3HAC16581-001_revJ_en

ABB Robotics

Technical reference manual

RAPID Instructions, Functions and Data types

Technical reference manual

RAPID Instructions, Functions and Data types

RobotWare 5.13

Document ID: 3HAC 16581-1

Revision: J

The information in this manual is subject to change without notice and should not be

construed as a commitment by ABB. ABB assumes no responsibility for any errors that

may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to persons

or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written

permission, and contents thereof must not be imparted to a third party nor be used for

any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

ABB AB

Robotics Products

SE-721 68 Västerås

Sweden

Table of Contents

33HAC 16581-1 Revision: J

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1 Instructions 15

1.1 AccSet - Reduces the acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.2 ActUnit - Activates a mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.3 Add - Adds a numeric value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.4 AliasIO - Define I/O signal with alias name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.5 ":=" - Assigns a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

1.6 BitClear - Clear a specified bit in a byte data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.7 BitSet - Set a specified bit in a byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.8 BookErrNo - Book a RAPID system error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

1.9 Break - Break program execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

1.10 CallByVar - Call a procedure by a variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

1.11 CancelLoad - Cancel loading of a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

1.12 CheckProgRef - Check program references. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.13 CirPathMode - Tool reorientation during circle path. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1.14 Clear - Clears the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

1.15 ClearIOBuff - Clear input buffer of a serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

1.16 ClearPath - Clear current path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

1.17 ClearRawBytes - Clear the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

1.18 ClkReset - Resets a clock used for timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

1.19 ClkStart - Starts a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

1.20 ClkStop - Stops a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

1.21 Close - Closes a file or serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

1.22 CloseDir - Close a directory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

1.23 Comment - Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

1.24 Compact IF - If a condition is met, then... (one instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

1.25 ConfJ - Controls the configuration during joint movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

1.26 ConfL - Monitors the configuration during linear movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

1.27 CONNECT - Connects an interrupt to a trap routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

1.28 CopyFile - Copy a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

1.29 CopyRawBytes - Copy the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

1.30 CorrClear - Removes all correction generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

1.31 CorrCon - Connects to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

1.32 CorrDiscon - Disconnects from a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

1.33 CorrWrite - Writes to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

1.34 DeactUnit - Deactivates a mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

1.35 Decr - Decrements by 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

1.36 DitherAct - Enables dither for soft servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

1.37 DitherDeact - Disables dither for soft servo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

1.38 DropWObj - Drop work object on conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

1.39 EOffsOff - Deactivates an offset for external axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

1.40 EOffsOn - Activates an offset for external axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

1.41 EOffsSet - Activates an offset for external axes using known values . . . . . . . . . . . . . . . . . . . . . . . . . . 90

1.42 EraseModule - Erase a module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

1.43 ErrLog - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

1.44 ErrRaise - Writes a warning and calls an error handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

1.45 ErrWrite - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

1.46 EXIT - Terminates program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

1.47 ExitCycle - Break current cycle and start next. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

1.48 FOR - Repeats a given number of times. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

1.49 GetDataVal - Get the value of a data object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

1.50 GetSysData - Get system data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

1.51 GetTrapData - Get interrupt data for current TRAP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . 115

1.52 GOTO - Goes to a new instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Table of Contents

4 3HAC 16581-1 Revision: J

1.53 GripLoad - Defines the payload for the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

1.54 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403. . . . . . . . . . . . . . . . . . . . . . . . . . 121

1.55 IDelete - Cancels an interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

1.56 IDisable - Disables interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

1.57 IEnable - Enables interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

1.58 IError - Orders an interrupt on errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

1.59 IF - If a condition is met, then ...; otherwise ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

1.60 Incr - Increments by 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

1.61 IndAMove - Independent absolute position movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

1.62 IndCMove - Independent continuous movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

1.63 IndDMove - Independent delta position movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

1.64 IndReset - Independent reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

1.65 IndRMove - Independent relative position movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

1.66 InvertDO - Inverts the value of a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

1.67 IOBusStart - Start of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

1.68 IOBusState - Get current state of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

1.69 IODisable - Disable I/O unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

1.70 IOEnable - Enable I/O unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

1.71 IPers - Interrupt at value change of a persistent variable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

1.72 IRMQMessage - Orders RMQ interrupts for a data type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

1.73 ISignalAI - Interrupts from analog input signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

1.74 ISignalAO - Interrupts from analog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

1.75 ISignalDI - Orders interrupts from a digital input signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

1.76 ISignalDO - Interrupts from a digital output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

1.77 ISignalGI - Orders interrupts from a group of digital input signals. . . . . . . . . . . . . . . . . . . . . . . . . . . 192

1.78 ISignalGO - Orders interrupts from a group of digital output signals . . . . . . . . . . . . . . . . . . . . . . . . . 195

1.79 ISleep - Deactivates an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

1.80 ITimer - Orders a timed interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

1.81 IVarValue - orders a variable value interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

1.82 IWatch - Activates an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

1.83 Label - Line name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

1.84 Load - Load a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

1.85 LoadId - Load identification of tool or payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

1.86 MakeDir - Create a new directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

1.87 ManLoadIdProc - Load identification of IRBP manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

1.88 MechUnitLoad - Defines a payload for a mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

1.89 MotionSup - Deactivates/Activates motion supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

1.90 MoveAbsJ - Moves the robot to an absolute joint position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

1.91 MoveC - Moves the robot circularly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

1.92 MoveCDO - Moves the robot circularly and sets digital output in the corner. . . . . . . . . . . . . . . . . . . 242

1.93 MoveCSync - Moves the robot circularly and executes a RAPID procedure . . . . . . . . . . . . . . . . . . . 246

1.94 MoveExtJ - Move one or several mechanical units without TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

1.95 MoveJ - Moves the robot by joint movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

1.96 MoveJDO - Moves the robot by joint movement and sets digital output in the corner. . . . . . . . . . . . 257

1.97 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure . . . . . . . . . . . . 260

1.98 MoveL - Moves the robot linearly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

1.99 MoveLDO - Moves the robot linearly and sets digital output in the corner . . . . . . . . . . . . . . . . . . . . 268

1.100 MoveLSync - Moves the robot linearly and executes a RAPID procedure. . . . . . . . . . . . . . . . . . . . 271

1.101 MToolRotCalib - Calibration of rotation for moving tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

1.102 MToolTCPCalib - Calibration of TCP for moving tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278

1.103 Open - Opens a file or serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

1.104 OpenDir - Open a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

1.105 PackDNHeader - Pack DeviceNet Header into rawbytes data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

1.106 PackRawBytes - Pack data into rawbytes data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290

1.107 PathAccLim - Reduce TCP acceleration along the path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

Table of Contents

53HAC 16581-1 Revision: J

1.108 PathRecMoveBwd - Move path recorder backwards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

1.109 PathRecMoveFwd - Move path recorder forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

1.110 PathRecStart - Start the path recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

1.111 PathRecStop - Stop the path recorder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

1.112 PathResol - Override path resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

1.113 PDispOff - Deactivates program displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

1.114 PDispOn - Activates program displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

1.115 PDispSet - Activates program displacement using known frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

1.116 ProcCall - Calls a new procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

1.117 ProcerrRecovery - Generate and recover from process-move error. . . . . . . . . . . . . . . . . . . . . . . . . . 325

1.118 PulseDO - Generates a pulse on a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .331

1.119 RAISE - Calls an error handler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

1.120 RaiseToUser - Propagates an error to user level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

1.121 ReadAnyBin - Read data from a binary serial channel or file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

1.122 ReadBlock - read a block of data from device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

1.123 ReadCfgData - Reads attribute of a system parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345

1.124 ReadErrData - Gets information about an error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

1.125 ReadRawBytes - Read rawbytes data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

1.126 RemoveDir - Delete a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

1.127 RemoveFile - Delete a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

1.128 RenameFile - Rename a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

1.129 Reset - Resets a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

1.130 ResetPPMoved - Reset state for the program pointer moved in manual mode . . . . . . . . . . . . . . . . . 360

1.131 ResetRetryCount - Reset the number of retries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

1.132 RestoPath - Restores the path after an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362

1.133 RETRY - Resume execution after an error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

1.134 RETURN - Finishes execution of a routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

1.135 Rewind - Rewind file position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

1.136 RMQEmptyQueue - Empty RAPID Message Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

1.137 RMQFindSlot - Find a slot identity from the slot name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371

1.138 RMQGetMessage - Get an RMQ message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373

1.139 RMQGetMsgData - Get the data part from an RMQ message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

1.140 RMQGetMsgHeader - Get header information from an RMQ message . . . . . . . . . . . . . . . . . . . . . . 380

1.141 RMQReadWait - Returns message from RMQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

1.142 RMQSendMessage - Send an RMQ data message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

1.143 RMQSendWait - Send an RMQ data message and wait for a response. . . . . . . . . . . . . . . . . . . . . . . 390

1.144 Save - Save a program module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

1.145 SCWrite - Send variable data to a client application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

1.146 SearchC - Searches circularly using the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402

1.147 SearchExtJ - Search with one or several mechanical units without TCP. . . . . . . . . . . . . . . . . . . . . . 410

1.148 SearchL - Searches linearly using the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

1.149 SenDevice - connect to a sensor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

1.150 Set - Sets a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

1.151 SetAllDataVal - Set a value to all data objects in a defined set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

1.152 SetAO - Changes the value of an analog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .431

1.153 SetDataSearch - Define the symbol set in a search sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

1.154 SetDataVal - Set the value of a data object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

1.155 SetDO - Changes the value of a digital output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

1.156 SetGO - Changes the value of a group of digital output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

1.157 SetSysData - Set system data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

1.158 SingArea - Defines interpolation around singular points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447

1.159 SkipWarn - Skip the latest warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

1.160 SocketAccept - Accept an incoming connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

1.161 SocketBind - Bind a socket to my IP-address and port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453

1.162 SocketClose - Close a socket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

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1.163 SocketConnect - Connect to a remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

1.164 SocketCreate - Create a new socket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

1.165 SocketListen - Listen for incoming connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

1.166 SocketReceive - Receive data from remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

1.167 SocketSend - Send data to remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469

1.168 SoftAct - Activating the soft servo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

1.169 SoftDeact - Deactivating the soft servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

1.170 SpeedRefresh - Update speed override for ongoing movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476

1.171 SpyStart - Start recording of execution time data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

1.172 SpyStop - Stop recording of time execution data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

1.173 StartLoad - Load a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

1.174 StartMove - Restarts robot movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

1.175 StartMoveRetry - Restarts robot movement and execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

1.176 STCalib - Calibrate a Servo Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

1.177 STClose - Close a Servo Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

1.178 StepBwdPath - Move backwards one step on path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

1.179 STIndGun - Sets the gun in independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

1.180 STIndGunReset - Resets the gun from independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

1.181 SToolRotCalib - Calibration of TCP and rotation for stationary tool . . . . . . . . . . . . . . . . . . . . . . . . 504

1.182 SToolTCPCalib - Calibration of TCP for stationary tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

1.183 Stop - Stops program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

1.184 STOpen - Open a Servo Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

1.185 StopMove - Stops robot movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

1.186 StopMoveReset - Reset the system stop move state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

1.187 StorePath - Stores the path when an interrupt occurs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

1.188 STTune - Tuning Servo Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523

1.189 STTuneReset - Resetting Servo tool tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

1.190 SyncMoveOff - End coordinated synchronized movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

1.191 SyncMoveOn - Start coordinated synchronized movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

1.192 SyncMoveResume - Set synchronized coordinated movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

1.193 SyncMoveSuspend - Set independent-semicoordinated movements. . . . . . . . . . . . . . . . . . . . . . . . . 543

1.194 SyncMoveUndo - Set independent movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

1.195 SystemStopAction - Stop the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

1.196 TEST - Depending on the value of an expression ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

1.197 TestSignDefine - Define test signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551

1.198 TestSignReset - Reset all test signal definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

1.199 TextTabInstall - Installing a text table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554

1.200 TPErase - Erases text printed on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

1.201 TPReadDnum - Reads a number from the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

1.202 TPReadFK - Reads function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

1.203 TPReadNum - Reads a number from the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564

1.204 TPShow - Switch window on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567

1.205 TPWrite - Writes on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568

1.206 TriggC - Circular robot movement with events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

1.207 TriggCheckIO - Defines IO check at a fixed position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

1.208 TriggEquip - Define a fixed position and time I/O event on the path . . . . . . . . . . . . . . . . . . . . . . . . 582

1.209 TriggInt - Defines a position related interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

1.210 TriggIO - Define a fixed position or time I/O event near a stop point. . . . . . . . . . . . . . . . . . . . . . . . 592

1.211 TriggJ - Axis-wise robot movements with events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

1.212 TriggL - Linear robot movements with events. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

1.213 TriggLIOs - Linear robot movements with I/O events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

1.214 TriggRampAO - Define a fixed position ramp AO event on the path . . . . . . . . . . . . . . . . . . . . . . . . 616

1.215 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event. 622

1.216 TriggStopProc - Generate restart data for trigg signals at stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

1.217 TryInt - Test if data object is a valid integer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634

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1.218 TRYNEXT - Jumps over an instruction which has caused an error . . . . . . . . . . . . . . . . . . . . . . . . . 636

1.219 TuneReset - Resetting servo tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

1.220 TuneServo - Tuning servos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638

1.221 UIMsgBox - User Message Dialog Box type basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644

1.222 UIShow - User Interface show . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651

1.223 UnLoad - UnLoad a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655

1.224 UnpackRawBytes - Unpack data from rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

1.225 VelSet - Changes the programmed velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662

1.226 WaitAI - Waits until an analog input signal value is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664

1.227 WaitAO - Waits until an analog output signal value is set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .667

1.228 WaitDI - Waits until a digital input signal is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

1.229 WaitDO - Waits until a digital output signal is set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

1.230 WaitGI - Waits until a group of digital input signals are set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .674

1.231 WaitGO - Waits until a group of digital output signals are set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678

1.232 WaitLoad - Connect the loaded module to the task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682

1.233 WaitRob - Wait until stop point or zero speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

1.234 WaitSyncTask - Wait at synchronization point for other program tasks . . . . . . . . . . . . . . . . . . . . . . 688

1.235 WaitTestAndSet - Wait until variable unset - then set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692

1.236 WaitTime - Waits a given amount of time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

1.237 WaitUntil - Waits until a condition is met . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697

1.238 WaitWObj - Wait for work object on conveyor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701

1.239 WarmStart - Restart the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704

1.240 WHILE - Repeats as long as .... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705

1.241 WorldAccLim - Control acceleration in world coordinate system. . . . . . . . . . . . . . . . . . . . . . . . . . . 707

1.242 Write - Writes to a character-based file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709

1.243 WriteAnyBin - Writes data to a binary serial channel or file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713

1.244 WriteBin - Writes to a binary serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 716

1.245 WriteBlock - write block of data to device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719

1.246 WriteCfgData - Writes attribute of a system parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .721

1.247 WriteRawBytes - Write rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725

1.248 WriteStrBin - Writes a string to a binary serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

1.249 WriteVar - write variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729

1.250 WZBoxDef - Define a box-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .732

1.251 WZCylDef - Define a cylinder-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .734

1.252 WZDisable - Deactivate temporary world zone supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736

1.253 WZDOSet - Activate world zone to set digital output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .738

1.254 WZEnable - Activate temporary world zone supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742

1.255 WZFree - Erase temporary world zone supervision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .744

1.256 WZHomeJointDef - Define a world zone for home joints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 746

1.257 WZLimJointDef - Define a world zone for limitation in joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749

1.258 WZLimSup - Activate world zone limit supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753

1.259 WZSphDef - Define a sphere-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .756

2 Functions 759

2.1 Abs - Gets the absolute value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 759

2.2 ACos - Calculates the arc cosine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761

2.3 AOutput - Reads the value of an analog output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 762

2.4 ArgName - Gets argument name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764

2.5 ASin - Calculates the arc sine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

2.6 ATan - Calculates the arc tangent value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

2.7 ATan2 - Calculates the arc tangent2 value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769

2.8 BitAnd - Logical bitwise AND - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .770

2.9 BitCheck - Check if a specified bit in a byte data is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772

2.10 BitLSh - Logical bitwise LEFT SHIFT - operation on byte. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774

2.11 BitNeg - Logical bitwise NEGATION - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

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2.12 BitOr - Logical bitwise OR - operation on byte data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778

2.13 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780

2.14 BitXOr - Logical bitwise XOR - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782

2.15 ByteToStr - Converts a byte to a string data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784

2.16 CalcJointT - Calculates joint angles from robtarget. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786

2.17 CalcRobT - Calculates robtarget from jointtarget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789

2.18 CalcRotAxFrameZ - Calculate a rotational axis frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 791

2.19 CalcRotAxisFrame - Calculate a rotational axis frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 795

2.20 CDate - Reads the current date as a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 799

2.21 CJointT - Reads the current joint angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 800

2.22 ClkRead - Reads a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 802

2.23 CorrRead - Reads the current total offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803

2.24 Cos - Calculates the cosine value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 804

2.25 CPos - Reads the current position (pos) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 805

2.26 CRobT - Reads the current position (robtarget) data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 807

2.27 CSpeedOverride - Reads the current override speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 810

2.28 CTime - Reads the current time as a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812

2.29 CTool - Reads the current tool data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813

2.30 CWObj - Reads the current work object data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 814

2.31 DecToHex - Convert from decimal to hexadecimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815

2.32 DefAccFrame - Define an accurate frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 816

2.33 DefDFrame - Define a displacement frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 819

2.34 DefFrame - Define a frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822

2.35 Dim - Obtains the size of an array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 825

2.36 Distance - Distance between two points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827

2.37 DnumToNum - Converts dnum to num . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 829

2.38 DotProd - Dot product of two pos vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831

2.39 DOutput - Reads the value of a digital output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833

2.40 EulerZYX - Gets euler angles from orient. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835

2.41 EventType - Get current event type inside any event routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837

2.42 ExecHandler - Get type of execution handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839

2.43 ExecLevel - Get execution level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 840

2.44 Exp - Calculates the exponential value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841

2.45 FileSize - Retrieve the size of a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 842

2.46 FileTime - Retrieve time information about a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845

2.47 FSSize - Retrieve the size of a file system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 848

2.48 GetMecUnitName - Get the name of the mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851

2.49 GetNextMechUnit - Get name and data for mechanical units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852

2.50 GetNextSym - Get next matching symbol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855

2.51 GetSysInfo - Get information about the system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 857

2.52 GetTaskName - Gets the name and number of current task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 860

2.53 GetTime - Reads the current time as a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 862

2.54 GInputDnum - Read value of group input signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 864

2.55 GOutput - Reads the value of a group of digital output signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 866

2.56 GOutputDnum - Read value of group output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 868

2.57 HexToDec - Convert from hexadecimal to decimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870

2.58 IndInpos - Independent axis in position status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 871

2.59 IndSpeed - Independent speed status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 873

2.60 IOUnitState - Get current state of I/O unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 875

2.61 IsFile - Check the type of a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 878

2.62 IsMechUnitActive - Is mechanical unit active. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 882

2.63 IsPers - Is persistent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883

2.64 IsStopMoveAct - Is stop move flags active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 884

2.65 IsStopStateEvent - Test whether moved program pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.66 IsSyncMoveOn - Test if in synchronized movement mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888

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2.67 IsSysId - Test system identity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890

2.68 IsVar - Is variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891

2.69 MaxRobSpeed - Maximum robot speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 892

2.70 MirPos - Mirroring of a position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 893

2.71 ModExist - Check if program module exist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895

2.72 ModTime - Get file modify time for the loaded module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 896

2.73 MotionPlannerNo - Get connected motion planner number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898

2.74 NonMotionMode - Read the Non-Motion execution mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 900

2.75 NOrient - Normalize orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 901

2.76 NumToDnum - Converts num to dnum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903

2.77 NumToStr - Converts numeric value to string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 904

2.78 Offs - Displaces a robot position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 906

2.79 OpMode - Read the operating mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908

2.80 OrientZYX - Builds an orient from euler angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 909

2.81 ORobT - Removes the program displacement from a position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911

2.82 ParIdPosValid - Valid robot position for parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 913

2.83 ParIdRobValid - Valid robot type for parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 916

2.84 PathLevel - Get current path level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 919

2.85 PathRecValidBwd - Is there a valid backward path recorded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 921

2.86 PathRecValidFwd - Is there a valid forward path recorded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 924

2.87 PFRestart - Check interrupted path after power failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 928

2.88 PoseInv - Inverts pose data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 929

2.89 PoseMult - Multiplies pose data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931

2.90 PoseVect - Applies a transformation to a vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 933

2.91 Pow - Calculates the power of a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935

2.92 PPMovedInManMode - Test whether the program pointer is moved in manual mode . . . . . . . . . . . . 936

2.93 Present - Tests if an optional parameter is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 937

2.94 ProgMemFree - Get the size of free program memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 939

2.95 RawBytesLen - Get the length of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 940

2.96 ReadBin - Reads a byte from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942

2.97 ReadDir - Read next entry in a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 944

2.98 ReadMotor - Reads the current motor angles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947

2.99 ReadNum - Reads a number from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 949

2.100 ReadStr - Reads a string from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 952

2.101 ReadStrBin - Reads a string from a binary serial channel or file. . . . . . . . . . . . . . . . . . . . . . . . . . . . 956

2.102 ReadVar - Read variable from a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 958

2.103 RelTool - Make a displacement relative to the tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 961

2.104 RemainingRetries - Remaining retries left to do . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 963

2.105 RMQGetSlotName - Get the name of an RMQ client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 964

2.106 RobName - Get the TCP robot name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 966

2.107 RobOS - Check if execution is on RC or VC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 968

2.108 Round - Round is a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 969

2.109 RunMode - Read the running mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971

2.110 Sin - Calculates the sine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972

2.111 SocketGetStatus - Get current socket state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 973

2.112 Sqrt - Calculates the square root value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976

2.113 STCalcForce - Calculate the tip force for a Servo Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .977

2.114 STCalcTorque - Calc. the motor torque for a servo tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .979

2.115 STIsCalib - Tests if a servo tool is calibrated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 981

2.116 STIsClosed - Tests if a servo tool is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 983

2.117 STIsIndGun - Tests if a servo tool is in independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985

2.118 STIsOpen - Tests if a servo tool is open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 986

2.119 StrDigCalc - Arithmetic operations with datatype stringdig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 988

2.120 StrDigCmp - Compare two strings with only digits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .991

2.121 StrFind - Searches for a character in a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 994

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10 3HAC 16581-1 Revision: J

2.122 StrLen - Gets the string length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 996

2.123 StrMap - Maps a string. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 997

2.124 StrMatch - Search for pattern in string. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 999

2.125 StrMemb - Checks if a character belongs to a set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1001

2.126 StrOrder - Checks if strings are ordered. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003

2.127 StrPart - Finds a part of a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005

2.128 StrToByte - Converts a string to a byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1007

2.129 StrToVal - Converts a string to a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010

2.130 Tan - Calculates the tangent value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1012

2.131 TaskRunMec - Check if task controls any mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013

2.132 TaskRunRob - Check if task controls some robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014

2.133 TasksInSync - Returns the number of synchronized tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1015

2.134 TestAndSet - Test variable and set if unset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017

2.135 TestDI - Tests if a digital input is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019

2.136 TestSignRead - Read test signal value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020

2.137 TextGet - Get text from system text tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022

2.138 TextTabFreeToUse - Test whether text table is free . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1024

2.139 TextTabGet - Get text table number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1026

2.140 Trunc - Truncates a numeric value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1028

2.141 Type - Get the data type name for a variable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1030

2.142 UIAlphaEntry - User Alpha Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1032

2.143 UIClientExist - Exist User Client. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1037

2.144 UIDnumEntry - User Number Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1038

2.145 UIDnumTune - User Number Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044

2.146 UIListView - User List View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050

2.147 UIMessageBox - User Message Box type advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057

2.148 UINumEntry - User Number Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1064

2.149 UINumTune - User Number Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1070

2.150 ValidIO - Valid I/O signal to access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1076

2.151 ValToStr - Converts a value to a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1078

2.152 VectMagn - Magnitude of a pos vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1080

3 Data types 1083

3.1 aiotrigg - Analog I/O trigger condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1083

3.2 bool - Logical values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1085

3.3 btnres - Push button result data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1086

3.4 busstate - State of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1088

3.5 buttondata - Push button data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1089

3.6 byte - Integer values 0 - 255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1091

3.7 clock - Time measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1092

3.8 confdata - Robot configuration data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1093

3.9 corrdescr - Correction generator descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1099

3.10 datapos - Enclosing block for a data object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1101

3.11 dionum - Digital values (0 - 1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1102

3.12 dir - File directory structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1103

3.13 dnum - Double numeric values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1104

3.14 errdomain - Error domain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1106

3.15 errnum - Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1108

3.16 errstr - Error string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1114

3.17 errtype - Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1115

3.18 event_type - Event routine type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1116

3.19 exec_level - Execution level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1117

3.20 extjoint - Position of external joints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1118

3.21 handler_type - Type of execution handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1120

3.22 icondata - Icon display data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1121

Table of Contents

113HAC 16581-1 Revision: J

3.23 identno - Identity for move instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1123

3.24 intnum - Interrupt identity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1125

3.25 iodev - Serial channels and files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1127

3.26 iounit_state - State of I/O unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1128

3.27 jointtarget - Joint position data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1129

3.28 listitem - List item data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1131

3.29 loaddata - Load data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1132

3.30 loadidnum - Type of load identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1137

3.31 loadsession - Program load session . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1138

3.32 mecunit - Mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1139

3.33 motsetdata - Motion settings data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1141

3.34 num - Numeric values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1146

3.35 opcalc - Arithmetic Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1148

3.36 opnum - Comparison operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1149

3.37 orient - Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1150

3.38 paridnum - Type of parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1154

3.39 paridvalidnum - Result of ParIdRobValid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1156

3.40 pathrecid - Path recorder identifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1158

3.41 pos - Positions (only X, Y and Z). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1160

3.42 pose - Coordinate transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1162

3.43 progdisp - Program displacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1163

3.44 rawbytes - Raw data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1165

3.45 restartdata - Restart data for trigg signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1167

3.46 rmqheader - RAPID Message Queue Message header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1171

3.47 rmqmessage - RAPID Message Queue message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173

3.48 rmqslot - Identity number of an RMQ client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1174

3.49 robjoint - Joint position of robot axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1175

3.50 robtarget - Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1176

3.51 shapedata - World zone shape data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1179

3.52 signalxx - Digital and analog signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1181

3.53 socketdev - Socket device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1183

3.54 socketstatus - Socket communication status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1184

3.55 speeddata - Speed data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1185

3.56 stoppointdata - Stop point data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189

3.57 string - Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1195

3.58 stringdig - String with only digits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1197

3.59 switch - Optional parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1198

3.60 symnum - Symbolic number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1199

3.61 syncident - Identity for synchronization point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1200

3.62 System data - Current RAPID system data settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1201

3.63 taskid - Task identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1203

3.64 tasks - RAPID program tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1204

3.65 testsignal - Test signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1206

3.66 tooldata - Tool data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1207

3.67 tpnum - FlexPendant window number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1211

3.68 trapdata - Interrupt data for current TRAP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1212

3.69 triggdata - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213

3.70 triggios - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1214

3.71 triggiosdnum - Positioning events, trigg. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1217

3.72 triggstrgo - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1219

3.73 tunetype - Servo tune type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1222

3.74 uishownum - Instance ID for UIShow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1223

3.75 wobjdata - Work object data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1224

3.76 wzstationary - Stationary world zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1228

3.77 wztemporary - Temporary world zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1230

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12 3HAC 16581-1 Revision: J

3.78 zonedata - Zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1232

4 Programming type examples 1239

4.1 ERROR handler with movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1239

4.2 Service routines with or without movements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1242

4.3 System I/O interrupts with or without movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1246

4.4 TRAP routines with movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1250

Index 1255

Overview

133HAC 16581-1 Revision: J

Overview

About this manual

This is a technical reference manual intended for the RAPID programmer. The RAPID base

instructions, functions and data types are detailed in this manual.

Usage

This manual should be read during programming and when you need specific information

about a RAPID instruction, function or data type.

Who should read this manual?

This manual is intended for someone with some previous experience in programming, for

example, a robot programmer.

Prerequisites

The reader should have some programming experience and have studied

• Operating manual - Introduction to RAPID

• Technical reference manual - RAPID overview

Organization of chapters

The manual is organized in the following chapters:

References

Chapter Contents

1. Instructions Detailed descriptions of all RAPID base

instructions, including examples of how to use

them.

2. Functions Detailed descriptions of all RAPID base

functions, including examples of how to use

them.

3. Data types Detailed descriptions of all RAPID base data

types, including examples of how to use them.

4. Programming type examples A general view of how to write program code

that contains different instructions/functions/

data types. The chapter contains also

programming tips and explanations.

Reference Document ID

Operating manual - Introduction to RAPID 3HAC029364-001

Technical reference manual - RAPID

overview

3HAC16580-1

Technical reference manual - RAPID kernel 3HAC16585-1

Continues on next page

Overview

3HAC 16581-1 Revision: J14

Revisions

Revision Description

F 7th edition. RobotWare 5.10.

New chapter added, 4 Programming type examples.

G 8th edition. RobotWare 5.11.

New instructions, functions and data types are added. Also a new

programming type example is added.

H 9th edition. RobotWare 5.12.

New instructions, functions and data types are added.

J 10th edition. RobotWare 5.13.

The following new instructions, functions and data types are added:

• TPReadNum - Reads a number from the FlexPendant on page 564

• Type - Get the data type name for a variable on page 1030

• UIDnumEntry - User Number Entry on page 1038

• UIDnumTune - User Number Tune on page 1044

• triggiosdnum - Positioning events, trigg on page 1217

Updated safety signal graphics for the levels Danger and Warning.

Continued

1 Instructions

1.1. AccSet - Reduces the acceleration

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153HAC 16581-1 Revision: J

1 Instructions

1.1. AccSet - Reduces the acceleration

Usage

AccSet is used when handling fragile loads. It allows slower acceleration and deceleration,

which results in smoother robot movements.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

Motion tasks.

Basic examples

Basic examples of the instruction

AccSet are illustrated below.

Example 1

AccSet 50, 100;

The acceleration is limited to 50% of the normal value.

Example 2

AccSet 100, 50;

The acceleration ramp is limited to 50% of the normal value.

Arguments

AccSet Acc Ramp

Acc

Data type: num

Acceleration and deceleration as a percentage of the normal values. 100% corresponds to

maximum acceleration. Maximum value: 100%. Input value < 20% gives 20% of maximum

acceleration.

Ramp

Data type: num

The rate at which acceleration and deceleration increases as a percentage of the normal

values. Jerking can be restricted by reducing this value. 100% corresponds to maximum rate.

Maximum value: 100%. Input value < 10% gives 10% of maximum rate.

Continues on next page

1 Instructions

1.1. AccSet - Reduces the acceleration

RobotWare - OS

3HAC 16581-1 Revision: J16

The figures show that reducing the acceleration results in smoother movements.

xx0500002146

Program execution

The acceleration applies to both the robot and external axes until a new

AccSet instruction

is executed.

The default values (100%) are automatically set

• at a cold start.

• when a new program is loaded.

• when starting program execution from the beginning.

Syntax

AccSet

[ Acc ':=' ] < expression (IN) of num > ','

[ Ramp ':=' ] < expression (IN) of num > ';'

Related information

For information about See

Control acceleration in world coordinate

system

WorldAccLim - Control acceleration in world

coordinate system on page 707

Reduce TCP acceleration along the

path

PathAccLim - Reduce TCP acceleration along the

path on page 295

Positioning instructions Technical reference manual - RAPID overview

Continued

1 Instructions

1.2. ActUnit - Activates a mechanical unit

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173HAC 16581-1 Revision: J

1.2. ActUnit - Activates a mechanical unit

Usage

ActUnit is used to activate a mechanical unit.

It can be used to determine which unit is to be active when, for example, common drive units

are used.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

Motion tasks.

Basic examples

A basic example of the instruction

ActUnit is illustrated below.

Example 1

ActUnit orbit_a;

Activation of the orbit_a mechanical unit.

Arguments

ActUnit MechUnit

MechUnit

Mechanical Unit

Data type:

mecunit

The name of the mechanical unit that is to be activated.

Program execution

When the robots and external axes actual path is ready, the path on current path level is

cleared and the specified mechanical unit is activated. This means that it is controlled and

monitored by the robot.

If several mechanical units share a common drive unit, activation of one of these mechanical

units will also connect that unit to the common drive unit.

Limitations

If this instruction is preceded by a move instruction, that move instruction must be

programmed with a stop point (zonedata

fine), not a fly-by point, otherwise restart after

power failure will not be possible.

ActUnit cannot be executed in a RAPID routine connected to any of the following special

system events: PowerOn, Stop, QStop, Restart, Reset.or Step.

It is possible to use

ActUnit - DeactUnit on StorePath level, but the same mechanical

units must be active when doing

RestoPath as when StorePath was done. Such operation

on the Path Recorder and the path on the base level will be intact, but the path on the

StorePath level will be cleared.

Syntax

ActUnit

[MechUnit ':=' ] < variable (VAR) of mecunit> ';'

Continues on next page

1 Instructions

1.2. ActUnit - Activates a mechanical unit

RobotWare - OS

3HAC 16581-1 Revision: J18

Related information

For information about See

Deactivating mechanical units DeactUnit - Deactivates a mechanical unit on page 79

Mechanical units mecunit - Mechanical unit on page 1139

More examples DeactUnit - Deactivates a mechanical unit on page 79

Path Recorder PathRecMoveBwd - Move path recorder backwards on

page 298

Continued

1 Instructions

1.3. Add - Adds a numeric value

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193HAC 16581-1 Revision: J

1.3. Add - Adds a numeric value

Usage

Add is used to add or subtract a value to or from a numeric variable or persistent.

Basic examples

Basic examples of the instruction

Add are illustrated below.

Example 1

Add reg1, 3;

is added to reg1, i.e. reg1:=reg1+3.

Example 2

Add reg1, -reg2;

The value of reg2 is subtracted from reg1, i.e. reg1:=reg1-reg2.

Example 3

VAR dnum mydnum:=5;

Add mydnum, 500000000;

500000000

is added to mydnum, i.e. mynum:=mynum+500000000.

Example 4

VAR dnum mydnum:=5000;

VAR num mynum:=6000;

Add mynum, DnumToNum(mydnum \Integer);

5000

is added to mynum, i.e. mynum:=mynum+5000. You have to use DnumToNum to get a

num numeric value that you can use together with the num variable mynum.

Arguments

Add Name | Dname AddValue | AddDvalue

Name

Data type: num

The name of the variable or persistent to be changed.

Dname

Data type: dnum

The name of the variable or persistent to be changed.

AddValue

Data type: num

The value to be added.

AddDvalue

Data type: dnum

The value to be added.

Continues on next page

1 Instructions

1.3. Add - Adds a numeric value

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Limitations

If the value to be added is of the type

dnum, and the variable/persistent that should be changed

is a

num, a runtime error will be generated. The combination of arguments is not possible (see

Example 4 above how to solve this).

Syntax

Add

[ Name ':=' ] < var or pers (INOUT) of num >

| [ Dname’ :=’ ] < var or pers (INOUT) of dnum > ’,’

[ AddValue ':=' ] < expression (IN) of num >

| [ AddDvalue’ :=’ ] < expression (IN) of dnum > ’;’

Related information

For information about See

Incrementing a variable by 1 Incr - Increments by 1 on page 131

Decrementing a variable by 1 Decr - Decrements by 1 on page 81

Changing data using an arbitrary

expression, e.g. multiplication

":=" - Assigns a value on page 24

Continued

1 Instructions

1.4. AliasIO - Define I/O signal with alias name

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1.4. AliasIO - Define I/O signal with alias name

Usage

AliasIO is used to define a signal of any type with an alias name or to use signals in built-

in task modules.

Signals with alias names can be used for predefined generic programs, without any

modification of the program before running in different robot installations.

The instruction

AliasIO must be run before any use of the actual signal. See Basic examples

on page 21 for loaded modules, and More examples on page 22 for installed modules.

Basic examples

A basic example of the instruction

AliasIO is illustrated below.

See also More examples below.

Example 1

PathRecStop \Clear;

The path recorder is stopped and the buffer of stored path information is cleared.

Arguments

PathRecStop [\Clear]

[\Clear]

Data type: switch

Clear the recorded path.

Program execution

When the path recorder is ordered to stop the recording of the path will stop. The optional

argument

\Clear will clear the buffer of stored path information preventing the recorded

path to be executed by mistake.

After the recorder has been stopped with

PathRecStop, earlier recorded paths cannot be

used for back-up movements (

PathRecMoveBwd). However, it is possible to use earlier

recorded paths if

PathRecStart is ordered again from the same position that the path

recorder was stopped in. See the example below.

More examples

More examples of how to use the instruction

PathRecStop are illustrated below.

LOCAL VAR pathrecid id1;

LOCAL VAR pathrecid id2;

LOCAL CONST robtarget p0:= [...];

......

LOCAL CONST robtarget p6 := [...];

PROC example1()

MoveL p0, vmax, z50, tool1;

PathRecStart id1;

MoveL p1, vmax, z50, tool1;

MoveL p2, vmax, z50, tool1;

PathRecStop;

MoveL p3, vmax, z50, tool1;

MoveL p4, vmax, z50, tool1;

MoveL p2, vmax, z50, tool1;

PathRecStart id2;

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1 Instructions

1.111. PathRecStop - Stop the path recorder

Path Recovery

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MoveL p5, vmax, z50, tool1;

MoveL p6, vmax, z50, tool1;

StorePath;

PathRecMoveBwd \ID:=id1;

PathRecMoveFwd;

RestoPath;

StartMove;

MoveL p7, vmax, z50, tool1;

ENDPROC

PROC example2()

MoveL p0, vmax, z50, tool1;

PathRecStart id1;

MoveL p1, vmax, z50, tool1;

MoveL p2, vmax, z50, tool1;

PathRecStop;

MoveL p3, vmax, z50, tool1;

MoveL p4, vmax, z50, tool1;

PathRecStart id2;

MoveL p2, vmax, z50, tool1;

MoveL p5, vmax, z50, tool1;

MoveL p6, vmax, z50, tool1;

StorePath;

PathRecMoveBwd \ID:=id1;

PathRecMoveFwd;

RestoPath;

StartMove;

MoveL p7, vmax, z50, tool1;

ENDPROC

xx0500002101

The above examples describe recording of the robot path when the recording is stopped in the

middle of the sequence. In

example1 the PathRecMoveBwd \ID:=id1; order is valid and

the robot will execute the following path:

p6 -> p5 -> p2 -> p1 -> p0

The reason that the order is valid is due to the recorder being stopped and started in the exact

same robot position. If this behavior isn’t desirable the stop order should include the optional

argument

\Clear. In that way the recorded path will be cleared and it will never be possible

to back-up to previous path recorder identifiers.

Continued

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1 Instructions

1.111. PathRecStop - Stop the path recorder

Path Recovery

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The only difference in example2 is where the recorder was started the second time. In this

case

PathRecMoveBwd \ID:=id1 will cause an error. This is because no recorded path

exists between

p4, p3 and p2. However, it is possible to execute PathRecMoveBwd

\ID:=id2

Syntax

PathRecStop

[ ´\’switch Clear ] ´;’

Related information

For information about See

Path Recorder Identifiers pathrecid - Path recorder identifier on page 1158

Start the path recorder PathRecStart - Start the path recorder on page 308

Check for valid recorded path PathRecValidBwd - Is there a valid backward path

recorded on page 921

PathRecValidFwd - Is there a valid forward path

recorded on page 924

Play the recorder backward PathRecMoveBwd - Move path recorder

backwards on page 298

Play the recorder forwards PathRecMoveFwd - Move path recorder forward

on page 305

Motion in general Technical reference manual - RAPID overview,

section Motion and I/O principles

Continued

1 Instructions

1.112. PathResol - Override path resolution

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1.112. PathResol - Override path resolution

Usage

PathResol (Path Resolution) is used to override the configured geometric path sample time

defined in the system parameters for the mechanical units that are controlled from current

program task.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

any motion tasks.

Description

The path resolution affects the accuracy of the interpolated path and the program cycle time.

The path accuracy is improved and the cycle time is often reduced when the parameter

PathSampleTime is decreased. A value for parameter PathSampleTime, which is too low,

may cause CPU load problems in some demanding applications. However, use of the standard

configured path resolution (

PathSampleTime 100%) will avoid CPU load problems and

provide sufficient path accuracy in most situations.

Example of

PathResol usage:

Dynamically critical movements (max payload, high speed, combined joint motions close to

the border of the work area) may cause CPU load problems. Increase the parameter

PathSampleTime.

Low performance external axes may cause CPU load problems during coordination. Increase

the parameter

PathSampleTime.

Arc-welding with high frequency weaving may require high resolution of the interpolated

path. Decrease the parameter

PathSampleTime.

Small circles or combined small movements with direction changes can decrease the path

performance quality and increase the cycle time. Decrease the parameter

PathSampleTime.

Gluing with large reorientations and small corner zones can cause speed variations. Decrease

the parameter

PathSampleTime.

Basic examples

Basic examples of the instruction

PathResol are illustrated below.

MoveJ p1,v1000,fine,tool1;

PathResol 150;

With the robot at a stop point the path sample time is increased to 150 % of the configured.

Arguments

PathResol PathSampleTime

PathSampleTime

Data type: num

Override as a percent of the configured path sample time. 100% corresponds to the configured

path sample time. Within the range 25-400%.

A lower value of the parameter

PathSampleTime improves the path resolution (path

accuracy).

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1 Instructions

1.112. PathResol - Override path resolution

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Program execution

The path resolutions of all subsequent positioning instructions are affected until a new

PathResol instruction is executed. This will affect the path resolution during all program

execution of movements (default path level and path level after

StorePath) and also during

jogging.

In a MultiMove system at synchronized coordinated mode the following points are valid:

• All mechanical units involved in synchronized coordinated mode will run with the

current path resolution for actual (used) motion planner.

• New path resolution order against actual motion planner affects the synchronized

coordinated movement and future independent movement in that motion planner.

• New path resolution order against another motion planner only affects future

independent movement in that motion planner.

About connection between program task and motion planner see Application manual -

MultiMove.

The default value for override of path sample time is 100%. This value is automatically set

• at a cold start-up.

• when a new program is loaded.

• when starting program execution from the beginning.

The current override of path sample time can be read from the variable

C_MOTSET (data type

motsetdata) in the component pathresol.

Limitation

If this instruction is preceded by a move instruction then that move instruction must be

programmed with a stop point (zonedata

fine), not a fly-by point. Otherwise restart after

power failure will not be possible.

PathResol cannot be executed in a RAPID routine connected to any of following special

system events: PowerOn, Stop, QStop, Restart, or Step.

Syntax

PathResol

[PathSampleTime ’:=’ ] < expression (IN) of num> ’;’

Related information

For information about See

Positioning instructions Technical reference manual - RAPID overview, section

Motion and I/O principles

Motion settings Technical reference manual - RAPID overview, section

RAPID summary - Motion settings

Configuration of path resolution Technical reference manual - System parameters,

section Motion Planner - CPU Load Equalization

Continued

1 Instructions

1.113. PDispOff - Deactivates program displacement

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1.113. PDispOff - Deactivates program displacement

Usage

PDispOff (Program Displacement Off) is used to deactivate a program displacement.

Program displacement is activated by the instruction

PDispSet or PDispOn and applies to

all movements until some other program displacement is activated or until program

displacement is deactivated.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

Motion tasks.

Basic examples

Basic examples of the instruction

PDispOff are illustrated below.

Example 1

PDispOff;

Deactivation of a program displacement.

Example 2

MoveL p10, v500, z10, tool1;

PDispOn \ExeP:=p10, p11, tool1;

MoveL p20, v500, z10, tool1;

MoveL p30, v500, z10, tool1;

PDispOff;

MoveL p40, v500, z10, tool1;

A program displacement is defined as the difference between the positions p10 and p11. This

displacement affects the movement to

p20 and p30 but not to p40.

Program execution

Active program displacement is reset. This means that the program displacement coordinate

system is the same as the object coordinate system, and thus all programmed positions will

be related to the latter.

Syntax

PDispOff ´;’

Related information

For information about See

Definition of program displacement using

two positions

PDispOn - Activates program displacement on

page 317

Definition of program displacement using

known frame

PDispSet - Activates program displacement

using known frame on page 321

1 Instructions

1.114. PDispOn - Activates program displacement

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1.114. PDispOn - Activates program displacement

Usage

PDispOn (Program Displacement On) is used to define and activate a program displacement

using two robot positions.

Program displacement is used, for example, after a search has been carried out or when

similar motion patterns are repeated at several different places in the program.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

Motion tasks.

Basic examples

Basic examples of the instruction

PDispOn are illustrated below.

See also More examples below.

Example 1

RestoPath;

Restores the path that was stored earlier using StorePath.

Program execution

The current movement path of the robot and the external axes are deleted and the path stored

earlier using

StorePath is restored. Note that nothing moves until the instruction

StartMove is executed or a return is made using RETRY from an error handler.

More examples

More examples of how to use the instruction

RestoPath are illustrated below.

Example 1

ArcL p100, v100, seam1, weld5 \Weave:=weave1, z10, gun1;

...

ERROR

IF ERRNO=AW_WELD_ERR THEN

gun_cleaning;

StartMoveRetry;

ENDIF

...

PROC gun_cleaning()

VAR robtarget p1;

StorePath;

p1 := CRobT();

MoveL pclean, v100, fine, gun1;

...

MoveL p1, v100, fine, gun1;

RestoPath;

ENDPROC

In the event of a welding error the program execution continues in the error handler of the

routine which in turn calls

gun_cleaning. The movement path being executed at the time

is then stored and the robot moves to the position

pclean where the error is rectified. When

this has been done, the robot returns to the position where the error occurred,

p1, and stores

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1 Instructions

1.132. RestoPath - Restores the path after an interrupt

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the original movement once again. The weld then automatically restarts, meaning that the

robot is first reversed along the path before welding starts and ordinary program execution

can continue.

Limitations

Only the movement path data is stored with the instruction

StorePath. If the user wants to

order movements on the new path level then the actual stop position must be stored directly

after

StorePath and before RestoPath make a movement to the stored stop position on the

path.

If this instruction is preceded by a move instruction then that move instruction must be

programmed with a stop point (zonedata

fine), not a fly-by point, otherwise restart after

power failure will not be possible.

RestoPath cannot be executed in a RAPID routine connected to any of following special

system events: PowerOn, Stop, QStop, Restart or Step.

Syntax

RestoPath´;´

Related information

For information about See

Storing paths StorePath - Stores the path when an interrupt occurs on

page 521

More examples StorePath - Stores the path when an interrupt occurs on

page 521

PathRecStart - Start the path recorder on page 308

SyncMoveSuspend - Set independent-semicoordinated

movements on page 543

Continued

1 Instructions

1.133. RETRY - Resume execution after an error

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1.133. RETRY - Resume execution after an error

Usage

The

RETRY instruction is used to resume program execution after an error starting with (re-

executing) the instruction that caused the error.

Basic examples

Basic examples of the instruction RETRY are illustrated below.

Example 1

reg2 := reg3/reg4;

...

ERROR

IF ERRNO = ERR_DIVZERO THEN

reg4 :=1;

RETRY;

ENDIF

An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero) then a

jump is made to the error handler, which initializes

reg4. The RETRY instruction is then used

to jump from the error handler and another attempt is made to complete the division.

Program execution

Program execution continues with (re-executes) the instruction that caused the error.

Error handling

If the maximum number of retries (4 retries) is exceeded then the program execution stops

with an error message. The maximum number of retries can be configured in System

Parameters (type System Misc).

Limitations

The instruction can only exist in a routine’s error handler. If the error was created using a

RAISE instruction then program execution cannot be restarted with a RETRY instruction. Then

the instruction TRYNEXT should be used.

Syntax

RETRY ’;’

Related information

For information about See

Error handlers Technical reference manual - RAPID overview,

section Basic Characteristics-Error Recovery

Configure maximum number of retries Technical reference manual - System

parameters, section System Misc

Continue with the next instruction TRYNEXT - Jumps over an instruction which has

caused an error on page 636

1 Instructions

1.134. RETURN - Finishes execution of a routine

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1.134. RETURN - Finishes execution of a routine

Usage

RETURN is used to finish the execution of a routine. If the routine is a function then the

function value is also returned.

Basic examples

Basic examples of the instruction

RETURN are illustrated below.

Example 1

errormessage;

Set do1;

...

PROC errormessage()

IF di1=1 THEN

RETURN;

ENDIF

TPWrite "Error";

ENDPROC

The errormessage procedure is called. If the procedure arrives at the RETURN instruction

then program execution returns to the instruction following the procedure call,

Set do 1.

Example 2

FUNC num abs_value(num value)

IF value<0 THEN

RETURN -value;

ELSE

RETURN value;

ENDIF

ENDFUNC

The function returns the absolute value of a number.

Arguments

RETURN [ Return value ]

Return value

Data type: According to the function declaration.

The return value of a function.

The return value must be specified in a

RETURN instruction present in a function.

If the instruction is present in a procedure or trap routine then a return value shall not be

specified.

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1 Instructions

1.134. RETURN - Finishes execution of a routine

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Program execution

The result of the

RETURN instruction may vary depending on the type of routine it is used in:

• Main routine: If a program has run mode single cycle then the program stops.

Otherwise, program execution continues with the first instruction of the main routine.

• Procedure: Program execution continues with the instruction following the procedure

call.

• Function: Returns the value of the function.

• Trap routine: Program execution continues from where the interrupt occurred.

• Error handler in a procedure: Program execution continues with the routine that called

the routine with the error handler (with the instruction following the procedure call).

• Error handler in a function: The function value is returned.

Syntax

(EBNF)

RETURN [ <expression> ]’;’

Related information

For information about See

Functions and Procedures Technical reference manual - RAPID overview,

section Basic characteristics - Routines

Trap routines Technical reference manual - RAPID overview,

section Basic characteristics - Interrupts

Error handlers Technical reference manual - RAPID overview,

section Basic characteristics - Error recovery

Continued

1 Instructions

1.135. Rewind - Rewind file position

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1.135. Rewind - Rewind file position

Usage

Rewind sets the file position to the beginning of the file.

Basic examples

Basic examples of the instruction

Rewind are illustrated below.

See also More examples below.

Example 1

UnLoad diskhome \File:="PART_A.MOD";

UnLoad

the program module PART_A.MOD from the program memory that was previously

loaded into the program memory with

Load. (See instruction Load). diskhome is a

predefined string constant "HOME:".

Arguments

UnLoad [\ErrIfChanged] | [\Save] FilePath [\File]

[\ErrIfChanged]

Data type: switch

If this argument is used, and the module has been changed since it was loaded into the system,

then the instruction will generate the error recovery code

ERR_NOTSAVED.

[\Save]

Data type: switch

If this argument is used then the program module is saved before the unloading starts. The

program module will be saved at the original place specified in the

Load or StartLoad

instruction.

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 or

StartLoad 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 or StartLoad

instruction.

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1 Instructions

1.223. UnLoad - UnLoad a program module during execution

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Program execution

To be able to execute an

UnLoad instruction in the program, a Load or StartLoad -

WaitLoad

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 finish unloading before the

execution proceeds with the next instruction.

After that the program module is unloaded, and the rest of the program modules will be

linked.

For more information see the instructions

Load or StartLoad-Waitload.

More examples

More examples of how to use the instruction

UnLoad are illustrated below.

Example 1

UnLoad "HOME:/DOORDIR/DOOR1.MOD";

UnLoad

the program module DOOR1.MOD from the program memory that was previously

loaded into the program memory.

Example 2

UnLoad "HOME:" \File:="DOORDIR/DOOR1.MOD";

Same as in example 1 above but another syntax.

Example 3

Unload \Save, "HOME:" \File:="DOORDIR/DOOR1.MOD";

Same as in examples 1 and 2 above but saves the program module before unloading.

Limitations

It is not allowed to unload a program module that is executing (program pointer in the

module).

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 can result in guard stop with motors off

and error message "20025 Stop order timeout" on the FlexPendant.

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 or StartLoad) then the system

variable

ERRNO is set to ERR_UNLOAD.

If the argument

\ErrIfChanged is used and the module has been changed then the execution

of this routine will set the system variable

ERRNO to ERR_NOTSAVED.

Those errors can then be handled in the error handler.

Continued

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1 Instructions

1.223. UnLoad - UnLoad a program module during execution

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Syntax

UnLoad

[’\’ErrIfChanged ’,’] | [’\’Save ’,’]

[FilePath’:=’]<expression (IN) of string>

[’\’File’:=’ <expression (IN) of string>]’;’

Related information

For information about See

Check program references CheckProgRef - Check program references on page 37

Load a program module Load - Load a program module during execution on page 208

StartLoad - Load a program module during execution on page

482

WaitLoad - Connect the loaded module to the task on page

682

Continued

1 Instructions

1.224. UnpackRawBytes - Unpack data from rawbytes data

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1.224. UnpackRawBytes - Unpack data from rawbytes data

Usage

UnpackRawBytes is used to unpack the contents of a container of type rawbytes to

variables of type

byte, num, dnum or string.

Basic examples

Basic examples of the instruction

UnpackRawBytes are illustrated below.

Example 1

VAR iodev io_device;

VAR rawbytes raw_data_out;

VAR rawbytes raw_data_in;

VAR num integer;

VAR dnum bigInt;

VAR num float;

VAR string string1;

VAR byte byte1;

VAR byte data1;

! Data packed in raw_data_out according to the protocol

...

Open "chan1:", io_device\Bin;

WriteRawBytes io_device, raw_data_out;

ReadRawBytes io_device, raw_data_in\Time := 1;

Close io_device;

According to the protocol that is known to the programmer, the message is sent to device

"chan1:". Then the answer is read from the device.

The answer contains, for an example, the following:

UnpackRawBytes raw_data_in, 1, integer \IntX := DINT;

The contents of integer will be 5.

UnpackRawBytes raw_data_in, 5, float \Float4;

The contents of float will be 234.6 decimal.

UnpackRawBytes raw_data_in, 9, string1 \ASCII:=17;

The contents of string1 will be "This is real fun!".

UnpackRawBytes raw_data_in, 26, byte1 \Hex1;

byte number: contents:

1-4 integer‘ 5’

5-8 float‘ 234.6’

9-25 string "This is real fun!"

26 hex value‘ 4D’

27 ASCII code 122, i.e. ‘z’

28-36 integer’ 4294967295’

37-40 integer’ 4294967295’

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1 Instructions

1.224. UnpackRawBytes - Unpack data from rawbytes data

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The contents of byte1 will be ´4D´ hexadecimal.

UnpackRawBytes raw_data_in, 27, data1 \ASCII:=1;

The contents of data1 will be 122, the ASCII code for "z".

UnpackRawBytes raw_data_in, 28, bigInt \IntX := LINT;

The contents of bigInt will be 4294967295.

UnpackRawBytes raw_data_in, 37, bigInt \IntX := UDINT;

The contents of bigInt will be 4294967295.

Arguments

UnpackRawBytes RawData [ \Network ] StartIndex Value

[ \Hex1 ] | [ \IntX ] | [ \Float4 ] | [ \ASCII ]

RawData

Data type: rawbytes

Variable container to unpack data from.

[ \Network ]

Data type: switch

Indicates that integer and float shall be unpacked from big-endian (network order)

represented in

RawData. ProfiBus and InterBus use big-endian.

Without this switch, integer and float will be unpacked in little-endian (not network order)

representation from

RawData. DeviceNet uses little-endian.

Only relevant together with option parameter

\IntX - UINT, UDINT, ULINT, INT, DINT,

LINT and

\Float4.

StartIndex

Data type: num

StartIndex

, between 1 and 1024, indicates where to start unpacking data from RawData.

Value

Data type: anytype

Variable containing the data that was unpacked from RawData.

Allowed data types are:

byte, num, dnum or string. Array cannot be used.

[ \Hex1 ]

Data type: switch

The data to be unpacked and placed in Value has hexadecimal format in 1 byte and will be

converted to decimal format in a

byte variable.

[ \IntX ]

Data type: inttypes

The data to be unpacked has the format according to the specified constant of data type

inttypes. The data will be converted to a num or a dnum variable containing an integer and

stored in

Value.

See Predefined data.

Continued

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1.224. UnpackRawBytes - Unpack data from rawbytes data

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[ \Float4 ]

Data type: switch

The data to be unpacked and placed in Value has float, 4 bytes, format, and it will be

converted to a

num variable containing a float.

[ \ASCII ]

Data type: num

The data to be unpacked and placed in Value has byte or string format.

Value is of type byte then the data will be interpreted as ASCII code and converted to

byte format (1 character).

Value is of type string then the data will be stored as string (1...80 characters). String

data is not NULL terminated in data of type

rawbytes.

One of arguments

\Hex1, \IntX, \Float4 or \ASCII must be programmed.

The following combinations are allowed:

*) Must be an integer within the value range of selected symbolic constant

USINT, UINT,

UDINT, SINT, INT or DINT.

**) Must be an integer within the value range of selected symbolic constant

USINT, UINT,

UDINT, ULINT, SINT, INT, DINT or LINT.

Program execution

During program execution data is unpacked from the container of type

rawbytes into a

variable of type

anytype.

Predefined data

The following symbolic constants of the data type

inttypes are predefined and can be used

to specify the integer in parameter

\IntX.

Data type of Value: Allowed option parameters:

num *) \IntX

dnum **) \IntX

num \Float4

string \ASCII:=n with n between 1 and 80

byte \Hex1 \ASCII:=1

Symbolic

constant

Constant

value

Integer format Integer value range

USINT 1 Unsigned 1 byte integer 0 ... 255

UINT 2 Unsigned 2 byte integer 0 ... 65 535

UDINT 4 Unsigned 4 byte integer 0 ... 8 388 608 *)

0 ... 4 294 967 295 ****)

ULINT 8 Unsigned 8 byte integer 0 ... 4 503 599 627 370 496**)

SINT - 1 Signed 1 byte integer - 128... 127

INT - 2 Signed 2 byte integer - 32 768 ... 32 767

Continued

Continues on next page

1 Instructions

1.224. UnpackRawBytes - Unpack data from rawbytes data

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*) RAPID limitation for storage of integer in data type num.

**) RAPID limitation for storage of integer in data type

dnum.

***) Range when using a dnum variable and inttype

DINT.

****) Range when using a dnum variable and inttype

UDINT.

Syntax

UnpackRawBytes

[RawData ´:=´ ] < variable (VAR) of rawbytes>

[ ’\’ Network ] ´,´

[StartIndex ´:=´ ] < expression (IN) of num> ´,´

[Value ’:=’ ] < variable (VAR) of anytype>

[ ’\’ Hex1 ]

| [ ’\’ IntX’ :=’ < expression (IN) of inttypes>]

| [’ \’ Float4 ]

| [ ’\’ ASCII‘ :=’ < expression (IN) of num>] ’;’

Related information

DINT - 4 Signed 4 byte integer - 8 388 607 ... 8 388 608 *)

-2 147 483 648 ... 2 147 483

647 ***)

LINT - 8 Signed 8 byte integer - 4 503 599 627 370 496... 4

503 599 627 370 496 **)

Symbolic

constant

Constant

value

Integer format Integer value range

For information about See

rawbytes data rawbytes - Raw data on page 1165

Get the length of rawbytes data RawBytesLen - Get the length of rawbytes data on

page 940

Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes data

on page 49

Copy the contents of rawbytes data CopyRawBytes - Copy the contents of rawbytes data

on page 67

Pack DeviceNet header into

rawbytes data

PackDNHeader - Pack DeviceNet Header into

rawbytes data on page 287

Pack data into rawbytes data PackRawBytes - Pack data into rawbytes data on

page 290

Write rawbytes data WriteRawBytes - Write rawbytes data on page 725

Read rawbytes data ReadRawBytes - Read rawbytes data on page 352

Unpack data from rawbytes data UnpackRawBytes - Unpack data from rawbytes data

on page 658

Bit/Byte Functions Technical reference manual - RAPID overview,

section RAPID Summary - Mathematics - Bit

Functions

String functions Technical reference manual - RAPID overview,

section RAPID Summary - String Functions

Continued

1 Instructions

1.225. VelSet - Changes the programmed velocity

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1.225. VelSet - Changes the programmed velocity

Usage

VelSet is used to increase or decrease the programmed velocity of all subsequent positioning

instructions. This instruction is also used to maximize the velocity.

This instruction can only be used in the main task

T_ROB1 or, if in a MultiMove system, in

Motion tasks.

Basic examples

Basic examples of the instruction

VelSet are illustrated below.

See also More examples below.

Example 1

WaitTime 0.5;

Program execution waits 0.5 seconds.

Arguments

WaitTime [\InPos] Time

[\InPos]

In Position

Data type:

switch

If this argument is used then the robot and external axes must have come to a standstill before

the waiting time starts to be counted. This argument can only be used if the task controls

mechanical units.

Time

Data type: num

The time, expressed in seconds, that program execution is to wait. Min. value 0 s. Max. value

no limit. Resolution 0.001 s.

Program execution

Program execution temporarily stops for the given amount of time. Interrupt handling and

other similar functions, nevertheless, are still active.

In manual mode, if waiting time is greater than 3 s then an alert box will pop up asking if you

want to simulate the instruction. If you do not want the alert box to appear you can set the

system parameter Controller/System Misc./ Simulate Menu to 0.

More examples

More examples of how to use the instruction

WaitTime are illustrated below.

Example 1

WaitTime \InPos,0;

Program execution waits until the robot and the external axes have come to a standstill.

Continues on next page

1 Instructions

1.236. WaitTime - Waits a given amount of time

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Limitations

Argument

\Inpos cannot be used together with SoftServo.

If this instruction is preceded by a move instruction then that move instruction must be

programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after

power failure will not be possible.

WaitTime \Inpos cannot be executed in a RAPID routine connected to any of following

special system events: PowerOn, Stop, QStop, Restart, or Step.

Syntax

WaitTime

[’\’InPos’,’]

[Time ’:=’] <expression (IN) of num>’;’

Related information

For information about See

Waiting until a condition is met WaitUntil - Waits until a condition is met on page

697

Waiting until an I/O is set/reset WaitDI - Waits until a digital input signal is set on

page 670

Continued

1 Instructions

1.237. WaitUntil - Waits until a condition is met

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1.237. WaitUntil - Waits until a condition is met

Usage

WaitUntil is used to wait until a logical condition is met; for example, it can wait until one

or several inputs have been set.

Basic examples

Basic examples of the instruction

WaitUntil are illustrated below.