configuration check instructions 3-11
ATan2 9-ATan2-1 ConfJ 8-ConfJ-1
axis configuration 6-33 ConfL 8-ConfL-1
CONNECT 8-CONNECT-1
B CONST 5-22
constant 5-20
backward execution 5-37
coordinate system 6-3
Backward Handler 11-5
coordinated external axes 6-7
backward handler 5-13, 5-37, 5-39
corner path 6-16, 7--zonedata-1
base coordinate system 6-3
CorrClear 8-CorClear-1
bool 7-bool-1
CorrCon 8-CorrCon-1
Break 8-Break-1
corrdescr 7-corrdescr-1
ByteToStr 9-ByteToStr-1
CorrDiscon 8-CorrDiscon-1
CorrRead 9-CorrRead-1
CorrWrite 8-CorrWrite-1

RAPID Reference Manual 20-1

 Cos 9--Cos-1 equal data type 5-18
countinuously movement 8-IndCMove-1 erase teach pendant display 8-TPErase-1
CPos 9-CPos-1 ERRNO 5-33, 7-System data-1
crater-filling 13-seamdata-7 errnum 7-errnum-1
CRobT 9-CRobT-1 error handler 5-33
cross connections 6-45 error number 5-33
CTime 9-CTime-1 error recovery 5-33
CTool 9-CTool-1 retry 8-RETRY-1, 8-TRYNEXT-1
CWobj 9-CWobj-1 ErrWrite 8-ErrWrite-1
EulerZYX 9-EulerZYX-1
D EXIT 8-EXIT-1
ExitCycle 8-ExitCycle-1
data 5-20
Exp 9-Exp-1
used in expression 5-28
exponential value 9-ByteToStr-1, 9-Exp-1,
data type 5-18
9-Pow-1, 9-StrToByte-1
date 9-CDate-1
expression 5-26
DeactUnit 8-DeActUnit-1
external axes
declaration
activate 8-ActUnit-1
constant 5-22
coordinated 6-7
module 5-9
deactivate 8-DeActUnit-1
persistent 5-22
extjoint 7-extjoint-1
routine 5-13
variable 5-21 F
Decr 8-Decr-1
decrease velocity 8-VelSet-1 file
decrement 8-Decr-1 close 8-Close-1, 8-Rewind-1
DefDFrame 9-DefDFrame-1 load 8-Load-1
DefFrame 9-DefFrame-1 open 8-Open-1
digital output 9-DOutput-1 read 9-ReadBin-1, 9-ReadNum-1, 9-
pulse 8-PulseDO-1 ReadStr-1
reset 8-Reset-1 rewind 8-Rewind-1
set 8-Set-1, 8-SetDO-1 unload 8-UnLoad-1
Dim 9-Dim-1 write 8-Write-1, 8-WriteBin-1, 8-Writ-
dionum 7-dionum-1 eStrBin-1
displace file header 5-5
position 9-Offs-1 file instructions 3-21
displacement fine 7--zonedata-1
tool direction 9-RelTool-1 fly-by point 7--zonedata-1
displacement frame 6-6, 9-DefDFrame-1, 9- FOR 8-FOR-1
DefFrame-1 frame 9-DefFrame-1
displacement instructions 3-12 function 5-11
DIV 5-26 function call 5-29
DOutput 9-DOutput-1
G
E
GetTime 9-GetTime-1
end phase 13-seamdata-7 ggundata 15-ggundata-1
EOffsOff 8-EOffsOff-1 global
EOffsOn 8-EOffsOn-1 data 5-20
EOffsSet 8-EOffsSet-1 routine 5-11

20-2 RAPID Reference Manual

GlueC 15-GlueC-1 from digital input 8-ISignalDI-1
GlueL 15-GlueL-1 identity 7-intnum-1
GlueWare 3-35 timed 8-ITimer-1
gluing 15-GlueC-1, 15-GlueL-1 INTNO 7-System data-1
gluing gun data 15-ggundata-1 intnum 7-intnum-1
GLUSER 15-GLUSER-1 InvertDO 8-InvertDO-1
GOTO 8-GOTO-1 IO unit
GOutput 9-AOutput-1, 9-GOutput-1 disable 8-IODisable-1
GripLoad 8-GripLoad-1 enable 8-IOEnable-1
group of I/O 8-SetGO-1, 9-AOutput-1, 9- iodev 7-iodev-1
GOutput-1 IODisable 8-IODisable-1
gundata 14-gundata-1 IOEnable 8-IOEnable-1
ISignalDI 8-ISignalDI-1
H ISignalDO 8-ISignalDO-1
ISleep 8-ISleep-1
heat 13-seamdata-4
IsPers 9-IsPers-1
I IsVar 9-IsVar-1
ITimer 8-ITimer-1
I/O principles 6-44 IVarValue 8-IVarVal-1
I/O synchronisation 6-27 IWatch 8-IWatch-1
IDelete 8-IDelete-1
identifier 5-3 J
IDisable 8-IDisable-1
joint movement 6-13, 8-MoveJ-1
IEnable 8-IEnable-1
IF 8-Compact IF-1, 8-IF-1 jump 8-GOTO-1
ignition 13-seamdata-3 L
Incr 8-Incr-1
increment 8-Incr-1 label 8-label-1
IndAMove 8-IndAMove-1 linear movement 6-14, 8-MoveL-1
IndCMove 8-IndCMove-1 Load 8-Load-1
IndDMove 8-IndRMove-1 load
independent inpos 9-IndInpos-1, 9-Ind- activate payload 8-GripLoad-1
Speed-1 loaddata 7-loaddata-1
independent motion 8-IndAMove-1, 8-Ind- local
CMove-1, 8-IndRMove-1 data 5-20
IndInpos 9-IndInpos-1, 9-IndSpeed-1 routine 5-11
IndReset 8-IndReset-1 logical expression 5-27
IndRMove 8-IndRMove-1 logical value 5-4, 7-bool-1
IndSpeed 9-IndSpeed-1
input instructions 3-19 M
interpolation 6-13 main routine 5-8
interrupt 3-23, 5-35
mathematical instructions 3-28, 3-39
activate 8-IWatch-1 maximum velocity 8-VelSet-1
at a position 8-TriggInt-1
mechanical unit 7-mecunit-1
connect 8-CONNECT-1
activate 8-ActUnit-1
deactivate 8-ISleep-1 deactivate 8-DeActUnit-1
delete 8-IDelete-1
mecunit 7-mecunit-1
disable 8-IDisable-1 MirPos 9-MirPos-1
enable 8-IEnable-1

RAPID Reference Manual 20-3

 mirroring 9-MirPos-1 P
MOD 5-26
modified linear interpolation 6-16 parameter 5-12
module 5-8 path resolution
declaration 5-9 change 8-PathResol-1
motion instructions 3-15 path synchronization 6-31
motion settings instructions 3-10 PathResol 8-PathResol-1
motsetdata 7-motsetdata-1 payload 7-loaddata-1
MoveAbsJ 8-MoveAbsJ-1 activate 8-GripLoad-1
MoveC 8-MoveC-1 PDispOff 8-PDispOff-1
MoveJ 8-MoveJ-1 PDispOn 8-PDispOn-1
MoveL 8-MoveL-1 PERS 5-22
movement persistent 5-20
circle 8-MoveC-1 placeholder 5-5
joint 8-MoveJ-1 pos 7-pos-1
linear 8-MoveL-1 pose 7-pose-1
mulittasking 5-39 PoseInv 9-PoseInv-1
PoseMult 9-PoseMult-1
N position
instruction 3-15
non value data type 5-18 position fix I/O 6-31, 8-TriggIO-1
NOT 5-27 Pow 9-Pow-1, 9-StrToByte-1
num 7-num-1 Present 9-Present-1
numeric value 5-4, 7-num-1 ProcCall 8-ProcCall-1
NumToStr 9-NumToStr-1 procedure 5-11
procedure call 8-CallByVar-1, 8-ProcCall-1
O
program 5-8
o_jointtarget 7-o_jointtarget-1 program data 5-20
object coordinate system 6-5, 7-wobjdata-1 program displacement 3-12
offline programming 11-3 activate 8-PDispOn-1
Offs 9-Offs-1 deactivate 8-PDispOff-1
offset 9-Offs-1 remove from position 9-ORobT-1
Open program flow instructions 3-6
file 8-Open-1 program module 5-8
serial channel 8-Open-1 programming 11-3
operating mode PulseDO 8-PulseDO-1
read 9-OpMode-1
Q
operator
priority 5-30 quaternion 7-orient-2
OpMode 9-OpMode-1
optional parameter 5-12 R
OR 5-27
orient 7-orient-1 RAISE 8-RAISE-1
OrientZYX 9-OrientZYX-1 read
ORobT 9-ORobT-1 clock 9-ClkRead-1
output current date 9-CDate-1
at a position 8-TriggIO-1 current joint angles 9-CJointT-1
output instructions 3-19 current robot position 9-CRobT-1
current time 9-CTime-1, 9-GetTime-1

20-4 RAPID Reference Manual

 current tool data 9-CTool-1 serial channel
current work object 9-CWobj-1 close 8-Close-1
digital output 9-DOutput-1 file 8-WriteBin-1, 8-WriteStrBin-1
file 9-ReadBin-1, 9-ReadNum-1, 9- open 8-Open-1
ReadStr-1 read 9-ReadBin-1, 9-ReadNum-1, 9-
function key 8-TPReadFK-1 ReadStr-1
group of outputs 9-AOutput-1, 9-GOut- rewind 8-Rewind-1
put-1 write 8-Write-1
serial channel 9-ReadBin-1, 9-Read- Set 8-Set-1
Num-1, 9-ReadStr-1 SetAO 8-SetAO-1
ReadBin 9-ReadBin-1 SetDO 8-SetDO-1
ReadMotor 9-ReadMotor-1 SetGO 8-SetGO-1
ReadNum 9-ReadNum-1 shapedata 7-shape-1
ReadStr 9-ReadStr-1 signalai 7-signalxx-1
record 5-18 signalao 7-signalxx-1
RelTool 9-ATan2-1, 9-DefFrame-1, 9-Op- signaldi 7-signalxx-1
Mode-1, 9-Pow-1, 9-RelTool-1, 9- signaldo 7-signalxx-1
RunMode-1 signalgi 7-signalxx-1
repeat 8-FOR-1, 8-WHILE-1 signalgo 7-signalxx-1
reserved words 5-3 simulated gluing 15-GlueC-5, 15-GlueL-7
Reset 8-Reset-1 simulated spot welding 14-SpotL-7
reset Sin 9-Sin-1
measuring system 8-IndReset-1 SingArea 8-SingArea-1
RestoPath 8-RestoPath-1 singularity 6-37
RETRY 8-RETRY-1 soft servo 3-12, 6-24
RETURN 8-RETURN-1 activating 8-SoftAct-1
Rewind 8-Rewind-1 deactivating 8-SoftDeAct-1
robot configuration 6-33 SoftAct 8-SoftAct-1
robot position 7-o_robtarget-1, 7-robtarget-1 SoftDeact 8-SoftDeAct-1
robtarget 7-o_robtarget-1, 7-robtarget-1 speeddata 7-speeddata-1
Round 9-Round-1 spot weld gun data 14-gundata-1
routine 5-11 spot welding 3-30, 14-SpotL-1
declaration 5-13 spotdata 14-spotdata-1
routine call 8-ProcCall-1 SpotL 14-SpotL-1
routine data 5-20 Sqrt 9-Sqrt-1
RunMode 9-RunMode-1 square root 9-Sqrt-1
running mode StartMove 8-StartMove-1
read 9-RunMode-1 stationary TCP 6-10
Stop 8-Stop-1
S stop point 7--zonedata-1
StopMove 8-StopMove-1
scope
stopping program execution 3-7
data scope 5-20
stopwatch 7-clock-1, 8-ClkStart-1
routine scope 5-11
StorePath 8-StorePath-1
seamdata 13-seamdata-1
StrFind 9-StrFind-1
SearchC 8-SearchC-1
string 5-4, 7-string-1
searching instructions 3-15
string expression 5-27
SearchL 8-SearchL-1
StrLen 9-StrLen-1
semi value data type 5-18
StrMap 9-StrMap-1
StrMatch 9-StrMatch-1

RAPID Reference Manual 20-5

 StrMemb 9-StrMemb-1 V
StrOrder 9-StrOrder-1
StrPart 9-StrPart-1 ValToStr 9-ValToStr-1
StrToByte 9-StrToByte-1 VAR 5-21
StrToVal 9-StrToVal-1 variable 5-20
switch 5-12 velocity 7-speeddata-1
symnum 7-symnum-1 decrease 8-VelSet-1
syntax rules 2-4 max. 8-VelSet-1
system data 7-System data-1 VelSet 8-VelSet-1
system module 5-9 W
T wait
Tan 9-Tan-1 a specific time 8-WaitTime-1
TCP 6-3 any condition 8-WaitUntil-1
stationary 6-10 digital input 8-WaitDI-1
TEST 8-TEST-1 digital output 8-WaitDO-1
TestDI 9-TestDI-1 until the robot is in position 8-WaitTime-
text string 7-string-1 1
time 9-CTime-1, 9-GetTime-1 wait instructions 3-8
time instructions 3-27 WaitDI 8-WaitDI-1
tool centre point 6-3 WaitDO 8-WaitDO-1
tool coordinate system 6-9 WaitTime 8-WaitTime-1
tooldata 7-tooldata-1 WaitUntil 8-WaitUntil-1
TPErase 8-TPErase-1 weavedata 13-weavedata-1
tpnum 7-tpnum-1 welddata 13-welddata-1
TPReadFK 8-TPReadFK-1 WHILE 8-WHILE-1
TPReadNum 8-TPReadNum-1 wobjdata 7-wobjdata-1
TPShow 8-TPShow-1 work object 7-wobjdata-1
TPWrite 8-TPWrite-1 world coordinate system 6-4
trap routine 5-11, 5-35 wrist coordinate system 6-9
TriggC 8-TriggC-1 Write 8-Write-1
triggdata 7-triggdata-1 write
TriggEquip 8-TriggEquip-1 error message 8-ErrWrite-1
TriggInt 8-TriggInt-1 on the teach pendant 8-TPShow-1, 8-TP-
TriggIO 8-TriggIO-1 Write-1
TriggJ 8-TriggJ-1 WriteBin 8-WriteBin-1
TriggL 8-TriggL-1 WriteStrBin 8-WriteStrBin-1
Trunc 9-Trunc-1 WZBoxDef 8-WZBoxDef-1
TRYNEXT 8-TRYNEXT-1 WZCylDef 8-WZCylDef-1
TuneReset 8-TuneServo-1 WZDisable 8-WZDisable-1
TuneServo 8-TuneServo-1 WZDOSet 8-WZDOSet-1
tunetype 7-tunetype-1 WZEnable 8-WZEnable-1
typographic conventions 2-4 WZFree 8-WZFree-1
WZLimSup 8-WZLimSup-1
U WZSphDef 8-WZSphDef-1
wzstationary 7-wzstationary-5
UnLoad 8-UnLoad-1 wztemporary 7-wztemporary-7
User - system module 10-3
user coordinate system 6-5, 7-wobjdata-1

20-6 RAPID Reference Manual

X

XOR 5-27

zonedata 7--zonedata-1

RAPID Reference Manual 7

8 RAPID Reference Manual
 Glossary

Glossary
Argument The parts of an instruction that can be changed, i.e.
everything except the name of the instruction.
Automatic mode The applicable mode when the operating mode selector is
set to .
Component One part of a record.
Configuration The position of the robot axes at a particular location.
Constant Data that can only be changed manually.
Corner path The path generated when passing a fly-by point.
Declaration The part of a routine or data that defines its properties.
Dialog/Dialog box Any dialog boxes appearing on the display of the teach pen-
dant must always be terminated (usually by pressing OK or
Cancel) before they can be exited.
Error handler A separate part of a routine where an error can be taken care
of. Normal execution can then be restarted automatically.
Expression A sequence of data and associated operands; e.g. reg1+5 or
reg1>5.
Fly-by point A point which the robot only passes in the vicinity of –
without stopping. The distance to that point depends on the
size of the programmed zone.
Function A routine that returns a value.
Group of signals A number of digital signals that are grouped together and
handled as one signal.
Interrupt An event that temporarily interrupts program execution and
executes a trap routine.
I/O Electrical inputs and outputs.
Main routine The routine that usually starts when the Start key is pressed.
Manual mode The applicable mode when the operating mode switch is set
to .
Mechanical unit A group of external axes.
Module A group of routines and data, i.e. a part of the program.
Motors On/Off The state of the robot, i.e. whether or not the power supply
to the motors is switched on.
Operator’s panel The panel located on the front of the control system.
Orientation The direction of an end effector, for example.
Parameter The input data of a routine, sent with the routine call. It cor-
responds to the argument of an instruction.
Persistent A variable, the value of which is persistent.
Procedure A routine which, when called, can independently form an
instruction.

RAPID Reference Manual 20-7

Glossary

Program The set of instructions and data which define the task of the
robot. Programs do not, however, contain system modules.
Program data Data that can be accessed in a complete module or in the
complete program.
Program module A module included in the robot’s program and which is
transferred when copying the program to a diskette, for
example.
Record A compound data type.
Routine A subprogram.
Routine data Local data that can only be used in a routine.
Start point The instruction that will be executed first when starting pro-
gram execution.
Stop point A point at which the robot stops before it continues on to the
next point.
System module A module that is always present in the program memory.
When a new program is read, the system modules remain in
the program memory.
System parameters The settings which define the robot equipment and proper-
ties; configuration data in other words.
Tool Centre Point (TCP)The point, generally at the tip of a tool, that moves along the
programmed path at the programmed velocity.
Trap routine The routine that defines what is to be done when a specific
interrupt occurs.
Variable Data that can be changed from within a program, but which
loses its value (returns to its initial value) when a program is
started from the beginning.
Window The robot is programmed and operated by means of a
number of different windows, such as the Program window
and the Service window. A window can always be exited by
choosing another window.
Zone The spherical space that surrounds a fly-by point. As soon
as the robot enters this zone, it starts to move to the next
position.

20-8 RAPID Reference Manual