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Deskware - rap, Notas de estudo de Máquinas Elétricas

Universidade Salvador (UNIFACS)Máquinas Elétricas

Simulador Robo ABB,nao tenho certeza se funciona no win 7,8,qualquer coisa instale uma maquina virtual com xp.Caso nao consigam instalar entre em contato. [email protected]

Tipologia: Notas de estudo

2014

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Table of Contents Programming off-line

Introduction

RAPID Summary ArcWare

SpotWare

Basic Characteristics GlueWare

Motion and I/O Principles

Data Types and System Data

Instructions Quick Reference

Functions Special Functionality in this Robot

Predefined Data and Programs Index, Glossary

ABB Flexible Automation AB

RAPID Reference On-line Manual

MAIN MENU

Descubra Notas de estudo de Máquinas Elétricas Universidade Salvador (UNIFACS)

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Table of Contents Programming off-line

Introduction

RAPID Summary ArcWare

SpotWare

Basic Characteristics GlueWare

Motion and I/O Principles

Data Types and System Data

Instructions Quick Reference

Functions Special Functionality in this Robot

Predefined Data and Programs Index, Glossary

ABB Flexible Automation AB

RAPID Reference On-line Manual

MAIN MENU

WELCOME to the Internal manual

Use the tool field in the Acrobat Reader to manoeuvre through the on-line manual.

The buttons Go back and Go forward take you step by step through the

document, view to view in the order you have seen them.

The buttons Previous/Next page move forward or backwards in the document

one page at the time. You can also use the buttons PageUp / PageDown on the

key board.

The buttons First/Last page move forward or backwards to the last or first

page of the document.

To mark text in the document. For use in another document the text can be

copied with the command Copy in the menu Edit.

To mark graphics in the document (in the menu Tools ). For use in another

document the graphics can be copied in the same way as text, see above.

It is also possible to print the manual, use the function Print.... in the menu File.

The cursor, in shape of a hand, changes to a pointing finger when it moves over a linked area.

To jump to a linked view, click with the mouse button.

For more information, see the Acrobat Reader on-line manual under the menu Help.

Click on the Main menu button to continue to the User’s Guide on-line Manual.

Main menu

ABB Flexible Automation Internal Manual for the On-line Manual

Page

1-14 RAPID Reference Manual

INDEX

20-4 RAPID Reference Manual RelTool 9-ATan2-1, 9-DefFrame-1, 9-Op-

RAPID Reference Manual 1- Page
- 1 Table of Contents..................................................................................... 1-
- 2 Introduction 2-
  - 1 Other Manuals 2-
  - 2 How to Read this Manual.................................................................................... 2-
    - 2.1 Typographic conventions 2-
    - 2.2 Syntax rules................................................................................................... 2-
    - 2.3 Formal syntax................................................................................................ 2-
- 3 RAPID Summary..................................................................................... 3-
  - 1 The Structure of the Language........................................................................... 3-
  - 2 Controlling the Program Flow............................................................................ 3-
    - 2.1 Programming principles 3-
    - 2.2 Calling another routine.................................................................................. 3-
    - 2.3 Program control within the routine 3-
    - 2.4 Stopping program execution 3-
  - 3 Various Instructions 3-
    - 3.1 Assigning a value to data 3-
    - 3.2 Wait............................................................................................................... 3-
    - 3.3 Comments 3-
    - 3.4 Loading program modules 3-
    - 3.5 Various functions 3-
    - 3.6 Basic data 3-
  - 4 Motion Settings 3-
    - 4.1 Programming principles 3-
    - 4.2 Defining velocity........................................................................................... 3-
    - 4.3 Defining acceleration 3-
    - 4.4 Defining configuration management 3-
    - 4.5 Defining the payload 3-
    - 4.6 Defining the behaviour near singular points 3-
    - 4.7 Displacing a program 3-
    - 4.8 Soft servo 3-
    - 4.9 Adjust the robot tuning values 3-
    - 4.10 Data for motion settings 3-
  - 5 Motion 3-
    - 5.1 Programming principles 3-
    - 5.2 Positioning instructions................................................................................. 3-
    - 5.3 Searching....................................................................................................... 3-
- 5.4 Activating outputs or interrupts at specific positions 3- 1-2 RAPID Reference Manual
- 5.5 Motion control if an error/interrupt takes place............................................ 3-
- 5.6 Controlling external axes 3-
- 5.7 Independent axes........................................................................................... 3-
- 5.8 Position functions.......................................................................................... 3-
- 5.9 Motion data 3-
- 5.10 Basic data for movements........................................................................... 3-
6 Input and Output Signals.................................................................................... 3-
- 6.1 Programming principles................................................................................ 3-
- 6.2 Changing the value of a signal...................................................................... 3-
- 6.3 Reading the value of an input signal............................................................. 3-
- 6.4 Reading the value of an output signal........................................................... 3-
- 6.5 Testing input on output signals 3-
- 6.6 Data for input and output signals 3-
7 Communication.................................................................................................... 3-
- 7.1 Programming principles................................................................................ 3-
- 7.2 Communicating using the teach pendant 3-
- 7.3 Reading from or writing to a character-based serial channel/file 3-
- 7.4 Communicating using binary serial channels 3-
- 7.5 Data for serial channels................................................................................. 3-
8 Interrupts 3-
- 8.1 Programming principles................................................................................ 3-
- 8.2 Connecting interrupts to trap routines........................................................... 3-
- 8.3 Ordering interrupts........................................................................................ 3-
- 8.4 Cancelling interrupts..................................................................................... 3-
- 8.5 Enabling/disabling interrupts 3-
- 8.6 Data type of interrupts 3-
9 Error Recovery 3-
- 9.1 Programming principles 3-
- 9.2 Creating an error situation from within the program 3-
- 9.3 Restarting/returning from the error handler 3-
- 9.4 Data for error handling.................................................................................. 3-
10 System & Time................................................................................................... 3-
- 10.1 Programming principles.............................................................................. 3-
- 10.2 Using a clock to time an event.................................................................... 3-
- 10.3 Reading current time and date 3-
RAPID Reference Manual 1- Page - 11 Mathematics 3- - 11.1 Programming principles 3- - 11.2 Simple calculations on numeric data 3- - 11.3 More advanced calculations........................................................................ 3- - 11.4 Arithmetic functions 3- - 12 Spot Welding 3- - 12.1 Spot welding features.................................................................................. 3- - 12.2 Principles of SpotWare 3- - 12.3 Principles of SpotWare Plus 3- - 12.4 Programming principles 3- - 12.5 Spot welding instructions............................................................................ 3- - 12.6 Spot welding data........................................................................................ 3- - 13 Arc Welding........................................................................................................ 3- - 13.1 Programming principles 3- - 13.2 Arc welding instructions 3- - 13.3 Arc welding data 3- - 14 GlueWare............................................................................................................ 3- - 14.1 Glueing features 3- - 14.2 Programming principles 3- - 14.3 Glue instructions 3- - 14.4 Glue data 3- - 15 External Computer Communication 3- - 15.1 Programming principles 3- - 15.2 Sending a program-controlled message from the robot to a computer 3- - 16 Service Instructions 3- - 16.1 Directing a value to the robot’s test signal.................................................. 3- - 17 String Functions................................................................................................. 3- - 17.1 Basic Operations 3- - 17.2 Comparison and Searching 3- - 17.3 Conversion 3- - 18 Syntax Summary................................................................................................ 3- - 18.1 Instructions.................................................................................................. 3- - 18.2 Functions 3-
- 5 Basic Characteristics 5-
  - 1 Basic Elements...................................................................................................... 5-
- 1.1 Identifiers 5- 1-4 RAPID Reference Manual
- 1.2 Spaces and new-line characters 5-
- 1.3 Numeric values 5-
- 1.4 Logical values 5-
- 1.5 String values.................................................................................................. 5-
- 1.6 Comments 5-
- 1.7 Placeholders 5-
- 1.8 File header..................................................................................................... 5-
- 1.9 Syntax 5-
2 Modules................................................................................................................. 5-
- 2.1 Program modules 5-
- 2.2 System modules 5-
- 2.3 Module declarations...................................................................................... 5-
- 2.4 Syntax 5-
3 Routines 5-
- 3.1 Routine scope................................................................................................ 5-
- 3.2 Parameters..................................................................................................... 5-
- 3.3 Routine termination 5-
- 3.4 Routine declarations...................................................................................... 5-
- 3.5 Procedure call................................................................................................ 5-
- 3.6 Syntax 5-
4 Data Types............................................................................................................ 5-
- 4.1 Non-value data types..................................................................................... 5-
- 4.2 Equal (alias) data types 5-
- 4.3 Syntax 5-
5 Data 5-
- 5.1 Data scope..................................................................................................... 5-
- 5.2 Variable declaration 5-
- 5.3 Persistent declaration 5-
- 5.4 Constant declaration...................................................................................... 5-
- 5.5 Initiating data 5-
- 5.6 Syntax 5-
6 Instructions........................................................................................................... 5-
- 6.1 Syntax 5-
7 Expressions........................................................................................................... 5-
- 7.1 Arithmetic expressions.................................................................................. 5-
RAPID Reference Manual 1- Page - 7.2 Logical expressions....................................................................................... 5- - 7.3 String expressions 5- - 7.4 Using data in expressions.............................................................................. 5- - 7.5 Using aggregates in expressions 5- - 7.6 Using function calls in expressions............................................................... 5- - 7.7 Priority between operators 5- - 7.8 Syntax............................................................................................................ 5- - 8 Error Recovery 5- - 8.1 Error handlers................................................................................................ 5- - 9 Interrupts.............................................................................................................. 5- - 9.1 Interrupt manipulation................................................................................... 5- - 9.2 Trap routines 5- - 10 Backward execution........................................................................................... 5- - 10.1 Backward handlers 5- - 11 Multitasking 5- - 11.1 Synchronising the tasks............................................................................... 5- - 11.2 Intertask communication............................................................................. 5- - 11.3 Type of task................................................................................................. 5- - 11.4 Priorities 5- - 11.5 Task sizes 5- - 11.6 Something to think about 5-
- 6 Motion and I/O Principles 6-
  - 1 Coordinate Systems 6-
    - 1.1 The robot’s tool centre point (TCP) 6-
    - 1.2 Coordinate systems used to determine the position of the TCP 6-
    - 1.3 Coordinate systems used to determine the direction of the tool 6-
  - 2 Positioning during Program Execution 6-
    - 2.1 General 6-
    - 2.2 Interpolation of the position and orientation of the tool 6-
    - 2.3 Interpolation of corner paths 6-
    - 2.4 Independent axes........................................................................................... 6-
    - 2.5 Soft Servo...................................................................................................... 6-
    - 2.6 Path Resolution 6-
    - 2.7 Stop and restart.............................................................................................. 6-
  - 3 Synchronization with logical instructions.......................................................... 6-
    - 3.1 Sequential program execution at stop points 6-
    - 3.2 Sequential program execution at fly-by points 6- 1-6 RAPID Reference Manual
    - 3.3 Concurrent program execution 6-
    - 3.4 Path synchronization..................................................................................... 6-
- 4 Robot Configuration............................................................................................ 6- - 4.1 Robot configuration data for 6400C 6-
- 5 Singularities.......................................................................................................... 6- - 5.1 Program execution through singularities 6- - 5.2 Jogging through singularities........................................................................ 6-
- 6 I/O Principles 6- - 6.1 Signal characteristics 6- - 6.2 System signals............................................................................................... 6- - 6.3 Cross connections 6- - 6.4 Limitations 6-
7 Data Types and System Data 7- - bool - Logical values 7-bool- - clock - Time measurement 7-clock- - confdata - Robot configuration data................................................. 7-confdata- - dionum - Digital values 0 - 1 7-dionum- - errnum - Error number 7-errnum- - extjoint - Position of external joints 7-extjoint- - intnum - Interrupt identity 7-intnum- - iodev - Serial channels and files......................................................... 7-iodev- - jointtarget - Joint position data 7-jointtarget- - loaddata - Load data........................................................................... 7-loaddata- - mecunit - Mechanical unit 7-mecunit- - motsetdata - Motion settings data 7-motsetdata- - num - Numeric values (registers) 7-num- - orient - Orientation............................................................................. 7-orient- - o_robtarget - Original position data 7-o_robtarget- - o_jointtarget - Original joint position data 7-o_jointtarget- - pos - Positions (only X, Y and Z)....................................................... 7-pos- - pose - Coordinate transformations 7-pose- - progdisp - Program displacement 7-progdisp- - robjoint - Joint position of robot axes............................................... 7-robjoint- - robtarget - Position data 7-robtarget- - signalxx - Digital and analog signals 7-signalxx-
RAPID Reference Manual 1- Page - speeddata - Speed data 7-speeddata- - string - Strings..................................................................................... 7-string- - symnum - Symbolic number 7-symnum- - tooldat - Tool data............................................................................... 7-tooldata- - triggdata - Positioning events - trigg 7-triggdata- - tunedata - Servo tune type 7-tunedata- - wobjdata - Work object data 7-wobjdata- - zonedata - Zone data........................................................................... 7--zonedata- - System Data 7-System data-
- 8 Instructions 8-
  - “:=” - Assigns a value 8-:=-
  - AccSet - Reduces the acceleration 8-AccSet-
  - ActUnit - Activates a mechanical unit............................................... 8-ActUnit-
  - Add - Adds a numeric value............................................................... 8-Add-
  - Break - Break program execution..................................................... 8-Break-
  - CallByVar - Call a procedure by a variable..................................... 8-CallByVar-
  - Clear - Clears the value 8-Clear-
  - ClkReset - Resets a clock used for timing......................................... 8-ClkReset-
  - ClkStart - Starts a clock used for timing 8-ClkStart-
  - ClkStop - Stops a clock used for timing............................................ 8-ClkStop-
  - Close - Closes a file or serial channel 8-Close-
  - comment - Comment 8-comment-
  - Compact IF - If a condition is met, then... (one instruction)........... 8-Compact IF-
  - ConfJ - Controls the configuration during joint movement 8-ConfJ-
  - ConfL - Monitors the configuration during linear movement -ConfL-
  - CONNECT - Connects an interrupt to a trap routine 8-CONNECT-
  - DeactUnit - Deactivates a mechanical unit 8-DeActUnit-
  - Decr - Decrements by 1 8-Decr-
  - EOffsOff - Deactivates an offset for external axes.......................... 8-EOffsOff-
  - EOffsOn - Activates an offset for external axes 8-EOffsOn-
  - EOffsSet - Activates an offset for external axes using a value........ 8-EOffsSet-
  - ErrWrite - Write an Error Message 8-ErrWrite-
  - EXIT - Terminates program execution 8-EXIT-
  - FOR - Repeats a given number of times 8-FOR-
  - GOTO - Goes to a new instruction.................................................... 8-GOTO-
  - GripLoad - Defines the payload of the robot 8-GripLoad-
IDelete - Cancels an interrupt 8-IDelete- 1-8 RAPID Reference Manual
IDisable - Disables interrupts 8-IDisable-
IEnable - Enables interrupts 8-IEnable-
IF - If a condition is met, then ...; otherwise 8-IF-
Incr - Increments by 1 8-Incr-
IndAMove - Independent Absolute position Movement 8-IndAMove-
IndCMove - Independent Continuous Movement 8-IndCMove-
IndDMove - Independent Delta position Movement 8-IndRMove-
IndReset - Independent Reset............................................................ 8-IndReset-
IndRMove - Independent Relative position Movement 8-IndRMove-
InvertDO - Inverts the value of a digital output signal 8-InvertDO-
ISignalDI - Orders interrupts from a digital input signal 8-ISignalDI-
ISignalDO - Interrupts from a digital output signal 8-ISignalDO-
ISleep - Deactivates an interrupt....................................................... 8-ISleep-
ITimer - Orders a timed interrupt 8-ITimer-
IWatch - Activates an interrupt 8-IWatch-
label - Line name................................................................................. 8-label-
Load - Load a program module during execution........................... 8-Load-
MoveAbsJ - Moves the robot to an absolute joint position............. 8-MoveAbsJ-
MoveC - Moves the robot circularly 8-MoveC-
MoveJ - Moves the robot by joint movement................................... 8-MoveJ-
MoveL - Moves the robot linearly..................................................... 8-MoveL-
Open - Opens a file or serial channel................................................ 8-Open-
PDispOff - Deactivates program displacement................................ 8-PDispOff-
PDispOn - Activates program displacement 8-PDispOn-
PDispSet - Activates program displacement using a value............ 8-PDispSet-
ProcCall - Calls a new procedure...................................................... 8-ProcCall-
PulseDO - Generates a pulse on a digital output signal 8-PulseDO-
RAISE - Calls an error handler 8-RAISE-
Reset - Resets a digital output signal 8-Reset-
RestoPath - Restores the path after an interrupt 8-RestoPath-
RETRY - Restarts following an error............................................... 8-RETRY-
RETURN - Finishes execution of a routine 8-RETURN-
SearchC - Searches circularly using the robot................................. 8-SearchC-
SearchL - Searches linearly using the robot 8-SearchL-
Set - Sets a digital output signal 8-Set-
RAPID Reference Manual 1- Page - SetAO - Changes the value of an analog output signal 8-SetAO- - SetDO - Changes the value of a digital output signal 8-SetDO- - SetGO - Changes the value of a group of digital output signals..... 8-SetGO- - SingArea - Defines interpolation around singular points 8-SingArea- - SoftAct - Activating the soft servo..................................................... 8-SoftAct- - SoftDeact - Deactivating the soft servo 8-SoftDeAct- - StartMove - Restarts robot motion 8-StartMove- - Stop - Stops program execution......................................................... 8-Stop- - StopMove - Stops robot motion 8-StopMove- - StorePath - Stores the path when an interrupt occurs 8-StorePath- - TEST - Depending on the value of an expression 8-TEST- - TPErase - Erases text printed on the teach pendant 8-TPErase- - TPReadFK - Reads function keys 8-TPReadFK- - TPReadNum - Reads a number from the teach pendant................ 8-TPReadNum- - TPWrite - Writes on the teach pendant............................................ 8-TPWrite- - TriggC - Circular robot movement with events............................... 8-TriggC- - TriggEquip - Defines a fixed position-time I/O event...................... 8-TriggEquip- - TriggInt - Defines a position related interrupt 8-TriggInt- - TriggIO - Defines a fixed position I/O event 8-TriggIO- - TriggJ - Axis-wise robot movements with events 8-TriggJ- - TriggL - Linear robot movements with events 8-TriggL- - TRYNEXT - Jumps over an instruction which has caused an error8-TRYNEXT- - TuneReset - Resetting servo tuning................................................... 8-TuneServo- - TuneServo - Tuning servos 8-TuneServo- - UnLoad - UnLoad a program module during execution................. 8-UnLoad- - VelSet - Changes the programmed velocity 8-VelSet- - WaitDI - Waits until a digital input signal is set.............................. 8-WaitDI- - WaitDO - Waits until a digital output signal is set 8-WaitDO- - WaitTime - Waits a given amount of time........................................ 8-WaitTime- - WaitUntil - Waits until a condition is met........................................ 8-WaitUntil- - WHILE - Repeats as long as 8-WHILE- - Write - Writes to a character-based file or serial channel.............. 8-Write- - WriteBin - Writes to a binary serial channel 8-WriteBin-
- 9 Functions 9-
  - Abs - Gets the absolute value 9-Abs-
  - ACos - Calculates the arc cosine value.............................................. 9-ACos-
ASin - Calculates the arc sine value 9-ASin- 1-10 RAPID Reference Manual
ATan - Calculates the arc tangent value 9-ATan-
ATan2 - Calculates the arc tangent2 value 9-ATan2-
CDate - Reads the current date as a string 9-CDate-
CJointT - Reads the current joint angles 9-CJointT-
ClkRead - Reads a clock used for timing 9-ClkRead-
Cos - Calculates the cosine value....................................................... 9--Cos-
CPos - Reads the current position (pos) data................................... 9-CPos-
CRobT - Reads the current position (robtarget) data..................... 9-CRobT-
CTime - Reads the current time as a string 9-CTime-
CTool - Reads the current tool data.................................................. 9-CTool-
CWObj - Reads the current work object data................................. 9-CWobj-
DefDFrame - Define a displacement frame 9-DefDFrame-
DefFrame - Define a frame 9-DefFrame-
Dim - Gets the size of an array 9-Dim-
DOutput - Reads the value of a digital output signal 9-DOutput-
EulerZYX - Gets Euler angles from orient 9-EulerZYX-
Exp - Calculates the exponential value 9-Exp-
GetTime - Reads the current time as a numeric value.................... 9-GetTime-
GOutput - Reads the value of a group of digital output signals..... 9-GOutput-
IndInpos - Independent In position status 9-IndInpos-
IndSpeed - Independent Speed status............................................... 9-IndSpeed-
IsPers - Is Persistent 9-IsPers-
IsVar - Is Variable 9-IsVar-
MirPos - Mirroring of a position....................................................... 9-MirPos-
NumToStr - Converts numeric value to string 9-NumToStr-
Offs - Displaces a robot position........................................................ 9-Offs-
OpMode - Read the operating mode................................................. 9-OpMode-
OrientZYX - Builds an orient from Euler angles 9-OrientZYX-
ORobT - Removes a program displacement from a position 9-ORobT-
PoseInv - Inverts the pose 9-PoseInv-
PoseMult - Multiplies pose data 9-PoseMult-
PoseVect - Applies a transformation to a vector 9-PoseVect-
Pow - Calculates the power of a value 9-Pow-
Present - Tests if an optional parameter is used 9-Present-
ReadBin - Reads from a binary serial channel 9-ReadBin-
RAPID Reference Manual 1- Page - ReadMotor - Reads the current motor angles.................................. 9-ReadMotor- - ReadNum - Reads a number from a file or the serial channel 9-ReadNum- - ReadStr - Reads a string from a file or serial channel 9-ReadStr- - RelTool - Make a displacement relative to the tool 9-RelTool- - Round - Round is a numeric value.................................................... 9-Round- - RunMode - Read the running mode.................................................. 9-RunMode- - Sin - Calculates the sine value............................................................ 9-Sin- - Sqrt - Calculates the square root value............................................. 9-Sqrt- - StrFind - Searches for a character in a string.................................. 9-StrFind- - StrLen - Gets the string length 9-StrLen- - StrMap - Maps a string 9-StrMap- - StrMatch - Search for pattern in string............................................ 9-StrMatch- - StrMemb - Checks if a character belongs to a set 9-StrMemb- - StrOrder - Checks if strings are ordered.......................................... 9-StrOrder- - StrPart - Finds a part of a string 9-StrPart- - StrToVal - Converts a string to a value 9-StrToVal- - Tan - Calculates the tangent value 9-Tan- - TestDI - Tests if a digital input is set................................................. 9-TestDI- - Trunc - Truncates a numeric value................................................... 9-Trunc- - ValToStr - Converts a value to a string 9-ValToStr-
- 10 Predefined Data and Programs 10-
  - 1 System Module User 10- - 1.1 Contents 10- - 1.2 Creating new data in this module.................................................................. 10- - 1.3 Deleting this data 10-
- 11 Programming Off-line........................................................................... 11-
  - 1 Programming Off-line 11- - 1.1 File format..................................................................................................... 11- - 1.2 Editing........................................................................................................... 11- - 1.3 Syntax check 11- - 1.4 Examples 11- - 1.5 Making your own instructions 11-
- 13 ArcWare 13- - seamdata - Seam data 13-seamdata- - weavedata - Weave data 13-weavedata-
  - welddata - Weld data.......................................................................... 13-welddata- 1-12 RAPID Reference Manual
  - ArcC - Arc welding with circular motion......................................... 13-ArcC-
  - ArcL - Arc welding with linear motion 13-ArcL-
14 SpotWare 14- - gundata - Spot weld gun data 14-gundata- - spotdata - Spot weld data 14-spotdata- - SpotL - Spot Welding with motion.................................................... 14-SpotL- - System Module SWUSER 14-SWUSER- - System Module SWUSRC.................................................................. 14-SWUSRC- - System Module SWTOOL 14-SWTOOL-
15 GlueWare................................................................................................ 15- - ggundata - Gluing gun data 15-ggundata- - GlueC - Gluing with circular motion................................................ 15-GlueC- - GlueL - Gluing with linear motion.................................................... 15-GlueL- - System Module GLUSER 15-GLUSER-
18 Quick Reference..................................................................................... 18-
- 1 The Jogging Window........................................................................................... 18- - 1.1 Window: Jogging 18-
- 2 The Inputs/Outputs Window 18- - 2.1 Window: Inputs/Outputs............................................................................... 18-
- 3 The Program Window......................................................................................... 18- - 3.1 Moving between different parts of the program 18- - 3.2 General menus 18- - 3.3 Window: Program Instr................................................................................. 18- - 3.4 Window: Program Routines.......................................................................... 18- - 3.5 Window: Program Data 18- - 3.6 Window: Program Data Types...................................................................... 18- - 3.7 Window: Program Test 18- - 3.8 Window: Program Modules.......................................................................... 18-
- 4 The Production Window 18- - 4.1 Window: Production 18-
- 5 The FileManager.................................................................................................. 18- - 5.1 Window: FileManager 18-
RAPID Reference Manual 1- Page - 6 The Service Window............................................................................................ 18- - 6.1 General menus............................................................................................... 18- - 6.2 Window Service Log 18- - 6.3 Window Service Calibration......................................................................... 18- - 6.4 Window Service Commutation..................................................................... 18- - 7 The System Parameters....................................................................................... 18- - 7.1 Window: System Parameters 18-
- 20 Index, Glossary 20- 19 Special Functionality in this Robot
RAPID Reference Manual 20-
- Abs 9-Abs- A
- absolute value 9-Abs-
- acceleration reduction 8-AccSet-
- AccSet 8-AccSet-
- ACos 9-ACos-
- ActUnit 8-ActUnit-
- Add 8-Add-
- aggregate 5-
- alias data type 5-
  - set 8-SetAO- analog output
- AND 5-
- arc welding 13-ArcC-1, 13-ArcL-
- ArcC 13-ArcC-
- ArcL 13-ArcL-
- arcus cosine 9-ACos-
- arcus sine 9-ASin-
- arcus tangent 9-ATan-1, 9-ATan2-
  - conditional 5- argument
- arithmetic 8-:=-
- arithmetic expression 5-
- array 5-21, 5-
  - get size 9-Dim-
- ASin 9-ASin-
- assigning a value to data 3-
- assignment 8-:=-
- ATan 9-ATan-
- ATan2 9-ATan2-
- axis configuration 6-
- backward execution 5- B
- Backward Handler 11- - 42, 5- backward handler 5-13, 5-37, 5-39, 5-41, 5-
- base coordinate system 6-
- bool 7-bool-
- Break 8-Break-
- C_MOTSET 7-System data- C
- C_PROGDISP 7-System data-
- call 8-ProcCall- - CallByVar 8-CallByVar- - calling a subroutine 3- - CDate 9-CDate- - circular movement 6-15, 8-MoveC- - CJointT 9-CJointT- - Clear 8-Clear- - ClkRead 9-ClkRead- - ClkReset 8-ClkReset- - ClkStart 8-ClkStart- - ClkStop 8-ClkStop- - clock 7-clock- - read 9-ClkRead- - reset 8-ClkReset- - start 8-ClkStart- - stop 8-ClkStop- - Close 8-Close- - comment 3-8, 5-5, 8-comment- - nit- common drive unit 8-ActUnit-1, 8-DeActU- - communication 3- - communication instructions 3- - Compact IF 8-Compact IF- - component of a record 5- - concurrent execution 6- - condition 8-IF- - conditional argument 5- - confdata 7-confdata- - configuration check instructions 3- - ConfJ 8-ConfJ- - ConfL -ConfL- - CONNECT 8-CONNECT- - CONST 5- - constant 5- - coordinate system 6- - coordinated external axes 6- - corner path 6-16, 7--zonedata- - Cos 9--Cos- - countinuously movement 8-IndCMove- - CPos 9-CPos- - crater-filling 13-seamdata- - CRobT 9-CRobT- - cross connections 6- - CTime 9-CTime- - CTool 9-CTool- - CWobj 9-CWobj-
data 5- D
- used in expression 5-
data type 5-
date 9-CDate-
DeactUnit 8-DeActUnit-
- constant 5- declaration
- module 5-
- persistent 5-
- routine 5-
- variable 5-
Decr 8-Decr-
decrease velocity 8-VelSet-
decrement 8-Decr-
DefDFrame 9-DefDFrame-
DefFrame 9-DefFrame-
digital output 9-DOutput-
- pulse 8-PulseDO-
- reset 8-Reset-
- set 8-Set-1, 8-SetDO-
Dim 9-Dim-
dionum 7-dionum-
- position 9-Offs- displace
- tool direction 9-RelTool- displacement
  - DefFrame- displacement frame 6-6, 9-DefDFrame-1, 9-
displacement instructions 3-
DIV 5-
DOutput 9-DOutput-
end phase 13-seamdata- E
EOffsOff 8-EOffsOff-
EOffsOn 8-EOffsOn-
EOffsSet 8-EOffsSet-
equal data type 5-
erase teach pendant display 8-TPErase-
ERRNO 5-33, 7-System data-
errnum 7-errnum-
error handler 5-
error number 5-
error recovery 5-
- retry 8-RETRY-1, 8-TRYNEXT-
ErrWrite 8-ErrWrite- - EulerZYX 9-EulerZYX- - EXIT 8-EXIT- - Exp 9-Exp- - exponential value 9-Exp-1, 9-Pow- - expression 5- - activate 8-ActUnit- external axes - coordinated 6- - deactivate 8-DeActUnit- - extjoint 7-extjoint- - close 8-Close- file - load 8-Load- - open 8-Open- - ReadStr- read 9-ReadBin-1, 9-ReadNum-1, 9- - unload 8-UnLoad- - write 8-Write-1, 8-WriteBin- - file header 5- - file instructions 3- - fine 7--zonedata- - fly-by point 7--zonedata- - FOR 8-FOR- - frame 9-DefFrame- - function 5- - function call 5- - GetTime 9-GetTime- G - ggundata 15-ggundata- - data 5- global - routine 5- - GlueC 15-GlueC- - GlueL 15-GlueL- - GlueWare 3- - gluing 15-GlueC-1, 15-GlueL- - gluing gun data 15-ggundata- - GLUSER 15-GLUSER- - GOTO 8-GOTO- - GOutput 9-GOutput- - GripLoad 8-GripLoad- - group of I/O 8-SetGO-1, 9-GOutput- - gundata 14-gundata-
RAPID Reference Manual 20-
- heat 13-seamdata- H
- I/O principles 6- I
- I/O synchronisation 6-
- IDelete 8-IDelete-
- identifier 5-
- IDisable 8-IDisable-
- IEnable 8-IEnable-
- IF 8-Compact IF-1, 8-IF-
- ignition 13-seamdata-
- Incr 8-Incr-
- increment 8-Incr-
- IndAMove 8-IndAMove-
- IndCMove 8-IndCMove-
- IndDMove 8-IndRMove- - Speed- independent inpos 9-IndInpos-1, 9-Ind- - CMove-1, 8-IndRMove- independent motion 8-IndAMove-1, 8-Ind-
- IndInpos 9-IndInpos-1, 9-IndSpeed-
- IndReset 8-IndReset-
- IndRMove 8-IndRMove-
- IndSpeed 9-IndSpeed-
- input instructions 3-
- interpolation 6-
- interrupt 3-23, 5-
  - activate 8-IWatch-
  - at a position 8-TriggInt-
  - connect 8-CONNECT-
  - deactivate 8-ISleep-
  - delete 8-IDelete-
  - disable 8-IDisable-
  - enable 8-IEnable-
  - from digital input 8-ISignalDI-
  - identity 7-intnum-
  - timed 8-ITimer-
- INTNO 7-System data-
- intnum 7-intnum-
- InvertDO 8-InvertDO-
- iodev 7-iodev-
- ISignalDI 8-ISignalDI-
- ISignalDO 8-ISignalDO-
- ISleep 8-ISleep-
- IsPers 9-IsPers-
- IsVar 9-IsVar- - ITimer 8-ITimer- - IWatch 8-IWatch- - joint movement 6-13, 8-MoveJ- J - jump 8-GOTO- - label 8-label- L - linear movement 6-14, 8-MoveL- - Load 8-Load- - activate payload 8-GripLoad- load - loaddata 7-loaddata- - data 5- local - routine 5- - logical expression 5- - logical value 5-4, 7-bool- - main routine 5- M - mathematical instructions 3-28, 3- - maximum velocity 8-VelSet- - mechanical unit 7-mecunit- - activate 8-ActUnit- - deactivate 8-DeActUnit- - mecunit 7-mecunit- - MirPos 9-MirPos- - mirroring 9-MirPos- - MOD 5- - modified linear interpolation 6- - module 5- - declaration 5- - motion instructions 3- - motion settings instructions 3- - motsetdata 7-motsetdata- - MoveAbsJ 8-MoveAbsJ- - MoveC 8-MoveC- - MoveJ 8-MoveJ- - MoveL 8-MoveL- - circle 8-MoveC- movement - joint 8-MoveJ- - linear 8-MoveL- - mulittasking 5-
non value data type 5- N
NOT 5-
num 7-num-
numeric value 5-4, 7-num-
NumToStr 9-NumToStr-
o_jointtarget 7-o_jointtarget- O
object coordinate system 6-5, 7-wobjdata-
offline programming 11-
Offs 9-Offs-
offset 9-Offs-
- file 8-Open- Open
- serial channel 8-Open-
- read 9-OpMode- operating mode
- priority 5- operator
OpMode 9-OpMode-
optional parameter 5-
OR 5-
orient 7-orient-
OrientZYX 9-OrientZYX-
ORobT 9-ORobT-
- at a position 8-TriggIO- output
output instructions 3-
parameter 5- P
path synchronization 6-
payload 7-loaddata-
- activate 8-GripLoad-
PDispOff 8-PDispOff-
PDispOn 8-PDispOn-
PERS 5-
persistent 5-
placeholder 5-
pos 7-pos-
pose 7-pose-
PoseInv 9-PoseInv-
PoseMult 9-PoseMult-
- instruction 3- position
position fix I/O 6-30, 8-TriggIO- - Pow 9-Pow- - Present 9-Present- - ProcCall 8-ProcCall- - procedure 5- - procedure call 8-CallByVar-1, 8-ProcCall- - program 5- - program data 5- - program displacement 3- - activate 8-PDispOn- - deactivate 8-PDispOff- - remove from position 9-ORobT- - program flow instructions 3- - program module 5- - programming 11- - PulseDO 8-PulseDO- - quaternion 7-orient- Q - RAISE 8-RAISE- R - clock 9-ClkRead- read - current date 9-CDate- - current joint angles 9-CJointT- - current robot position 9-CRobT- - current time 9-CTime-1, 9-GetTime- - current tool data 9-CTool- - current work object 9-CWobj- - digital output 9-DOutput- - ReadStr- file 9-ReadBin-1, 9-ReadNum-1, 9- - function key 8-TPReadFK- - group of outputs 9-GOutput- - Num-1, 9-ReadStr- serial channel 9-ReadBin-1, 9-Read- - ReadBin 9-ReadBin- - ReadMotor 9-ReadMotor- - ReadNum 9-ReadNum- - ReadStr 9-ReadStr- - record 5- - RunMode- Mode-1, 9-Pow-1, 9-RelTool-1, 9- - repeat 8-FOR-1, 8-WHILE- - reserved words 5- - Reset 8-Reset-