IRC5-Rapid Reference Part2 3HAC16581-1 RevB en Part2 Library

RAPID reference manual
RAPID reference manual - part2, Functions and Data types A-Z

Controller software IRC5
RobotWare 5.0
5$3,'UHIHUHQFHPDQXDO
+$&
5HYLVLRQ%
&RQWUROOHUVRIWZDUH,5&
5$3,'UHIHUHQFHPDQXDOSDUW)XQFWLRQVDQGGDWDW\SHV$=
7DEOHRIFRQWHQWV
5RERW:DUH
)XQFWLRQV$=
'DWDW\SHV$=
,QGH[
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 ABBs 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.
Copyright 2004 ABB All right reserved.

ABB Automation Technologies AB
Robotics
SE-721 68 Vsters
Sweden
&RQWHQWV
$EV*HWVWKHDEVROXWHYDOXH
$&RV&DOFXODWHVWKHDUFFRVLQHYDOXH
$2XWSXW5HDGVWKHYDOXHRIDQDQDORJRXWSXWVLJQDO
$UJ1DPH*HWVDUJXPHQWQDPH
$6LQ&DOFXODWHVWKHDUFVLQHYDOXH
$7DQ&DOFXODWHVWKHDUFWDQJHQWYDOXH
%LW$QG/RJLFDOELWZLVH$1'RSHUDWLRQRQE\WHGDWD
%LW&KHFN&KHFNLIDVSHFLILHGELWLQDE\WHGDWDLVVHW
%LW/6K/RJLFDOELWZLVH/()76+,)7RSHUDWLRQRQE\WHGDWD
%LW1HJ/RJLFDOELWZLVH1(*$7,21RSHUDWLRQRQE\WHGDWD
%LW2U/RJLFDOELWZLVH25RSHUDWLRQRQE\WHGDWD
%LW56K/RJLFDOELWZLVH5,*+76+,)7RSHUDWLRQRQE\WHGDWD
%LW;2U/RJLFDOELWZLVH;25RSHUDWLRQRQE\WHGDWD
%\WH7R6WU&RQYHUWVDE\WHWRDVWULQJGDWD
&DOF-RLQW7&DOFXODWHVMRLQWDQJOHVIURPUREWDUJHW
&DOF5RE7&DOFXODWHVUREWDUJHWIURPMRLQWWDUJHW
&DOF5RW$[)UDPH=&DOFXODWHDURWDWLRQDOD[LVIUDPH
&DOF5RW$[LV)UDPH&DOFXODWHDURWDWLRQDOD[LVIUDPH
&'DWH5HDGVWKHFXUUHQWGDWHDVDVWULQJ
&-RLQW75HDGVWKHFXUUHQWMRLQWDQJOHV
&ON5HDG5HDGVDFORFNXVHGIRUWLPLQJ
&RUU5HDG5HDGVWKHFXUUHQWWRWDORIIVHWV
&RV&DOFXODWHVWKHFRVLQHYDOXH
&3RV5HDGVWKHFXUUHQWSRVLWLRQSRVGDWD
&5RE75HDGVWKHFXUUHQWSRVLWLRQUREWDUJHWGDWD
&6SHHG2YHUULGH5HDGVWKHFXUUHQWRYHUULGHVSHHG
&7LPH5HDGVWKHFXUUHQWWLPHDVDVWULQJ
&7RRO5HDGVWKHFXUUHQWWRROGDWD
&:2EM5HDGVWKHFXUUHQWZRUNREMHFWGDWD
'HF7R+H[&RQYHUWIURPGHFLPDOWRKH[DGHFLPDO
'HI$FF)UDPH'HILQHDQDFFXUDWHIUDPH
'HI')UDPH'HILQHDGLVSODFHPHQWIUDPH
'HI)UDPH'HILQHDIUDPH
'LP2EWDLQVWKHVL]HRIDQDUUD\
'LVWDQFH'LVWDQFHEHWZHHQWZRSRLQWV
'RW3URG'RWSURGXFWRIWZRSRVYHFWRUV
'2XWSXW5HDGVWKHYDOXHRIDGLJLWDORXWSXWVLJQDO
&RQWHQWV
(XOHU=<;*HWVHXOHUDQJOHVIURPRULHQW
([S&DOFXODWHVWKHH[SRQHQWLDOYDOXH
)LOH6L]H5HWULHYHWKHVL]HRIDILOH
)LOH7LPH5HWULHYHWLPHLQIRUPDWLRQDERXWDILOH
)66L]H5HWULHYHWKHVL]HRIDILOHV\VWHP
*HW1H[W0HFK8QLW*HWQDPHRIPHFKDQLFDOXQLWV
*HW1H[W6\P*HWQH[WPDWFKLQJV\PERO
*HW6\V,QIR*HWLQIRUPDWLRQDERXWWKHV\VWHP
*HW7DVN1DPH*HWVWKHQDPHDQGQXPEHURIFXUUHQWWDVN
*HW7LPH5HDGVWKHFXUUHQWWLPHDVDQXPHULFYDOXH
*2XWSXW5HDGVWKHYDOXHRIDJURXSRIGLJLWDORXWSXWVLJQDOV
+H[7R'HF&RQYHUWIURPKH[DGHFLPDOWRGHFLPDO
,QG,QSRV,QGHSHQGHQWLQSRVLWLRQVWDWXV
,QG6SHHG,QGHSHQGHQWVSHHGVWDWXV
,28QLW6WDWH*HWFXUUHQWVWDWHRI,2XQLW
,V)LOH&KHFNWKHW\SHRIDILOH
,V0HFK8QLW$FWLYH,VPHFKDQLFDOXQLWDFWLYH
,V6WRS6WDWH(YHQW7HVWZKHWKHUPRYHG33
,V6\QF0RYH2Q7HVWLILQV\QFKURQL]HGPRYHPHQWPRGH
,V6\V,G7HVWV\VWHPLGHQWLW\
,V9DU,VYDULDEOH
0D[5RE6SHHG0D[LPXPURERWVSHHG
0LU3RV0LUURULQJRIDSRVLWLRQ
0RG7LPH*HWWLPHRIORDGIRUDORDGHGPRGXOH
12ULHQW1RUPDOLVHRULHQWDWLRQ
1XP7R6WU&RQYHUWVQXPHULFYDOXHWRVWULQJ
2IIV'LVSODFHVDURERWSRVLWLRQ
2S0RGH5HDGWKHRSHUDWLQJPRGH
2ULHQW=<;%XLOGVDQRULHQWIURPHXOHUDQJOHV
25RE75HPRYHVDSURJUDPGLVSODFHPHQWIURPDSRVLWLRQ
3DU,G3RV9DOLG9DOLGURERWSRVLWLRQIRUSDUDPHWHULGHQWLILFDWLRQ
3DU,G5RE9DOLG9DOLGURERWW\SHIRUSDUDPHWHULGHQWLILFDWLRQ
3DWK5HF9DOLG%ZG,VWKHUHDYDOLGEDFNZDUGSDWKUHFRUGHG
3DWK5HF9DOLG)ZG,VWKHUHDYDOLGIRUZDUGSDWKUHFRUGHG
3)5HVWDUW&KHFNLQWHUUXSWHGSDWKDIWHUSRZHUIDLOXUH
3RVH,QY,QYHUWVWKHSRVH
3RVH0XOW0XOWLSOLHVSRVHGDWD
3RVH9HFW$SSOLHVDWUDQVIRUPDWLRQWRDYHFWRU
II
&RQWHQWV
3RZ&DOFXODWHVWKHSRZHURIDYDOXH
3UHVHQW7HVWVLIDQRSWLRQDOSDUDPHWHULVXVHG
3URJ0HP)UHH*HWWKHVL]HRIIUHHSURJUDPPHPRU\
5DZ%\WHV/HQ*HWWKHOHQJWKRIUDZE\WHVGDWD
5HDG%LQ5HDGVDE\WHIURPDILOHRUVHULDOFKDQQHO
5HDG'LU5HDGQH[WHQWU\LQDGLUHFWRU\
5HDG0RWRU5HDGVWKHFXUUHQWPRWRUDQJOHV
5HDG1XP5HDGVDQXPEHUIURPDILOHRUVHULDOFKDQQHO
5HDG6WU5HDGVDVWULQJIURPDILOHRUVHULDOFKDQQHO
5HDG6WU%LQ5HDGVDVWULQJIURPDELQDU\VHULDOFKDQQHORUILOH
5HDG9DU5HDGYDULDEOHIURPDGHYLFH
5HO7RRO0DNHDGLVSODFHPHQWUHODWLYHWRWKHWRRO
5RE26&KHFNLIH[HFXWLRQLVRQ5&RU9&
5RXQG5RXQGLVDQXPHULFYDOXH
5XQ0RGH5HDGWKHUXQQLQJPRGH
6LQ&DOFXODWHVWKHVLQHYDOXH
6RFNHW*HW6WDWXV*HWFXUUHQWVRFNHWVWDWH
6TUW&DOFXODWHVWKHVTXDUHURRWYDOXH
67&DOF)RUFH&DOFXODWHWKHWLSIRUFHIRUD6HUYR7RRO
67&DOF7RUTXH&DOFWKHPRWRUWRUTXHIRUDVHUYRWRRO
67,V&ORVHG7HVWVLIDVHUYRWRROLVFORVHG
67,V2SHQ7HVWVLIDVHUYRWRROLVRSHQ
6WU)LQG6HDUFKHVIRUDFKDUDFWHULQDVWULQJ
6WU/HQ*HWVWKHVWULQJOHQJWK
6WU0DS0DSVDVWULQJ
6WU0DWFK6HDUFKIRUSDWWHUQLQVWULQJ
6WU0HPE&KHFNVLIDFKDUDFWHUEHORQJVWRDVHW
6WU2UGHU&KHFNVLIVWULQJVDUHRUGHUHG
6WU3DUW)LQGVDSDUWRIDVWULQJ
6WU7R%\WH&RQYHUWVDVWULQJWRDE\WHGDWD
6WU7R9DO&RQYHUWVDVWULQJWRDYDOXH
7DQ&DOFXODWHVWKHWDQJHQWYDOXH
7DVN5XQ0HF&KHFNLIWDVNFRQWURODQ\PHFKDQLFDOXQLW
7DVN5XQ5RE&KHFNLIWDVNFRQWUROVRPHURERW
7HVW$QG6HW7HVWYDULDEOHDQGVHWLIXQVHW
7HVW',7HVWVLIDGLJLWDOLQSXWLVVHW
7HVW6LJQ5HDG5HDGWHVWVLJQDOYDOXH
7H[W*HW*HWWH[WIURPV\VWHPWH[WWDEOHV
III
&RQWHQWV
7H[W7DE)UHH7R8VH7HVWZKHWKHUWH[WWDEOHLVIUHH
7H[W7DE*HW*HWWH[WWDEOHQXPEHU
7UXQF7UXQFDWHVDQXPHULFYDOXH
8,$OSKD(QWU\8VHU$OSKD(QWU\
8,&OLHQW([LVW([LVW8VHU&OLHQW
8,/LVW9LHZ8VHU/LVW9LHZ
8,0HVVDJH%R[8VHU0HVVDJH%R[W\SHDGYDQFHG
8,1XP(QWU\8VHU1XPEHU(QWU\
8,1XP7XQH8VHU1XPEHU7XQH
9DO7R6WU&RQYHUWVDYDOXHWRDVWULQJ
9HFW0DJQ0DJQLWXGHRIDSRVYHFWRU
DLRWULJJ$QDORJ,2WULJJHUFRQGLWLRQ
ERRO/RJLFDOYDOXHV
EWQUHV3XVKEXWWRQUHVXOWGDWD
EXVVWDWH6WDWHRI,2EXV
EXWWRQGDWD3XVKEXWWRQGDWD
E\WH'HFLPDOYDOXHV
FORFN7LPHPHDVXUHPHQW
FRQIGDWD5RERWFRQILJXUDWLRQGDWD
FRUUGHVFU&RUUHFWLRQJHQHUDWRUGHVFULSWRU
GDWDSRV(QFORVLQJEORFNIRUDGDWDREMHFW
GLRQXP'LJLWDOYDOXHV
GLU)LOHGLUHFWRU\VWUXFWXUH
HUUGRPDLQ(UURUGRPDLQ
HUUQXP(UURUQXPEHU
HUUVWU(UURUVWULQJ
HUUW\SH(UURUW\SH
H[WMRLQW3RVLWLRQRIH[WHUQDOMRLQWV
LFRQGDWD,FRQGLVSOD\GDWD
LGHQWQR,GHQWLW\IRUPRYHLQVWUXFWLRQV
LQWQXP,QWHUUXSWLGHQWLW\
LRGHY6HULDOFKDQQHOVDQGILOHV
LRXQLWBVWDWH6WDWHRI,2XQLW
MRLQWWDUJHW-RLQWSRVLWLRQGDWD
OLVWLWHP/LVWLWHPGDWDVWUXFWXUH
ORDGGDWD/RDGGDWD
ORDGLGQXP7\SHRIORDGLGHQWLILFDWLRQ
ORDGVHVVLRQ3URJUDPORDGVHVVLRQ
IV
&RQWHQWV
PHFXQLW0HFKDQLFDOXQLW
PRWVHWGDWD0RWLRQVHWWLQJVGDWD
QXP1XPHULFYDOXHVUHJLVWHUV
RSQXP&RPSDULVRQRSHUDWRU
RULHQW2ULHQWDWLRQ
SDULGQXP7\SHRISDUDPHWHULGHQWLILFDWLRQ
SDULGYDOLGQXP5HVXOWRI3DU,G5RE9DOLG
SDWKUHFLG3DWKUHFRUGHULGHQWLILHU
SRV3RVLWLRQVRQO\;<DQG=
SRVH&RRUGLQDWHWUDQVIRUPDWLRQV
SURJGLVS3URJUDPGLVSODFHPHQW
UDZE\WHV5DZGDWD
UHVWDUWGDWD5HVWDUWGDWDIRUWULJJVLJQDOV
UREMRLQW-RLQWSRVLWLRQRIURERWD[HV
UREWDUJHW3RVLWLRQGDWD
VKDSHGDWD:RUOG]RQHVKDSHGDWD
VLJQDO[['LJLWDODQGDQDORJVLJQDOV
VRFNHWGHY6RFNHWGHYLFH
VRFNHWVWDWXV6RFNHWFRPPXQLFDWLRQVWDWXV
VSFGDWD6WDWLVWLFDOSURFHVVFRQWUROGDWD
VSFGHVFU6WDWLVWLFDOSURFHVVFRQWUROOHUGHVFULSWRU
VSFVWDW6WDWLVWLFDOSURFHVVFRQWUROVWDWXV
VSHHGGDWD6SHHGGDWD
VWRSSRLQWGDWD6WRSSRLQWGDWD
VWULQJ6WULQJV
V\PQXP6\PEROLFQXPEHU
V\QFLGHQW,GHQWLW\IRUV\QFKURQL]DWLRQSRLQW
6\VWHP'DWD,QWHUQDOGDWDRIWKHURERWDFFHVVHGDQGUHDGE\WKHSURJUDP
WDVNLG7DVNLGHQWLILFDWLRQ
WDVNV5$3,'SURJUDPWDVNV
WHVWVLJQDO7HVWVLJQDO
WRROGDWD7RROGDWD
WSQXP)OH[3HQGDQWZLQGRZQXPEHU
WUDSGDWD,QWHUUXSWGDWDIRUFXUUHQW75$3
WULJJGDWD3RVLWLRQLQJHYHQWVWULJJ
WXQHW\SH6HUYRWXQHW\SH
ZREMGDWD:RUNREMHFWGDWD
Z]VWDWLRQDU\6WDWLRQDU\ZRUOG]RQHGDWD
&RQWHQWV
Z]WHPSRUDU\7HPSRUDU\ZRUOG]RQHGDWD
]RQHGDWD=RQHGDWD
VI
$EV
)XQFWLRQ
%DVH:DUH
$EV*HWVWKHDEVROXWHYDOXH
$EVis used to get the absolute value, i.e. a positive value of numeric data.
([DPSOH
reg1 := Abs(reg2);
5HJ is assigned the absolute value of UHJ.
5HWXUQYDOXH
Data type: QXP
The absolute value, i.e. a positive numeric value.

e.g.
Input value
Returned value
-3
-2.53
2.53
$UJXPHQWV
$EV,QSXW
,QSXW
Data type: QXP
The input value.
([DPSOH
TPReadNum no_of_parts, "How many parts should be produced? ";
no_of_parts := Abs(no_of_parts);
The operator is asked to input the number of parts to be produced. To ensure that
the value is greater than zero, the value given by the operator is made positive.
6\QWD[
Abs (
[ Input := ] < expression (,1) of QXP > )
A function with a return value of the data type QXP.
$EV
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
Mathematical instructions and functions
RAPID Summary - 0DWKHPDWLFV
$&RV
)XQFWLRQ
%DVH:DUH
$&RV&DOFXODWHVWKHDUFFRVLQHYDOXH
$&RV$UF&RVLQHis used to calculate the arc cosine value.
([DPSOH
VAR num angle;
VAR num value;
.
.
angle := ACos(value);
5HWXUQYDOXH
Data type: QXP
The arc cosine value, expressed in degrees, range [0, 180].
$UJXPHQWV
$&RV9DOXH
9DOXH
Data type: QXP
The argument value, range [-1, 1].
6\QWD[
Acos(
[Value :=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
$&RV
%DVH:DUH
)XQFWLRQ
$2XWSXW
)XQFWLRQ
%DVH:DUH
$2XWSXW5HDGVWKHYDOXHRIDQDQDORJRXWSXWVLJQDO
$2XWSXWis used to read the current value of an analog output signal.
([DPSOH
IF AOutput(ao4) > 5 THEN ...
If the current value of the signal DRisgreater than then
5HWXUQYDOXH
Data type: QXP
The current value of the signal.
The current value is scaled (in accordance with the system parameters) before it is read
by the RAPID program. See Figure 1.
Physical value of the
output signal (V, mA, etc.)
0$;SIGNAL
0$;PROGRAM
Logical value in the
program
0,1PROGRAM
0,1SIGNAL
)LJXUH'LDJUDPRIKRZDQDORJVLJQDOYDOXHVDUHVFDOHG
$UJXPHQWV
$2XWSXW6LJQDO
6LJQDO
Data type: VLJQDODR
The name of the analog output to be read.

$2XWSXW
%DVH:DUH
)XQFWLRQ
(UURUKDQGOLQJ
Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit
6\QWD[
AOutput (
[ Signal := ] < variable (9$5) of VLJQDODR > )
A function with a return value of data type QXP.
5HODWHGLQIRUPDWLRQ
Described in:
Input/Output instructions
RAPID Summary - ,QSXWDQG2XWSXW6LJQDOV
Input/Output functionality in general Motion and I/O Principles - ,23ULQFLSOHV

Configuration of I/O
System Parameters
$UJ1DPH
)XQFWLRQ
$GYDQFHG5$3,'
$UJ1DPH*HWVDUJXPHQWQDPH
$UJ1DPH$UJXPHQW1DPHis used to get the name of the original data object for the
current argument or the current data.
([DPSOH
VAR num chales :=5;
...
proc1 chales;
PROC proc1 (num par1)
VAR string name;
...
name:=ArgName(par1);
TPWrite "Argument name "+name+" with value "\Num:=par1;
ENDPROC
The variable QDPHis assigned the string value "FKDOHV" and on TP the following
string is written: "Argument name chales with value 5".
5HWXUQYDOXH
Data type: VWULQJ
The original data object name.
$UJXPHQWV
$UJ1DPH 3DUDPHWHU
3DUDPHWHU
Data type: DQ\W\SH
The formal parameter identifier (for the routine in which $UJ1DPH is located) or
the data identity.
3URJUDPH[HFXWLRQ
The function returns the original data object name for an entire object of the type constant, variable or persistent. The original data object can be global, local in the program
module or local in a routine (normal RAPID scope rules).
If it is a part of a data object, the name of the whole data object is returned.
$UJ1DPH
$GYDQFHG5$3,'
)XQFWLRQ
([DPSOH
&RQYHUWIURPLGHQWLILHUWRVWULQJ
This function can also be used to convert from identifier to string, by stating the identifier in the argument 3DUDPHWHU for any data object with global, local in module or
local in routine scope:
VAR num chales :=5;
...
proc1;
PROC proc1 ()
VAR string name;
...
name:=ArgName(chales);
TPWrite "Global data object "+name+" has value "\Num:=chales;
ENDPROC
string is written: "Global data object chales has value 5".
5RXWLQHFDOOLQVHYHUDOVWHSV
Note that the function returns the RULJLQDO data object name:
VAR num chales :=5;
...
proc1 chales;
...
PROC proc1 (num parameter1)
...
proc2 parameter1;
...
ENDPROC

PROC proc2 (num par1)
VAR string name;
...
name:=ArgName(par1);
TPWrite "Original data object name "+name+" with value "\Num:=par1;
ENDPROC
string is written: "Original data object name chales with value 5".
$UJ1DPH
)XQFWLRQ
$GYDQFHG5$3,'
(UURUKDQGOLQJ
If one of the following errors occurs, the system variable ERRNO is set to
ERR_ARGNAME:
- Argument is expression value
- Argument is not present
- Argument is of type switch
This error can then be handled in the error handler.
6\QWD[
ArgName (
[ Parameter:= ] < reference (5()) of any type> )
A function with a return value of the data type VWULQJ.
5HODWHGLQIRUPDWLRQ
Described in:
String functions
RAPID Summary - 6WULQJ)XQFWLRQV
Definition of string
Data Types - VWULQJ
String values
Basic Characteristics -
%DVLF(OHPHQWV
$UJ1DPH
$GYDQFHG5$3,'
10
)XQFWLRQ
$6LQ
)XQFWLRQ
%DVH:DUH
$6LQ&DOFXODWHVWKHDUFVLQHYDOXH
$6LQ$UF6LQHis used to calculate the arc sine value.
([DPSOH
VAR num angle;
VAR num value;
.
.
angle := ASin(value);
5HWXUQYDOXH
Data type: QXP
The arc sine value, expressed in degrees, range [-90, 90].
$UJXPHQWV
$6LQ9DOXH
9DOXH
Data type: QXP
The argument value, range [-1, 1].
6\QWD[
ASin(
)
5HODWHGLQIRUPDWLRQ
Described in:
11
$6LQ
%DVH:DUH
12
)XQFWLRQ
$7DQ
)XQFWLRQ
%DVH:DUH
$7DQ$UF7DQJHQWis used to calculate the arc tangent value.
([DPSOH
VAR num angle;
VAR num value;
.
.
angle := ATan(value);
5HWXUQYDOXH
Data type: QXP
The arc tangent value, expressed in degrees, range [-90, 90].
$UJXPHQWV
$7DQ9DOXH
9DOXH
Data type: QXP
The argument value.
6\QWD[
ATan(
)
5HODWHGLQIRUPDWLRQ
Described in:
Arc tangent with a return value in the

range [-180, 180]
Functions - $7DQ
13
$7DQ
%DVH:DUH
14
)XQFWLRQ
$7DQ
)XQFWLRQ
%DVH:DUH
$7DQ$UF7DQJHQWis used to calculate the arc tangent2 value.
([DPSOH
VAR num angle;
VAR num x_value;
VAR num y_value;
.
.
angle := ATan2(y_value, x_value);
5HWXUQYDOXH
Data type: QXP
The arc tangent value, expressed in degrees, range [-180, 180].

The value will be equal to ATan(y/x), but in the range [-180, 180], since the function
uses the sign of both arguments to determine the quadrant of the return value.
$UJXPHQWV
$7DQ<;
<
Data type: QXP

The numerator argument value.
Data type: QXP

The denominator argument value.
6\QWD[
ATan2(
[Y :=] <expression (,1) of QXP> ,
[X :=] <expression (,1) of QXP>
)
15
$WDQ
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
16
Arc tangent with only one argument
Functions - $7DQ
%LW$QG
)XQFWLRQ
$GYDQFHG5$3,'
%LW$QG/RJLFDOELWZLVH$1'RSHUDWLRQRQE\WHGDWD
%LW$QGis used to execute a logical bitwise $1' - operation on data types E\WH.
([DPSOH
VAR byte data1 := 38;
VAR byte data3;
data3 := BitAnd(data1, data2);
The logical bitwise AND - operation will be executed on the GDWD and GDWD,
the result will be returned to GDWD (decimal representation)
BitPos 1
BitPos 8
0 0 1 0 0 1 1 0
data1 : 38 dec.
$1'
0 0 1 0 0 0 1 0
data2 : 34 dec.
0 0 1 0 0 0 1 0
data3 : 34 dec.
)LJXUH/RJLFDOELWZLVH$1'RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise $1' - operation in decimal representation.
17
%LW$QG
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW$QG %LW'DWD%LW'DWD
%LW'DWD
Data type: E\WH
The bit data 1, in decimal representation.

%LW'DWD
Data type: E\WH
/LPLWDWLRQV
The range for a data type E\WH is 0 - 255 decimal.
6\QWD[
BitAnd(
[BitData1 :=] <expression (,1) of E\WH> ,
[BitData2 :=] <expression (,1) of E\WH>
) ;
A function with a return value of the data type E\WH.
5HODWHGLQIRUPDWLRQ
Described in:
Logical bitwise OR - operation on byte data
Functions - %LW2U
Logical bitwise XOR - operation on byte data Functions - %LW;2U
18
Logical bitwise NEGATION - operation on

byte data
Functions - %LW1HJ
Other bit functions
RAPID Summary - %LW)XQFWLRQV
%LW&KHFN
)XQFWLRQ
$GYDQFHG5$3,'
%LW&KHFN&KHFNLIDVSHFLILHGELWLQDE\WHGDWDLVVHW
%LW&KHFNis used to check if a specified bit in a defined E\WH data is set to 1.
([DPSOH
CONST num parity_bit := 8;
IF BitCheck(data1, parity_bit) = TRUE THEN
...
ELSE
...
ENDIF
BitPos 1
BitPos 8
Bit number 8 (SDULW\BELW) in the variable GDWD will be checked, e.g. if the specified bit is set to 1 in the variable GDWD, this function will return TRUE.
1 0 0 0 0 0 1 0
Bit position 8 has value 1.

Return value from %LW&KHFN : TRUE
)LJXUH%LWFKHFNRIGDWDW\SHE\WH
5HWXUQYDOXH
Data type: ERRO
TRUE if the specified bit is set to 1, FALSE if the specified bit is set to 0.
19
%LW&KHFN
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW&KHFN %LW'DWD%LW3RV
%LW'DWD
Data type: E\WH
The bit data, in decimal representation, to be checked.

%LW3RV
%LW3RVLWLRQ
Data type: QXP
The bit position (1-8) in the %LW'DWD to be checked.
/LPLWDWLRQV
The bit position is valid from 1 - 8.
6\QWD[
BitCheck(
[BitData :=] <expression (,1) of E\WH> ,
[BitPos :=] <expression (,1) of QXP>
) ;
A function with a return value of the data type ERRO.
5HODWHGLQIRUPDWLRQ
Described in:
20
Set a specified bit in a byte data
Instructions - %LW6HW
Clear a specified bit in a byte data
Instructions - %LW&OHDU
Other bit functions
%LW/6K
)XQFWLRQ
$GYDQFHG5$3,'
%LW/6K/RJLFDOELWZLVH/()76+,)7RSHUDWLRQRQE\WH
GDWD
%LW/6K%LW/HIW6KLIWis used to execute a logical bitwise /()76+,)7- operation on
data types E\WH.
([DPSOH
VAR num left_shift := 3;
VAR byte data2;
data2 := BitLSh(data1, left_shift);
0 0 1 0 0 1 1 0
BitPos 1
%LW/6K
BitPos 8
BitPos 1
BitPos 8
The logical bitwise LEFT SHIFT- operation will be executed on the GDWD with
3 (OHIWBVKLIW) steps of left shift and the result will be returned to GDWD (decimal
representation).
0 0 1 1 0 0 0 0
data1 : 38 dec.
data2 : 48 dec.
)LJXUH/RJLFDOELWZLVH/()76+,)7RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise /()76+,)7- operation in decimal representation.

The right bit cells will be filled up with 0-bits.
21
%LW/6K
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW/6K
%LW'DWD6KLIW6WHSV
%LW'DWD
Data type: E\WH
The bit data, in decimal representation, to be shifted.

6KLIW6WHSV
Data type: QXP
Number of the logical shifts (1 - 8) to be executed.
/LPLWDWLRQV
The 6KLIW6WHSV argument is valid from 1 - 8 according to one byte.
6\QWD[
BitLSh(
[ShiftSteps :=] <expression (,1) of QXP>
) ;
5HODWHGLQIRUPDWLRQ
Described in:
22
Logical bitwise RIGHT SHIFT - operation

on byte data
Functions - %LW56K
Other bit functions
%LW1HJ
)XQFWLRQ
$GYDQFHG5$3,'
%LW1HJ/RJLFDOELWZLVH1(*$7,21RSHUDWLRQRQE\WHGDWD
%LW1HJ%LW1HJDWLRQis used to execute a logical bitwise 1(*$7,21 - operation
(ones complement) on data types E\WH.
([DPSOH
VAR byte data2;
data2 := BitNeg(data1);
0 0 1 0 0 1 1 0
BitPos 1
%LW1HJ
BitPos 8
BitPos 1
BitPos 8
The logical bitwise NEGATION - operation will be executed on the GDWD and
the result will be returned to GDWD (decimal representation).
1 1 0 1 1 0 0 1
data1 : 38 dec.
data2 : 217 dec.
)LJXUH/RJLFDOELWZLVH1(*$7,21RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise 1(*$7,21 - operation in decimal representation.
$UJXPHQWV
%LW1HJ %LW'DWD
%LW'DWD
Data type: E\WH
The byte data, in decimal representation.
/LPLWDWLRQV
23
%LW1HJ
$GYDQFHG5$3,'
)XQFWLRQ
6\QWD[
BitNeg(
[BitData :=] <expression (,1) of E\WH>
) ;
5HODWHGLQIRUPDWLRQ
Described in:
Logical bitwise AND - operation on byte data Functions - %LW$QG
Functions - %LW2U

Other bit functions
24
%LW2U
)XQFWLRQ
$GYDQFHG5$3,'
%LW2U/RJLFDOELWZLVH25RSHUDWLRQRQE\WHGDWD
%LW2U%LWLQFOXVLYH2Uis used to execute a logical bitwise 2U- operation on data types
E\WH.
([DPSOH
VAR byte data3;
data3 := BitOr(data1, data2);
BitPos 1
BitPos 8
The logical bitwise OR - operation will be executed on the GDWD and GDWD, the
result will be returned to GDWD (decimal representation).
0 0 1 0 0 1 1 1
data1 : 39 dec.
25
1 0 1 0 0 0 1 0
data2 : 162 dec.
1 0 1 0 0 1 1 1
data3 : 167 dec.
)LJXUH/RJLFDOELWZLVH25RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise 25 - operation in decimal representation.
25
%LW2U
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW2U
%LW'DWD%LW'DWD
%LW'DWD
Data type: E\WH

%LW'DWD
Data type: E\WH
/LPLWDWLRQV
6\QWD[
BitOr(
) ;
5HODWHGLQIRUPDWLRQ
Described in:
Functions - %LW1HJ
byte data
Other bit functions
26
%LW56K
)XQFWLRQ
$GYDQFHG5$3,'
%LW56K/RJLFDOELWZLVH5,*+76+,)7RSHUDWLRQRQE\WH
GDWD
%LW56K%LW5LJKW6KLIWis used to execute a logical bitwise 5,*+76+,)7- operation
on data types E\WH.
([DPSOH
VAR num right_shift := 3;
VAR byte data2;
data2 := BitRSh(data1, right_shift);
The logical bitwise RIGHT SHIFT- operation will be executed on the GDWD with
3 (ULJKWBVKLIW) steps of right shift and the result will be returned to GDWD (decimal
representation)
data1 : 38 dec.
BitPos 1
%LW56K
0 0 1 0 0 1 1 0
BitPos 8
BitPos 1
BitPos 8
0 0 0 0 0 1 0 0
data2 : 4 dec.
)LJXUH/RJLFDOELWZLVH5,*+76+,)7RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise 5,*+76+,)7- operation in decimal representation.

The left bit cells will be filled up with 0-bits.
27
%LW56K
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW56K
%LW'DWD6KLIW6WHSV
%LW'DWD
Data type: E\WH
The bit data, in decimal representation, to be shifted.

6KLIW6WHSV
Data type: QXP
Number of the logical shifts (1 - 8) to be executed.
/LPLWDWLRQV
The6KLIW6WHSV argument is valid from 1 - 8 according to one byte.
6\QWD[
BitRSh(
[ShiftSteps :=] <expression (,1) of QXP>
) ;
5HODWHGLQIRUPDWLRQ
Described in:
28
Logical bitwise LEFT SHIFT - operation

on byte data
Functions - %LW/6K
Other bit functions
%LW;2U
)XQFWLRQ
$GYDQFHG5$3,'
%LW;2U/RJLFDOELWZLVH;25RSHUDWLRQRQE\WHGDWD
%LW;2U%LWH;FOXVLYH2Uis used to execute a logical bitwise X25 - operation on data
types E\WH.
([DPSOH
VAR byte data3;
data3 := BitXOr(data1, data2);
BitPos 1
BitPos 8
The logical bitwise XOR - operation will be executed on the GDWD and GDWD,
the result will be returned to GDWD (decimal representation).
0 0 1 0 0 1 1 1
data1 : 39 dec.
;25
1 0 1 0 0 0 1 0
data2 : 162 dec.
1 0 0 0 0 1 0 1
data3 : 133 dec.
)LJXUH/RJLFDOELWZLVH;25RSHUDWLRQ
5HWXUQYDOXH
Data type: E\WH
The result of the logical bitwise ;25 - operation in decimal representation.
29
%LW;2U
$GYDQFHG5$3,'
)XQFWLRQ
$UJXPHQWV
%LW;2U
%LW'DWD%LW'DWD
%LW'DWD
Data type: E\WH

%LW'DWD
Data type: E\WH
/LPLWDWLRQV
6\QWD[
BitXOr(
) ;
5HODWHGLQIRUPDWLRQ
Described in:
30
Functions - %LW2U

byte data
Functions - %LW1HJ
Other bit functions
%\WH7R6WU
)XQFWLRQ
%DVH:DUH
%\WH7R6WU&RQYHUWVDE\WHWRDVWULQJGDWD
%\WH7R6WU%\WH7R6WULQJis used to convert a E\WH into a VWULQJ data with a defined
byte data format.
([DPSOH
VAR string con_data_buffer{5};
con_data_buffer{1} := ByteToStr(data1);
The content of the array component FRQBGDWDBEXIIHU^`will be "122" after the
%\WH7R6WU function.
con_data_buffer{2} := ByteToStr(data1\Hex);
The content of the array component FRQBGDWDBEXIIHU^`will be "7A" after the
%\WH7R6WU function.
con_data_buffer{3} := ByteToStr(data1\Okt);
The content of the array component FRQBGDWDBEXIIHU^`will be "172" after the
%\WH7R6WU function.
con_data_buffer{4} := ByteToStr(data1\Bin);
The content of the array component FRQBGDWDBEXIIHU^`will be "01111010"after
the %\WH7R6WU function.
con_data_buffer{5} := ByteToStr(data1\Char);
The content of the array component FRQBGDWDBEXIIHU^`will be "z" after the
%\WH7R6WU function.
31
%\WH7R6WU
%DVH:DUH
)XQFWLRQ
5HWXUQYDOXH
Data type: VWULQJ
The result of the conversion operation with the following format:

Format:
Characters:
String length: Range:
Dec .....:
0 - 9
1-3
"0" - "255"
Hex .....:
0 - 9, A -F
"00" - "FF"
Okt ......:
0 - 7
"000" - "377"
Bin ......:
0 - 1
"00000000" - "11111111"
Char ....:
Any ASCII char (*)
One ASCII char
(*) If non-writable ASCII char, the return format will be RAPID character codeformat
(e.g. \07 for BEL control character).
$UJXPHQWV
%\WH7R6WU%LW'DWD>?+H[@_>?2NW@_>?%LQ@_>?&KDU@
%LW'DWD
Data type: E\WH
The bit data to be converted.

If the optional switch argument is omitted, the data will be converted in GHFLPDO (Dec)
format.
>?+H[@
+H[DGHFLPDO
Data type: VZLWFK
The data will be converted in KH[DGHFLPDO format.

>?2NW@
2FWDO
Data type: VZLWFK
The data will be converted in RFWDO format.

>?%LQ@
%LQDU\
Data type: VZLWFK
The data will be converted in ELQDU\ format.

>?&KDU@
&KDUDFWHU
Data type: VZLWFK
The data will be converted in $6&,,FKDUDFWHUformat.
/LPLWDWLRQV
The range for a data type E\WH is 0 to 255 decimal.
32
3RZ
)XQFWLRQ
%DVH:DUH
6\QWD[
ByteToStr(
[BitData :=] <expression (,1) of E\WH>
[\ Hex ] | [\ Okt] | [\ Bin] | [\ Char]
) ;
5HODWHGLQIRUPDWLRQ
Described in:
Convert a string to a byte data
Instructions - 6WU7R%\WH
Other bit (byte) functions
RAPID Summary - Bit Functions
Other string functions
RAPID Summary - String Functions
33
3RZ
%DVH:DUH
34
)XQFWLRQ
&DOF-RLQW7
)XQFWLRQ
%DVH:DUH
&DOF-RLQW7&DOFXODWHVMRLQWDQJOHVIURPUREWDUJHW
&DOF-RLQW7&DOFXODWH-RLQW7DUJHWis used to calculate joint angles of the robot axes
and external axes from a specifiedUREWDUJHW data.
The input UREWDUJHW data should be specified in the same coordinate system as specified
in argument for 7RRO, :2EMand at execution time active program displacement
(3URJ'LVS) and external axes offset ((2IIV.
The returned MRLQWWDUJHW data is expressed in the calibration coordinate system.
([DPSOH
VAR jointtarget jointpos1;
CONST robtarget p1 := [...];
jointpos1 := CalcJointT(p1, tool1 \WObj:=wobj1);
The jointtarget value corresponding to the robtarget value Sis stored in
MRLQWSRV. The tool WRRO and work object ZREM are used for calculating the joint
angles MRLQWSRV.
5HWXUQYDOXH
Data type: MRLQWWDUJHW
The angles in degrees for the axes of the robot on the arm side.
The values for the external axes, in mm for linear axes, in degrees for rotational axes.
The returned values are always related to the calibration position.
$UJXPHQWV
&DOF-RLQW75REBWDUJHW7RRO>?:2EM@
5REBWDUJHW
Data type: UREWDUJHW
The position of the robot and external axes in the outermost coordinate system,
related to the specified tool and work object and at execution time active program
displacement (3URJ'LVS) and/or external axes offset ((2IIV).
7RRO
Data type: WRROGDWD

The tool used for calculation of the robot joint angles.
35
&DOF-RLQW7
%DVH:DUH
)XQFWLRQ
>?:2EM@
:RUN2EMHFW
Data type: ZREMGDWD
The work object (coordinate system) to which the robot position is related.
If this argument is omitted the work object ZREM is used.
This argument must be specified when using stationary tool, coordinated external
axes, or conveyor
3URJUDPH[HFXWLRQ
The returned MRLQWWDUJHWis calculated from the input UREWDUJHW.
To calculate the robot joint angles, the specified 7RRO, :2EM(including coordinated
user frame) and the 3URJ'LVS active at execution time, are taken into consideration.
To calculate the external axis position at the execution time, active (2IIV is taken into
consideration.
The calculation always selects the robot configuration according to the specified configuration data in the input UREWDUJHW data. Instructions &RQI/and &RQI-do not affect
this calculation principle. When wrist singularity is used, robot axis 4 will be set to 0
degrees.
If there is any active program displacement (3URJ'LVS) and/or external axis offset
((2IIV) at the time WKHUREWDUJHW is stored, then the same program displacement and/or
external axis offset must be active when &DOF-RLQW7 is executed.
/LPLWDWLRQ
If a coordinate frame is used, the coordinated unit has to be activated before using
&DOF-RLQW7The coordinated unit also has to be situated in the same task as the robot.
(UURUKDQGOLQJ
If at least one axis is outside the working area or the limits are exeeded for at least one
coupled joint, the system variable ERRNO is set to ERR_ROBLIMIT and the execution continues in the error handler.
The error handler can then deal with the situation.
6\QWD[
CalcJointT(
[Rob_target :=] <expression (,1) of UREWDUJHW> ,
[Tool := ] <persistent (3(56) of WRROGDWD>
[\WObj := <persistent (3(56) of ZREMGDWD>] )
A function with a return value of the data type MRLQWWDUJHW.
36
&DOF-RLQW7
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Calculate robtarget from jointtarget
Functions - &DOF5RE7
Definition of position
Data Types - UREWDUJHW
Definition of joint position
Data Types - MRLQWWDUJHW
Definition of tools
Data Types- WRROGDWD
Definition of work objects
Data Types - ZREMGDWD
Coordinate systems
Motion and I/O Principles - &RRUGL

QDWH6\VWHPV
Program displacement coordinate system
Instructions - 3'LVS2Q
External axis offset coordinate system
Instructions - (2IIV2Q
37
&DOF-RLQW7
%DVH:DUH
38
)XQFWLRQ
&DOF5RE7
)XQFWLRQ
%DVH:DUH
&DOF5RE7&DOFXODWHVUREWDUJHWIURPMRLQWWDUJHW
&DOF5RE7&DOFXODWH5RERW7DUJHWis used to calculate a robtarget data from a given
jointtarget data.
This function returns a UREWDUJHW value with position (x, y, z), orientation (q1 ... q4),
robot axes configuration and external axes position.
The input MRLQWWDUJHW data should be specified in the calibration coordinate system.
The returned UREWDUJHW data is expressed in the outermost coordinate system, taking the
specified tool, work object and at execution time active program displacement
(3URJ'LVS) and external axis offset ((2IIV) into consideration.
([DPSOH
VAR robtarget p1;
CONST jointtarget jointpos1 := [...];
p1 := CalcRobT(jointpos1, tool1 \WObj:=wobj1);
The robtarget value corresponding to the jointtarget value MRLQWSRV is stored in
S. The tool WRRO and work object ZREMare used for calculating of the position
S.
5HWXUQYDOXH
The robot and external axis position is returned in data type UREWDUJHW and expressed in
the outermost coordinate system, taking the specified tool, work object and at execution time active program displacement (3URJ'LVS) and external axes offset ((2IIV) into
consideration.
If there is no active 3URJ'LVS the robot position is expressed in the object coordinate
system.
If there are no active (2IIV the external axis position is expressed in the calibration
coordinate system.
$UJXPHQWV
&DOF5RE7-RLQWBWDUJHW7RRO>?:2EM@
-RLQWBWDUJHW
The joint position for the robot axes and external axes related to the calibration
coordinate system.
39
&DOF5RE7
%DVH:DUH
)XQFWLRQ
7RRO
Data type: WRROGDWD

The tool used for calculation of the robot position.
>?:2EM@
:RUN2EMHFW
Data type: ZREMGDWD
The work object (coordinate system) to which the robot position returned by the
function is related.
If this argument is omitted the work object ZREM is used.
This argument must be specified when using stationary tool, coordinated external
axes, or conveyor.
3URJUDPH[HFXWLRQ
The returned UREWDUJHW is calculated from the input MRLQWWDUJHW.
To calculate the cartesian robot position, the specified 7RRO, :2EM(including coordinated user frame) and at the execution time active 3URJ'LVS are taken into consideration.
To calculate the external axes position, the (2IIV active at execution time is taken into
consideration.
/LPLWDWLRQ
If a coordinate frame is used, the coordinated unit has to be activated before using
&DOF5RE7 The coordinated unit also has to be situated in the same task as the robot.
6\QWD[
CalcRobT(
[Joint_target := ] <expression (,1) of MRLQWWDUJHW> ,
[Tool := ] <persistent (3(56) of WRROGDWD>
A function with a return value of the data type UREWDUJHW.
40
&DOF5RE7
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Calculate jointtarget from robtarget
Functions - &DOF-RLQW7
Definition of joint position
Definition of tools
Coordinate systems

QDWH6\VWHPV
Program displacement coordinate system
External axes offset coordinate system
41
&DOF5RE7
%DVH:DUH
42
)XQFWLRQ
&DOF5RW$[)UDPH=
)XQFWLRQ
%DVH:DUH
&DOF5RW$[)UDPH=&DOFXODWHDURWDWLRQDOD[LVIUDPH
&DOF5RW$[)UDPH=&DOFXODWH5RWDWLRQDO$[LV)UDPHZLWKSRVLWLYH=SRLQWis used to
calculate the user coordinate system of a rotational axis type mechanical unit. This
function is to be used when the master robot and the external axis are located in
different RAPID tasks. If they are in the same task the function &DOF5RW$[LV)UDPH
should be used.
'HVFULSWLRQ
The definition of a user frame for a rotational external axis requires that the turntable
(or similar mechanical structure) on the external axis has a marked reference point.
Moreover the TCP robots base frame and TCP must be calibrated. The calibration procedure consists of a number of positionings for the robots TCP on the reference point
when the turntable is rotated to different angles. A positioning of the robots TCP in the
positive z direction is also needed1. See Figure 1
.
Axis of rotation
Turntable run by
single external axis
Position 2
y
Position 1
Position 3
x
l
Position 4
z
y
World
Reference point
on turntable
Origin for user coordinate

system of rotational single
x
)LJXUH'HILQLWLRQRISRLQWVIRUDURWDWLRQDOD[LV
The user coordinate system for the rotational axis has its origin in the centre of the turntable. The z direction coincides with the axis of rotation and the x axis goes through
the reference point.
XVLQJWKHGHILQLWLRQRIWKHSRVLWLYH]GLUHFWLRQRIDQH[WHUQDOURWDWLRQDOPHFKDQLFDOXQLWVHHGHVFULSWLRQ
43
&DOF5RW$[)UDPH=
%DVH:DUH
)XQFWLRQ
Figure 2 shows the user coordinate system for two different positionings of the turntable (turntable seen from above)
.
0 degrees rotation
+45 degrees rotation
)LJXUH7KHXVHUFRRUGLQDWHV\VWHPDWYDULRXVDQJOHVRIURWDWLRQ
([DPSOH
CONST robtarget pos1 := [...];
CONST robtarget zpos;
VAR robtarget targetlist{10};
VAR num max_err := 0;
VAR num mean_err := 0;
VAR pose resFr:=[...];
PERS tooldata tMyTool:= [...];

! Instructions for creating/ModPos pos1 - pos4 with TCP pointing at the turntable.
MoveJ pos1, v10, fine, tMyTool;

!Instruction for creating/ModPos zpos with TCP pointing at a point in positive z direction1
MoveJ zpos, v10, fine, tMyTool;

! Add the targets to the array
targetlist{1}:= pos1;

resFr:=CalcRotAxFrameZ(targetlist, 4, zpos, max_err, mean_err);

44
&DOF5RW$[)UDPH=
)XQFWLRQ
%DVH:DUH
! Update the system parameters.

IF (max_err < 1.0) AND (mean_err < 0.5) THEN
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_x",resFr.trans.x;
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_y",resFr.trans.y;
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_z",resFr.trans.z;
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u0",resFr.rot.q1;
TPReadFK reg1,"Warmstart required for calibration to take effect."
,stEmpty,stEmpty,stEmpty, stEmpty,"OK";
WarmStart;
ENDIF
Four positions, SRVSRV, are created/modposed so that the robots tool W0\7RRO
points to the same reference point on the external axis 671B but with different
external axis rotation. Position, ]SRV, is created/modposed so that the robots tool
W0\7RRO, points in the positive z direction according to the definition of the positive z-direction of an external rotational mechanical unit1. The points are then
used for calculating the external axis base frame, UHV)U, in relation to the world
coordinate system. Finally, the frame is written to the configuration file and a
warmstart is made to let the change to take effect.
Definition of the positive z-direction of an external rotational mechanical unit
Let the right hands fingers coincide with the positive rotation axis of the rotational axis. The direction of the thumb does then define the positive z-direction.
Axis of rotation
45
&DOF5RW$[)UDPH=
%DVH:DUH
)XQFWLRQ
5HWXUQYDOXH
Data type:SRVH
The calculated frame.
$UJXPHQWV
&DOF5RW$[)UDPH=7DUJHW/LVW7DUJHWV,Q/LVW3RVLWLYH=3RLQW
0D[(UU0HDQ(UU
7DUJHW/LVW
Array of robtargets holding the positions defined by pointing out the turntable.
Minimum number of robtargets is 4, maximum 10.
7DUJHWV,Q/LVW
Data type: QXP
Number of robtargets in array.

3RVLWLYH=3RLQW
Robtarget holding the position defined by pointing out a point in the positive z
direction1.
0D[(UU
Data type: QXP
The estimated maximum error in mm.

0HDQ(UU
Data type: QXP
The estimated mean error in mm.
(UURUKDQGOLQJ
If the positions dont have the required relation or are not specified with enough
accuracy, the system variable ERRNO is set to ERR_FRAME. This error can then be
handled in an error handler.
46
&DOF5RW$[)UDPH=
)XQFWLRQ
%DVH:DUH
6\QWD[
CalcRotAxFrameZ(
[TargetList :=] <array {*} (,1) of UREWDUJHW> ,
[TargetsInList :=] <expression (,1) of QXP> ,
[PositiveZPoint :=] <expression (,1) of robtarget>,
[MaxErr :=] <variable (9$5) of QXP> ,
[MeanErr :=] <variable (9$5) of QXP>)
A function with a return value of the data type SRVH.
5HODWHGLQIRUPDWLRQ
Described in:
47
&DOF5RW$[)UDPH=
%DVH:DUH
48
)XQFWLRQ
&DOF5RW$[LV)UDPH
)XQFWLRQ
%DVH:DUH
&DOF5RW$[LV)UDPH&DOFXODWHDURWDWLRQDOD[LVIUDPH
&DOF5RW$[LV)UDPH&DOFXODWH5RWDWLRQDO$[LV)UDPHis used to calculate the user
coordinate system of a rotational axis type mechanical unit. This function is to be used
when the master robot and the external axis are located in the same RAPID task. If they
are in different tasks the function &DOF5RW$[)UDPH= should be used.
'HVFULSWLRQ
The definition of a user frame for a rotational external axis requires that the turntable
(or similar mechanical structure) on the external axis has a marked reference point.
Moreover the master robots base frame and TCP must be calibrated. The calibration
procedure consists of a number of positionings for the robots TCP on the reference
point when the turntable is rotated to different angles. See the figure below.
.
Axis of rotation
Turntable run by
single external axis
Position 2
y
Position 1
Position 3
x
l
Position 4
z
y
World
Reference point
on turntable
Origin for user coordinate

system of rotational single
x
)LJXUH'HILQLWLRQRISRLQWVIRUDURWDWLRQDOD[LV
The user coordinate system for the rotational axis has its origin in the centre of the turntable. The z direction coincides with the axis of rotation and the x axis goes through
the reference point.
49
&DOF5RW$[LV)UDPH
%DVH:DUH
)XQFWLRQ
The figure below shows the user coordinate system for two different positionings of the
turntable (turntable seen from above).
0 degrees rotation
+45 degrees rotation
)LJXUH7KHXVHUFRRUGLQDWHV\VWHPDWYDULRXVDQJOHVRIURWDWLRQ
([DPSOH
VAR robtarget targetlist{10};
VAR num max_err := 0;
VAR num mean_err := 0;
VAR pose resFr:=[...];
PERS tooldata tMyTool:= [...];

! Instructions for creating/ModPos pos1 - pos4 with TCP pointing at the turntable.

! Add the targets to the array

resFr:=CalcRotAxisFrame(STN_1 , targetlist, 4, max_err, mean_err);
50
&DOF5RW$[LV)UDPH
)XQFWLRQ
%DVH:DUH
! Update the system parameters.

IF (max_err < 1.0) AND (mean_err < 0.5) THEN
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_x",resFr.trans.x;
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_y",resFr.trans.y;
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_z",resFr.trans.z;
TPReadFK reg1,"Warmstart required for calibration to take effect."
,stEmpty,stEmpty,stEmpty, stEmpty,"OK";
WarmStart;
ENDIF
Four positions, SRVSRV, are created/modposed so that the robots tool W0\7RRO
points to the same reference point on the external axis 671B but with different
external axis rotation. The points are then used for calculating the external axis
base frame, UHV)U, in relation to the world coordinate system. Finally, the frame
is written to the configuration file and a warmstart is made to let the change to
take effect.
5HWXUQYDOXH
Data type:SRVH
$UJXPHQWV
&DOF5RW$[LV)UDPH0HFK8QLW>?$[LV1R@7DUJHW/LVW7DUJHWV,Q/LVW
0D[(UU0HDQ(UU
0HFK8QLW
Data type: PHFXQLW
Name of the mechnical unit to be calibrated.

>?$[LV1R@
Data type: QXP
Optional argument defining the axis number for which a frame should be
determined. Default value is 1 applaying to single rotational axis. For
mechanical units with several axes, the axis number should be supplied with this
argument.
7DUJHW/LVW
Array of robtargets holding the positions defined by pointing out the turntable.
7DUJHWV,Q/LVW
Data type: QXP

51
&DOF5RW$[LV)UDPH
%DVH:DUH
)XQFWLRQ
0D[(UU
Data type: QXP

0HDQ(UU
Data type: QXP
(UURUKDQGOLQJ
6\QWD[
CalcRotAxisFrame(
[MechUnit :=] <variable (9$5) of PHFXQLW>
[\AxisNo := <expression (,1) of QXP> ],
[TargetList :=] <array {*} (,1) of UREWDUJHW> ,
5HODWHGLQIRUPDWLRQ
Described in:
52
&'DWH
)XQFWLRQ
%DVH:DUH
&'DWH5HDGVWKHFXUUHQWGDWHDVDVWULQJ
&'DWH&XUUHQW'DWHis used to read the current system date.
This function can be used to present the current date to the operator on the FlexPendant
display or to paste the current date into a text file that the program writes to.
([DPSOH
VAR string date;
date := CDate();
The current date is stored in the variable GDWH.
5HWXUQYDOXH
Data type: VWULQJ
The current date in a string.

The standard date format is year-month-day, e.g. 1998-01-29.
([DPSOH
date := CDate();
TPWrite The current date is: +date;
Write logfile, date;
The current date is written to the FlexPendant display and into a text file.
6\QWD[
CDate ( )
A function with a return value of the type VWULQJ.
5HODWHGLQIRUPDWLRQ
Described in:
Time instructions
RAPID Summary - 6\VWHP 7LPH
Setting the system clock
Operators manual - IRC5 with FlexPendant
53
&'DWH
%DVH:DUH
54
)XQFWLRQ
&-RLQW7
)XQFWLRQ
%DVH:DUH
&-RLQW75HDGVWKHFXUUHQWMRLQWDQJOHV
&-RLQW7&XUUHQW-RLQW7DUJHWis used to read the current angles of the robot axes and
external axes.
([DPSOH
VAR jointtarget joints;
joints := CJointT();
The current angles of the axes for the robot and external axes are stored inMRLQWV.
5HWXUQYDOXH
The current angles in degrees for the axes of the robot on the arm side.
The current values for the external axes, in mm for linear axes, in degrees for rotational
axes.
The returned values are related to the calibration position.
6\QWD[
CJointT()
A function with a return value of the data type MRLQWWDUJHW.
5HODWHGLQIRUPDWLRQ
Described in:
Definition of joint
Reading the current motor angle
Functions - 5HDG0RWRU
55
&-RLQW7
%DVH:DUH
56
)XQFWLRQ
&ON5HDG
)XQFWLRQ
%DVH:DUH
&ON5HDG5HDGVDFORFNXVHGIRUWLPLQJ
&ON5HDGis used to read a clock that functions as a stop-watch used for timing.
([DPSOH
reg1:=ClkRead(clock1);
The clock FORFN is read and the time in seconds is stored in the variable UHJ.
5HWXUQYDOXH
Data type: QXP
The time in seconds stored in the clock. Resolution 0.010 seconds.
$UJXPHQW
&ON5HDG&ORFN
&ORFN
Data type: FORFN
The name of the clock to read.
3URJUDPH[HFXWLRQ
A clock can be read when it is stopped or running.
Once a clock is read it can be read again, started again, stopped, or reset.
(UURUKDQGOLQJ
If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it
becomes overflowed and the system variable ERRNO is set to ERR_OVERFLOW.
The error can be handled in the error handler.
6\QWD[
ClkRead (
[ Clock := ] < variable (9$5) ofFORFN > )
A function with a return value of the type QXP.
57
&ON5HDG
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
58
Clock instructions
Clock overflow
Data Types - FORFN
More examples
Instructions - &ON6WDUW
&RUU5HDG
)XQFWLRQ
%DVH:DUH
&RUU5HDG5HDGVWKHFXUUHQWWRWDORIIVHWV
&RUU5HDGis used to read the total corrections delivered by all connected correction
generators.
&RUU5HDG can be used to:
- find out how much the current path differs from the original path.
- take actions to reduce the difference.
([DPSOH
VAR pos offset;
...
offset := CorrRead();
The current offsets delivered by all connected correction generators are available in the
variable RIIVHW.
5HWXUQYDOXH
Data type: SRV
The total absolute offsets delivered from all connected correction generators so far.
([DPSOH
See Instructions &RUU&RQ
6\QWD[
CorrRead ( )
A function with a return value of the data type SRV.
59
&RUU5HDG
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
60
Connects to a correction generator
Instructions - &RUU&RQ
Disconnects from a correction generator
Instructions - &RUU'LVFRQ
Writes to a correction generator
Instructions - &RUU:ULWH
Removes all correction generators
Instructions - &RUU&OHDU
Correction descriptor
Data types - FRUUGHVFU
&RV
)XQFWLRQ
%DVH:DUH
&RV&DOFXODWHVWKHFRVLQHYDOXH
&RV&RVLQHis used to calculate the cosine value from an angle value.
([DPSOH
VAR num angle;
VAR num value;
.
.
value := Cos(angle);
5HWXUQYDOXH
Data type: QXP
The cosine value, range = [-1, 1] .
$UJXPHQWV
&RV$QJOH
$QJOH
Data type: QXP
The angle value, expressed in degrees.
6\QWD[
Cos(
[Angle :=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
61
&RV
%DVH:DUH
62
)XQFWLRQ
&3RV
)XQFWLRQ
%DVH:DUH
&3RV5HDGVWKHFXUUHQWSRVLWLRQSRVGDWD

&3RV&XUUHQW3RVLWLRQis used to read the current position of the robot.
This function returns the x, y, and z values of the robot TCP as data of type SRV. If the
complete robot position (UREWDUJHW) is to be read, use the function &5RE7instead.
([DPSOH
VAR pos pos1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot TCP is stored in variable SRV. The tool WRRO
and work object ZREM are used for calculating the position.
Note that the robot is standing still before the position is read and calculated.
This is achieved by using the stop pointILQH within position accuracy LQSRV in
the preceding movement instruction.
5HWXUQYDOXH
Data type: SRV
The current position (pos) of the robot with x, y, and z in the outermost coordinate system, taking the specified tool, work object and active ProgDisp coordinate system into
consideration.
$UJXPHQWV
&3RV>?7RRO@>?:2EM@
>?7RRO@
Data type: WRROGDWD
The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.
>?:2EM@
:RUN2EMHFW
Data type: ZREMGDWD
The work object (coordinate system) to which the current robot position returned
by the function is related.
If this argument is omitted the current active work object is used.
63
&3RV
%DVH:DUH
)XQFWLRQ
It is very sensible to always specify the arguments \Tool and \WObj during programming. The function will then always return the wanted position even if some other tool
or work object has been activated manually.
3URJUDPH[HFXWLRQ
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
([DPSOH
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
.
.
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program
using the &3RV function. The tool JULSand work object IL[WXUHare used for calculating the position. The x, y and z distances travelled between these positions
are then calculated and stored in the SRV variable SRV.
6\QWD[
CPos (
[\Tool := <persistent (3(56) of WRROGDWD>]
5HODWHGLQIRUPDWLRQ
Described in:
64
Data Types - SRV
Definition of tools
Coordinate systems

QDWH6\VWHPV
Reading the current UREWDUJHW
Functions - &5RE7
&5RE7
)XQFWLRQ
%DVH:DUH
&5RE75HDGVWKHFXUUHQWSRVLWLRQUREWDUJHWGDWD

&5RE7&XUUHQW5RERW7DUJHWis used to read the current position of the robot and
external axes.
This function returns a UREWDUJHW value with position (x, y, z), orientation (q1 ... q4),
robot axes configuration and external axes position. If only the x, y, and z values of the
robot TCP (SRV) are to be read, use the function &3RVinstead.
([DPSOH
VAR robtarget p1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes is stored inS. The tool WRRO
and work object ZREM are used for calculating the position.
Note that the robot is standing still before the position is read and calculated.
This is achieved by using the stop pointILQH within position accuracy LQSRV in
the preceding movement instruction.
5HWXUQYDOXH
The current position of the robot and external axes in the outermost coordinate system,
taking the specified tool, work object and active ProgDisp/ExtOffs coordinate system
into consideration.
$UJXPHQWV
&5RE7>?7RRO@>?:2EM@
>?7RRO@
Data type: WRROGDWD
The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.
>?:2EM@
:RUN2EMHFW
Data type: ZREMGDWD
The work object (coordinate system) to which the current robot position returned
by the function is related.
If this argument is omitted the current active work object is used.
65
&5RE7
%DVH:DUH
)XQFWLRQ
It is very sensible to always specify the arguments \Tool and \WObj during programming. The function will then always return the wanted position even if some other tool
or work object has been activated manually.
3URJUDPH[HFXWLRQ
The coordinates returned represent the TCP position in the ProgDisp coordinate system. External axes are represented in the ExtOffs coordinate system.
([DPSOH
VAR robtarget p2;
p2 := ORobT( RobT(\Tool:=grip3 \WObj:=fixture) );
The current position in the object coordinate system (without any ProgDisp or
ExtOffs) of the robot and external axes is stored inS. The tool JULSand work
object IL[WXUHare used for calculating the position.
6\QWD[
CRobT(
[\Tool := <persistent (3(56) of WRROGDWD>]
5HODWHGLQIRUPDWLRQ
Described in:
66
Definition of tools
Coordinate systems

QDWH6\VWHPV
ExtOffs coordinate system
Reading the current SRV(x, y, z only)
Functions - &3RV
&6SHHG2YHUULGH
)XQFWLRQ
%DVH:DUH
&6SHHG2YHUULGH5HDGVWKHFXUUHQWRYHUULGHVSHHG
&6SHHG2YHUULGH is used to read the speed override set by the operator from the Program or Production Window. The return value is displayed as a percentage where
100% corresponds to the programmed speed.
Note! Must not be mixed up with the argument 2YHUULGH in the RAPID instruction
9HO6HW.
([DPSOH
VAR num myspeed;

myspeed := CSpeedOverride();
The current override speed will be stored in the variable P\VSHHG.
E.g if the value is 100 this is equivalent to 100%.
5HWXUQYDOXH
Data type: QXP
The override speed value in percent of the programmed speed. This will be a numeric
value in the range 0 - 100.
6\QWD[
CSpeedOverride()
5HODWHGLQIRUPDWLRQ
Described in:
Changing the Override Speed
Users Guide3URJUDPPLQJDQG7HVWLQJ3URGXF
WLRQ5XQQLQJ
67
&6SHHG2YHUULGH
%DVH:DUH
68
)XQFWLRQ
&7LPH
)XQFWLRQ
%DVH:DUH
&7LPH5HDGVWKHFXUUHQWWLPHDVDVWULQJ
&7LPHis used to read the current system time.
This function can be used to present the current time to the operator on the FlexPendant
display or to paste the current time into a text file that the program writes to.
([DPSOH
VAR string time;
time := CTime();
The current time is stored in the variable WLPH.
5HWXUQYDOXH
Data type: VWULQJ
The current time in a string.

The standard time format is "hours:minutes:seconds", e.g. "18:20:46".
([DPSOH
time := CTime();
TPWrite The current time is: +time;
Write logfile, time;
The current time is written to the FlexPendant display and written into a text
file.
6\QWD[
CTime ( )
5HODWHGLQIRUPDWLRQ
Described in:
Time and date instructions
System Parameters
69
&7LPH
%DVH:DUH
70
)XQFWLRQ
&7RRO
)XQFWLRQ
%DVH:DUH
&7RRO5HDGVWKHFXUUHQWWRROGDWD
&7RRO&XUUHQW7RROis used to read the data of the current tool.
([DPSOH
PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
temp_tool := CTool();
The value of the current tool is stored in the variable WHPSBWRRO.
5HWXUQYDOXH
Data type: WRROGDWD
This function returns a WRROGDWDvalue holding the value of the current tool, i.e. the tool
last used in a movement instruction.
The value returned represents the TCP position and orientation in the wrist centre coordinate system, see WRROGDWD.
6\QWD[
CTool()
A function with a return value of the data type WRROGDWD.
5HODWHGLQIRUPDWLRQ
Described in:
Definition of tools
Coordinate systems
Motion and I/O Principles - &RRUGLQDWH6\VWHPV
71
&7RRO
%DVH:DUH
72
)XQFWLRQ
&:2EM
)XQFWLRQ
%DVH:DUH
&:2EM5HDGVWKHFXUUHQWZRUNREMHFWGDWD
&:2EM&XUUHQW:RUN2EMHFWis used to read the data of the current work object.
([DPSOH
PERS wobjdata temp_wobj;
temp_wobj := CWObj();
The value of the current work object is stored in the variable WHPSBZREM.
5HWXUQYDOXH
Data type: ZREMGDWD
This function returns a ZREMGDWDvalue holding the value of the current work object,
i.e. the work object last used in a movement instruction.
The value returned represents the work object position and orientation in the world
coordinate system, see ZREMGDWD.
6\QWD[
CWObj()
A function with a return value of the data type ZREMGDWD.
5HODWHGLQIRUPDWLRQ
Described in:
Data Types- ZREMGDWD
Coordinate systems
Motion and I/O Principles - &RRUGLQDWH6\VWHPV
73
&:2EM
%DVH:DUH
74
)XQFWLRQ
'HF7R+H[
)XQFWLRQ
%DVH:DUH
'HF7R+H[&RQYHUWIURPGHFLPDOWRKH[DGHFLPDO
'HF7R+H[LVXVHGWRFRQYHUWDQXPEHUVSHFLILHGLQDUHDGDEOHVWULQJLQWKHEDVHWR
WKHEDVH
The resulting string is constructed from the character set [0-9,A-Z].
This routine handle numbers from 0 up to 4294967295 dec or FFFFFFFF hex.
([DPSOH
VAR string str;
str := DecToHex("99999999");
The variable VWU is given the value "5F5E0FF".
5HWXUQYDOXHData type: VWULQJ

The string converted to a hexadecimal representation of the given number in the inparameter string.
$UJXPHQWV
'HF7R+H[6WU
6WU
(6WULQJ)
Data type: VWULQJ
The string to convert.
6\QWD[
DecToHex(
[ Str := ] <expression (,1) of VWULQJ> ,
)
75
'HF7R+H[
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
76
String functions
Data Types - VWULQJ
String values
Basic Characteristics - %DVLF(OHPHQWV
'HI$FF)UDPH
)XQFWLRQ
%DVH:DUH
'HI$FF)UDPH'HILQHDQDFFXUDWHIUDPH
'HI$FF)UDPH'HILQH$FFXUDWH)UDPHis used to define a frame from three to ten
original positions and the same number of displaced positions.
'HVFULSWLRQ
A frame can be defined when a set of targets are known at two different locations.
Thus, WKHVDPHSK\VLFDOSRVLWLRQVare used but expressed differently.
Consider it in two different approaches:
,: The same physical positions are expressed in relation to different coordinate
systems. For example, a number of positions are retrieved from a CAD drawing,
thus the positions are expressed in CAD local coordinate system. The same
positions are then expressed in robot world coordinate system. From these two
sets of positions the frame between CAD coordinate system and robot world
coordinate system is calculated.
,,: A number of positions are related to an object in an original position. After a
displacement of the object, the positions are determined again (often searched
for). From these two sets of positions (old positions, new positions) the
displacement frame is calculated.
Three targets are enough to define a frame, but to improve accuracy several points
should be used.
([DPSOH
77
'HI$FF)UDPH
%DVH:DUH
)XQFWLRQ

VAR robtarget p6 := [...];
VAR robtarget pWCS{5};
VAR robtarget pCAD{5};

VAR pose frame1;
VAR num max_err;
VAR num mean_err;

! Add positions to robtarget arrays
pCAD{1}:=p1;
....
pCAD{5}:=p5;
pWCS{1}:=p6;
....
pWCS{5}:=p10;

frame1 := DefAccFrame (pCAD, pWCS, 5, max_err, mean_err);
Five positions SS, related to an object, have been stored. The five positions
are also stored in relation to world coordinate system as p6-p10. From these 10
positions the frame, IUDPH between the object and the world coordinate system
is calculated. The frame will be the CAD frame expressed in the world coordinate
system. If the input order of the targetlists is exchanged, i.e.
DefAccFrame(pWCS, pCAD....) the world frame will be expressed in the CAD
coordinate system.
5HWXUQYDOXH
Data type:SRVH
78
'HI$FF)UDPH
)XQFWLRQ
%DVH:DUH
$UJXPHQWV
'HI$FF)UDPH7DUJHW/LVW2QH7DUJHW/LVW7ZR7DUJHWV,Q/LVW
0D[(UU0HDQ(UU
7DUJHW/LVW2QH
Array of robtargets holding the positions defined in coordinate system one.

7DUJHW/LVW7ZR
Array of robtargets holding the positions defined in coordinate system two.

7DUJHWV,Q/LVW
Data type: QXP

0D[(UU
Data type: QXP

0HDQ(UU
Data type: QXP
(UURUKDQGOLQJ
6\QWD[
DefAccFrame(
[TargetListOne :=] <array {*} (,1) of UREWDUJHW> ,
[TargetListTwo :=] <array {*} (,1) of UREWDUJHW> ,
79
'HI$FF)UDPH
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
80
Calculating a frame from three positions
Functions - 'HI)UDPH
Calculate a displacement frame
Functions - 'HI')UDPH
'HI')UDPH
)XQFWLRQ
%DVH:DUH
'HI')UDPH'HILQHDGLVSODFHPHQWIUDPH
'HI')UDPH'HILQH'LVSODFHPHQW)UDPHis used to calculate a displacement frame
from three original positions and three displaced positions.
([DPSOH
p3
p6
p5
p4
p1
p2
the new plane

VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
.
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
.
.
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
.
!activation of the displacement defined by frame1
PDispSet frame1;
Three positions SS, related to an object in an original position, have been
stored. After a displacement of the object, three new positions are searched for
and stored as SS. The displacement frame is calculated from these six positions. Then the calculated frame is used to displace all the stored positions in the
program.
5HWXUQYDOXH
Data type: SRVH
The displacement frame.

81
'HI')UDPH
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
'HI')UDPH2OG32OG32OG31HZ31HZ31HZ3
2OG3
The first original position.

2OG3
The second original position.

2OG3
The third original position.

1HZ3
The first displaced position. The difference between 2OG3 and 1HZ3 will
define the translation part of the frame and must be measured and determined
with great accuracy.
1HZ3
The second displaced position. The line 1HZ31HZ3 will define the rotation
of the old line OldP1 ... OldP2.
1HZ3
The third displaced position. This position will define the rotation of the plane,
e.g. it should be placed on the new plane of 1HZ3, 1HZ3 and 1HZ3.
(UURUKDQGOLQJ
If it is not possible to calculate the frame because of bad accuracy in the positions, the
system variable ERRNO is set to ERR_FRAME. This error can then be handled in the
error handler.
6\QWD[
DefDFrame(
[OldP1 :=] <expression (,1) of UREWDUJHW> ,
[NewP1 :=] <expression (,1) of UREWDUJHW> ,
[NewP3 :=] <expression (,1) of UREWDUJHW> )
82
'HI')UDPH
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Activation of displacement frame
Instructions - 3'LVS6HW
Manual definition of displacement frame Operators manual - IRC5 with FlexPendant

- &DOLEUDWLRQ
83
'HI')UDPH
%DVH:DUH
84
)XQFWLRQ
'HI)UDPH
)XQFWLRQ
%DVH:DUH
'HI)UDPH'HILQHDIUDPH
'HI)UDPH'HILQH)UDPHis used to calculate a frame, from three positions defining
the frame.
([DPSOH
y
p3
z
x
p2
y
frame1
p1
object frame
Three positions, SS, related to the object coordinate system, are used to define the
new coordinate system, IUDPH. The first position, S, is defining the origin of IUDPH,
the second position, S, is defining the direction of the x-axis and the third position,
S, is defining the location of the xy-plane. The defined IUDPH may be used as a displacement frame, as shown in the example below:
VAR pose frame1;
.
.
frame1 := DefFrame (p1, p2, p3);
.
.
!activation of the displacement defined by frame1
PDispSet frame1;
5HWXUQYDOXH
Data type: SRVH

The calculation is related to the active object coordinate system.
85
'HI)UDPH
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
'HI)UDPH1HZ31HZ31HZ3>?2ULJLQ@
1HZ3
The first position, which will define the origin of the new frame.
1HZ3
The second position, which will define the direction of the x-axis of the new
frame.
1HZ3
The third position, which will define the xy-plane of the new frame. The position
of point 3 will be on the positive y side, see the figure above.
>\2ULJLQ@
Data type: QXP
Optional argument, which will define how the origin of the frame will be placed.
Origin = 1, means that the origin is placed in NewP1, i.e. the same as if this argument is omitted. Origin = 2 means that the origin is placed in NewP2, see the figure below.
z
New P3
x
y
object frame
New P2
New P1
frame1
Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2
and so that NewP3 will be placed on the y axis, see the figure below.
86
'HI)UDPH
)XQFWLRQ
%DVH:DUH
y
New P3
x
y
object frame
New P2
New P1
frame1
Other values, or if Origin is omitted, will place the origin in NewP1.
/LPLWDWLRQV
The three positions SS, defining the frame, must define a well shaped triangle. The
most well shaped triangle is the one with all sides of equal length.
p2
p3
p1
The triangle is not considered to be well shaped if the angleT a is too small. The angle
T is too small if:
cos 4
1
10
The triangle SSS must not be too small, i.e. the positions cannot be too close. The
distances between the positions SS and SS must not be less than 0.1 mm.
(UURUKDQGOLQJ
If the frame cannot be calculated because of the above limitations, the system variable
ERRNO is set to ERR_FRAME. This error can then be handled in the error handler.
87
'HI)UDPH
%DVH:DUH
)XQFWLRQ
6\QWD[
DefFrame(
[NewP3 :=] <expression (,1) of UREWDUJHW>
[\Origin := <expression (,1) of QXP> ])
5HODWHGLQIRUPDWLRQ
Described in:
88
Activation of displacement frame
'LP
)XQFWLRQ
%DVH:DUH
'LP2EWDLQVWKHVL]HRIDQDUUD\
'LP'LPHQVLRQ) is used to obtain the number of elements in an array.
([DPSOH
PROC arrmul(VAR num array{*}, num factor)
FOR index FROM 1 TO Dim(array, 1) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
All elements of a num array are multiplied by a factor.
This procedure can take any one-dimensional array of data type QXP as an input.
5HWXUQYDOXH
Data type: QXP
The number of array elements of the specified dimension.
$UJXPHQWV
'LP$UU3DU'LP1R
$UU3DU
$UUD\3DUDPHWHU
Data type: Any type
'LPHQVLRQ1XPEHU
Data type: QXP
The name of the array.

'LP1R
The desired array dimension: 1 = first dimension

2 = second dimension
3 = third dimension
89
'LP
%DVH:DUH
)XQFWLRQ
([DPSOH
PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})
IF Dim(array1,1) <> Dim(array2,1) OR Dim(array1,2) <> Dim(array2,2) OR
Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
array1{i1,i2,i3} := array1{i1,i2,i3} + array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;
ENDPROC
Two matrices are added. If the size of the matrices differs, the program stops and
an error message appears.
This procedure can take any three-dimensional arrays of data type QXP as an
input.
6\QWD[
Dim (
[ArrPar:=] <reference (5()) of any type> ,
[DimNo:=] <expression (,1) of QXP> )
A REF parameter requires that the corresponding argument be either a constant, a variable or an entire persistent. The argument could also be an IN parameter, a VAR parameter or an entire PERS parameter.
5HODWHGLQIRUPDWLRQ
Described in:
90
Array parameters
Basic Characteristics - 5RXWLQHV
Array declaration
Basic Characteristics - 'DWD
'LVWDQFH
)XQFWLRQ
%DVH:DUH
'LVWDQFH'LVWDQFHEHWZHHQWZRSRLQWV
'LVWDQFHis used to calculate the distance between two points in the space.
([DPSOH
y
p2
x
p1
z
VAR num dist;
CONST pos p1 := [4,0,4];
CONST pos p2 := [-4,4,4];
...
dist := Distance(p1, p2);
The distance in space between the points Sand Sis calculated and stored in
the variable GLVW.
5HWXUQYDOXH
Data type: QXP
The distance (always positive) between the points.
$UJXPHQWV
'LVWDQFH3RLQW3RLQW
3RLQW
Data type: SRV
The first point described by the SRV data type.

3RLQW
Data type: SRV
The second point described by the SRV data type.
91
'LVWDQFH
%DVH:DUH
)XQFWLRQ
3URJUDPH[HFXWLRQ
Calculation of the distance between the two points:
y
x2, y2, z2
x
x1,y1,z1
z
distance =
[ [ 2 + \ \ 2 + ] ] 2
1 2
1 2
1 2
6\QWD[
Distance(
[Point1 :=] <expression (,1) of SRV> ,
[Point2 :=] <expression (,1) of SRV>
)
5HODWHGLQIRUPDWLRQ
Described in:
92
Definition of pos
Data Type - SRV
'RW3URG
)XQFWLRQ
%DVH:DUH
'RW3URG'RWSURGXFWRIWZRSRVYHFWRUV
'RW3URG'RW3URGXFWis used to calculate the dot (or scalar) product of two pos vectors. The typical use is to calculate the projection of one vector upon the other or to
calculate the angle between the two vectors.
([DPSOH
%
T $%
$
$
% cos T$%
The dot or scalar product of two vectors $ and % is a scalar, which equals the products
of the magnitudes of $ and % and the cosine of the angle between them
.
$ % = $ % cos T$%
The dot product:
is less than or equal to the product of their magnitudes.
can be either a positive or a negative quantity, depending whether the angle between
them is smaller or larger then 90 degrees.
is equal to the product of the magnitude of one vector and the projection of the other
vector upon the first one.
is zero when the vectors are perpendicular to each other.
The vectors are described by the data type SRV and the dot product by the data type
QXP:
VAR num dotprod;
VAR pos vector1;
VAR pos vector2;
.
.
vector1 := [1,1,1];
vector2 := [1,2,3];
dotprod := DotProd(vector1, vector2);
93
'RW3URG
%DVH:DUH
)XQFWLRQ
5HWXUQYDOXH
Data type: QXP
The value of the dot product of the two vectors.
$UJXPHQWV
'RW3URG9HFWRU9HFWRU
9HFWRU
Data type: SRV
The first vector described by the SRV data type.

9HFWRU
Data type: SRV
The second vector described by the SRV data type.
6\QWD[
DotProd(
[Vector1 :=] <expression (,1) of SRV> ,
[Vector2 :=] <expression (,1) of SRV>
)
5HODWHGLQIRUPDWLRQ
Described in:
94
'2XWSXW
)XQFWLRQ
%DVH:DUH
'2XWSXW5HDGVWKHYDOXHRIDGLJLWDORXWSXWVLJQDO
'2XWSXWis used to read the current value of a digital output signal.
([DPSOH
IF DOutput(do2) = 1 THEN . . .
If the current value of the signal GR is equal to then
5HWXUQYDOXH
Data type: GLRQXP
The current value of the signal (0 or 1).
$UJXPHQWV
'2XWSXW6LJQDO
6LJQDO
Data type: VLJQDOGR
The name of the signal to be read.
3URJUDPH[HFXWLRQ
The value read depends on the configuration of the signal. If the signal is inverted in
the system parameters, the value returned by this function is the opposite of the true
value of the physical channel.
(UURUKDQGOLQJ
Following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
95
'2XWSXW
%DVH:DUH
)XQFWLRQ
([DPSOH
IF DOutput(auto_on) <> active THEN . . .
If the current value of the system signal DXWRBRQis QRWDFWLYH, then ..., i.e. if the
robot is in the manual operating mode, then ... Note that the signal must first be
defined as a system output in the system parameters.
6\QWD[
DOutput (
[ Signal := ] < variable (9$5) of VLJQDOGR > )
A function with a return value of the data type GLRQXP.
5HODWHGLQIRUPDWLRQ
Described in:
96
Input/Output functionality in general
Motion and I/O Principles - ,23ULQFLSOHV
System Parameters
(XOHU=<;
)XQFWLRQ
%DVH:DUH
(XOHU=<;*HWVHXOHUDQJOHVIURPRULHQW
(XOHU=<;(XOHU=<;URWDWLRQVis used to get an Euler angle component from an orient
type variable.
([DPSOH
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
.
anglex := EulerZYX(\X, object.rot);
angley := EulerZYX(\Y, object.rot);
anglez := EulerZYX(\Z, object.rot);
5HWXUQYDOXH
Data type: QXP
The corresponding Euler angle, expressed in degrees, range [-180, 180].
$UJXPHQWV
(XOHU=<;>?;@_>?<@_>?=@5RWDWLRQ
The arguments \X, \Y and \Z are mutually exclusive. If none of these are specified, a
run-time error is generated.
>?;@
Data type:VZLWFK
Gets the rotation around the X axis.
Data type: VZLWFK
[?<]
Gets the rotation around the Y axis.
Data type: VZLWFK
[?=]
Gets the rotation around the Z axis.
5RWDWLRQ
Data type: RULHQW
The rotation in its quaternion representation.
97
(XOHU=<;
%DVH:DUH
)XQFWLRQ
6\QWD[
EulerZYX(
['\'X ,] | ['\'Y ,] | ['\'Z ,]
[Rotation :=] <expression (,1) of RULHQW>
)
5HODWHGLQIRUPDWLRQ
Described in:
98
([S
)XQFWLRQ
%DVH:DUH
([S&DOFXODWHVWKHH[SRQHQWLDOYDOXH
([S([SRQHQWLDOis used to calculate the exponential value, ex.
([DPSOH
VAR num x;
VAR num value;
.
.
value:= Exp( x);
5HWXUQYDOXH
Data type: QXP
The exponential value ex .
$UJXPHQWV
([S([SRQHQW
Data type: QXP
Exponent
The exponent argument value.
6\QWD[
Exp(
[Exponent :=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
99
([S
%DVH:DUH
100
)XQFWLRQ
)LOH6L]H
)XQFWLRQ
)LOHDQGVHULDOFKDQQHOKDQGOLQJ
)LOH6L]H5HWULHYHWKHVL]HRIDILOH
)LOH6L]H is used to retrieve the size of specified file.
([DPSOH
PROC listfile(string filename)
VAR num size;
size := FileSize(filename);
TPWrite filename+" size: "+NumToStr(size,0)+" Bytes";
ENDPROC
This procedure prints out the name of specified file together with a size
specification.
5HWXUQYDOXH
Data type: QXP
The size in bytes.
$UJXPHQWV
)LOH6L]H 3DWK
3DWK
Data type:VWULQJ
The file name specified with full or relative path.
3URJUDPH[HFXWLRQ
This function returns a numeric that specifies the size in bytes of the specified file.
Its also possible to get the same information about a directory.
101
)LOH6L]H
)XQFWLRQ
([DPSOH
7KLVH[DPSOHOLVWVDOOILOHVELJJHUWKDQ.%\WHXQGHUWKH+20(GLUHFWRU\
VWUXFWXUHLQFOXGLQJDOOVXEGLUHFWRULHV
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
ENDIF
ENDWHILE
CloseDir directory;
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
IF FileSize(filename) > 1024 THEN
TPWrite filename;
ENDIF
ENDPROC
PROC main()
! Execute the listfile routine for all files found under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under HOME: and for each file
found it calls the OLVWILOH procedure. The VHDUFKGLU is a generic part that knows
nothing about the start of the search or which routine should be called for each
file. It uses ,V)LOH to check whether it has found a subdirectory or a file and it uses
the late binding mechanism to call the procedure specified in DFWLRQSURF for all
files found. The DFWLRQSURF routine OLVWILOH checks whether the file is bigger than
1KBytes.
102
)LOH6L]H
)XQFWLRQ
(UURUKDQGOLQJ
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This
error can then be handled in the error handler.
6\QWD[
FileSize (
[ Path := ] < expression (,1) of VWULQJ> )
5HODWHGLQIRUPDWLRQ
Described in:
Directory
GLU
Open a directory
2SHQ'LU
Close a directory
&ORVH'LU
Read a directory
5HDG'LU
103
)LOH6L]H
104
)XQFWLRQ
)LOH7LPH
)XQFWLRQ
%DVH:DUH
)LOH7LPH5HWULHYHWLPHLQIRUPDWLRQDERXWDILOH
)LOH7LPH is used to retrieve the last time for modification, access or file status change
of a file. The time is measured in secs since 00:00:00 GMT, Jan. 1 1970. The time is
returned as a num.
([DPSOH
Load "HOME:/notmymod.mod";

WHILE TRUE DO
! Call some routine in notmymod
notmymodrout;
IF FileTime("HOME:/notmymod.mod" \ModifyTime)
> ModTime("notmymod") THEN
UnLoad "HOME:notmymod.mod";
Load "HOME:notmymod.mod";
ENDIF
ENDWHILE

This program reloads a module if there is a newer at the source. It uses the
0RG7LPH to retrieve the latest loading time for the specified module, and to compare it to the )LOH7LPH?0RGLI\7LPH at the source. Then, if the source is newer, the
program unloads and loads the module again.
5HWXUQYDOXH
Data type: QXP
The time measured in secs since 00:00:00 GMT, Jan 1 1970.
$UJXPHQWV
)LOH7LPH3DWK>?0RGLI\7LPH@_>?$FFHVV7LPH@_>?6WDW&7LPH@
3DWK
Data type:VWULQJ
The file specified with a full or relative path.
0RGLI\7LPH
Data type:VZLWFK
Last modification time.

$FFHVV7LPH
Data type:VZLWFK
Time of last access (read, execute of modify).
105
)LOH7LPH
%DVH:DUH
)XQFWLRQ
6WDW&7LPH
Data type:VZLWFK
Last file status (access qualification) change time.
3URJUDPH[HFXWLRQ
This function returns a numeric that specifies the time since the last:
- Modification
- Access
- File status change
of the specified file.
Its also possible to get the same information about a directory.
([DPSOH
7KLVLVDFRPSOHWHH[DPSOHWKDWLPSOHPHQWVDQDOHUWVHUYLFHIRUPD[LPXPILOHV
LOCAL RECORD falert
string filename;
num ftime;
ENDRECORD
LOCAL VAR falert myfiles[10];
LOCAL VAR num currentpos:=0;
LOCAL VAR intnum timeint;
LOCAL TRAP mytrap
VAR num pos:=1;
WHILE pos <= currentpos DO
IF FileTime(myfiles{pos}.filename \ModifyTime) > myfiles{pos}.ftime THEN
TPWrite "The file "+myfiles{pos}.filename+" is changed";
ENDIF
pos := pos+1;
ENDWHILE
ENDTRAP
PROC alertInit(num freq)
currentpos:=0;
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
106
)LOH7LPH
)XQFWLRQ
%DVH:DUH
PROC alertNew(string filename)

currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);
ENDIF
ENDPROC
(UURUKDQGOLQJ
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This
error can then be handled in the error handler.
6\QWD[
FileTime (
[ Path := ] < expression (,1) of VWULQJ>
[ '\'ModifyTime] |
[ '\'AccessTime] |
[ '\'StatCTime] )
5HODWHGLQIRUPDWLRQ
Described in:
Last time a module was loaded
Functions - 0RG7LPH
107
)LOH7LPH
%DVH:DUH
108
)XQFWLRQ
)66L]H
)XQFWLRQ
)66L]H5HWULHYHWKHVL]HRIDILOHV\VWHP
)66L]H ()LOH6\VWHP6L]H) is used to retrieve the size of the file system in which a specified file resides. The size is returned as a num.
([DPSOH
PROC main()
VAR num totalfsyssize;
VAR num freefsyssize;
freefsyssize := FSSize("HOME:/spy.log" \Free);
totalfsyssize := FSSize("HOME:/spy.log" \Total);
TPWrite NumToStr(((totalfsyssize - freefsyssize)/totalfsyssize)*100,0)
+" percent used";
ENDPROC
This procedure prints out the amount of disk space used on the +20( file system (flash disk /hd0a/ ) as a percentage.
5HWXUQYDOXH
Data type: QXP
The size in bytes.
$UJXPHQWV
)66L]H 1DPH>?7RWDO@_>?)UHH@
1DPH
Data type:VWULQJ
The name of a file in the file system, specified with full or relative path.
>?7RWDO@
Data type:VZLWFK
Retrieves the total amount of space in the file system.

>?)UHH@
Data type:VZLWFK
Retrieves the amount of free space in the file system.
3URJUDPH[HFXWLRQ
This function returns a numeric that specifies the size of the file system in which the
specified file resides.
109
)66L]H
)XQFWLRQ
([DPSOH
7KLVLVDFRPSOHWHH[DPSOHIRULPSOHPHQWLQJDQDOHUWVHUYLFHWKDWSULQWVDZDUQLQJ
RQWKH73ZKHQWKHUHPDLQLQJIUHHVSDFHLQWKH+20(ILOHV\VWHPLVOHVVWKDQ

LOCAL VAR intnum timeint;
LOCAL TRAP mytrap
IF FSSize("HOME:/spy.log" \Free)/FSSize("HOME:/spy.log" \Total) <= 0.1 THEN
TPWrite "The disk is almost full";
alertFree;
ENDIF
ENDTRAP
PROC alertInit(num freq)
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
(UURUKDQGOLQJ
If the file system does not exist, the system variable ERRNO is set to ERR_FILEACC.
6\QWD[
FSSize(
[ Name := ] < expression (,1) of VWULQJ>
[ '\'Total ] | [ '\'Free ])
5HODWHGLQIRUPDWLRQ
Described in:
File size.
110
)LOH6L]H
*HW1H[W0HFK8QLW
)XQFWLRQ
%DVH:DUH
*HW1H[W0HFK8QLW*HWQDPHRIPHFKDQLFDOXQLWV
*HW1H[W0HFK8QLWis used for retrieving name of mechanical units in the robot system.
([DPSOHV
VAR num listno := 0;
VAR string name := "";

TPWrite "List of mechanical units:";
WHILE GetNextMechUnit(listno, name) DO
TPWrite name;
! listno := listno + 1is done by GetNextMechUnit
ENDWHILE
The name of all mechanical units available in the system, will be displayed on the
FlexPendant.
5HWXUQ9DOXH
Data type:ERRO
TRUE if a mechanical unit was found, otherwise FALSE.
$UJXPHQWV
*HW1H[W0HFK8QLW/LVW1XPEHU8QLW1DPH
/LVW1XPEHU
Data type:QXP
This specifies which items in the list of mechanical units are to be retrieved. At
return, this variable is always incremented by one to make it easy to access the
next unit in the list.
The first mechanical unit in the list has index 0.
8QLW1DPH
Data type:VWULQJ
The name of the mechanical unit.
111
*HW1H[W0HFK8QLW
%DVH:DUH
)XQFWLRQ
([DPSOH
VAR num listno := 4;
VAR string name := "";
VAR bool found := FALSE;
found := GetNextMechUnit (listno, name);
If IRXQGequal to TRUE, the name of mechanical unit number 4 will be in the variable QDPHelse QDPH contains only an empty string.
6\QWD[
GetNextMechUnit (
[ ListNumber:= ] < variable (9$5) of QXP> ,
[ UnitName:= ] < variable (9$5) of VWULQJ> )
5HODWHGLQIRUPDWLRQ
Described in:
Data Types - PHFXQLW
Mechanical unit
Activating/Deactivating mechanical unitsInstructions - $FW8QLW'HDFW8QLW

Configuration of mechanical units
System Parameters
Characteristics of non-value data types Basic Characteristics - 'DWD7\SHV
112
*HW1H[W6\P
)XQFWLRQ
$GYDQFHG5$3,'
*HW1H[W6\P*HWQH[WPDWFKLQJV\PERO
*HW1H[W6\P*HW1H[W6\PEROis used together with 6HW'DWD6HDUFK to retrieve data
objects from the system.
([DPSOH
VAR datapos block;
VAR string name;
VAR bool truevar:=TRUE;
...
SetDataSearch bool ?Object:=my.* ?InMod:=mymod?LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name?Block:=block,truevar;
ENDWHILE
This session will set all local ERRO data objects that begin with P\ in the module
P\PRG to TRUE.
5HWXUQYDOXH
Data type: ERRO
TRUE if a new object has been retrieved, the object name and its enclosed block is then
returned in its arguments.
FALSE if no more objects match.
$UJXPHQWV
*HW1H[W6\P 2EMHFW%ORFN>?5HFXUVLYH@
2EMHFW
Data type: VWULQJ
Variable (VAR or PERS) to store the name of the data object that will be
retrieved.
%ORFN
Data type: GDWDSRV
The enclosed block to the object.

>?5HFXUVLYH@
Data type: VZLWFK
This will force the search to enter the block below, e.g. if the search session has
begun at the task level, it will also search modules and routines below the task.
113
*HW1H[W6\P
$GYDQFHG5$3,'
)XQFWLRQ
6\QWD[
GetNextSym
[ Object := ] < variable or persistent (,1287) of VWULQJ > ,
[ Block :=] <variable (9$5) of GDWDSRV>
[\Recursive ] ;
5HODWHGLQIRUPDWLRQ
Described in:
Define a symbol set in a search session Instructions - 6HW'DWD6HDUFK
114
Get the value of a data object
Instructions - GHW'DWD9DO
Set the value of a data object
Instructions - 6HW'DWD9DO
Set the value of many data objects
Instructions - 6HW$OO'DWD9DO
The related data type datapos
Data Types - GDWDSRV
*HW6\V,QIR
)XQFWLRQ
%DVH:DUH
*HW6\V,QIR*HWLQIRUPDWLRQDERXWWKHV\VWHP
*HW6\V,QIRis used to read information about the system. Information available is Serial
Number, SoftWare Version, Robot Type and Controller ID.
([DPSOH
VAR string serial;
VAR string version;
VAR string rtype;
VAR string cid;
serial := GetSysInfo(\SerialNo);
version := GetSysInfo(\SWVersion);
rtype := GetSysInfo(\RobotType);
cid := GetSysInfo(\CtrlId);
The serial number will be stored in the variable VHULDO, the version number will
be stored in the variable YHUVLRQ, the robot number will be stored in the variable
UW\SH and the controller ID number will be stored in the variable FLG.
Example of returned string
Serial Number: 14 - 21858
Software Version: ROBOTWARE_5.04.0028 RobotWare 5.04.0000
Robot Type: 2400/16 Floor
Controller ID: 44 - 1267
5HWXUQYDOXH
Data type: VWULQJ
One of Serial Number, SoftWare Version, Robot Type or Controller ID
$UJXPHQWV
*HW6\V,QIR
>?6HULDO1R@
>?6HULDO1R@_>?6:9HUVLRQ@_>?5RERW7\SH@>?&WUO,G@
(6HULDO1XPEHU)
Data type: VZLWFK
Returns the serial number.

>?6:9HUVLRQ@
(6RIW:DUH9HUVLRQ)
Data type: VZLWFK
Returns the software version (Product ID).
115
*HW6\V,QIR
%DVH:DUH
)XQFWLRQ
>?5RERW7\SH@
Data type: VZLWFK
Returns the robot type.

>?&WUO,G@
&RQWUROOHU,'
Data type: VZLWFK
Returns the controller ID.

Returns an empty string if no Controller ID is specified.
A string with "VC" is returned if this option is used in the Virtual Controller.
One of the arguments 6HULDO1R, 6:9HUVLRQ, 5RERW7\SHor &WUO,Gmust be given.
6\QWD[
GetSysInfo(
[\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId])
116
*HW7DVN1DPH
)XQFWLRQ
%DVH:DUH
*HW7DVN1DPH*HWVWKHQDPHDQGQXPEHURIFXUUHQWWDVN
*HW7DVN1DPH is used to get the identity of the current program task, with its name and
number.
It is also possible from some 1RQ0RWLRQ7DVN to get the name and number of its
connected 0RWLRQ7DVN. For 0XOWL0RYH6\VWHP the system parameter &RQWUROOHU7DVNV/
8VH0HFKDQLFDO8QLW *URXS define the connected 0RWLRQ7DVN and in a base system
the main task is always the connected 0RWLRQ7DVN from any other task.
([DPSOH
VAR string taskname;
...
taskname := GetTaskName();
The current task name is returned in the variable WDVNQDPH.
VAR num taskno;
...
name := GetTaskName(\TaskNo:=taskno);
The current task name is returned in the variable WDVNQDPH. The numerical identity of the task is stored in the variable WDVNQR.
VAR num taskno;
...
taskname := GetTaskName(\MecTaskNo:=taskno);
If current task is a 1RQ0RWLRQ7DVN task, the name of the connected motion task
is returned in the variable WDVNQDPH. The numerical identity of the connected
motion task is stored in the variable WDVNQR.
If current task controls some mechanical units, current task name is returned in
the variable WDVNQDPH. The numerical identity of the task is stored in the variable
WDVNQR.
5HWXUQYDOXH
Data type: VWULQJ
The name of the task in which the function is executed, or the name of the connected
motion task.
117
*HW7DVN1DPH
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
*HW7DVN1DPH>?7DVN1R@_>?0HF7DVN1R@
>?7DVN1R@
Data type: QXP
Function fetch current task. Same function also without any option parameter.
Get the identity of the current task represented as a numeric value. The numbers
returned will be in the range 1-20 where 1 is the identity of the main task.
>?0HF7DVN1R@
Data type: QXP
Function fetch connected or current motion task.

Get the identity of connected or current motion task represented as a numeric
value. The numbers returned will be in the range 1-20 where 1 is the identity of
the main task.
6\QWD[
GetTaskName(
[ \TaskNo := ] < variable (9$5) of QXP >
[ \MecTaskNo := ] < variable (9$5) of QXP > )
A function with a return value of the data type VWULQJ
5HODWHGLQIRUPDWLRQ
Described in:
Multitasking
118
RAPID Overview - 5$3,'6XPPDU\0XOWLWDVNLQJ%DVLF

&KDUDFWHULVWLFV0XOWLWDVNLQJ
*HW7LPH
)XQFWLRQ
%DVH:DUH
*HW7LPH5HDGVWKHFXUUHQWWLPHDVDQXPHULFYDOXH
*HW7LPHis used to read a specified component of the current system time as a numeric
value.
*HW7LPH can be used to :
- have the program perform an action at a certain time
- perform certain activities on a weekday
- abstain from performing certain activities on the weekend
- respond to errors differently depending on the time of day.
([DPSOH
hour := GetTime(\Hour);
The current hour is stored in the variable KRXU.
5HWXUQYDOXH
Data type: QXP
One of the four time components specified below.
$UJXPHQW
*HW7LPH[?:'D\]_[?+RXU]_[?0LQ]_ [?6HF]
>?:'D\@
Data type: VZLWFK
Return the current weekday.

Range: 1 to 7 (Monday to Sunday).
>?+RXU@
Data type: VZLWFK
Return the current hour.

Range: 0 to 23.
>?0LQ@
Data type: VZLWFK
Return the current minute.

Range: 0 to 59.
119
*HW7LPH
%DVH:DUH
)XQFWLRQ
>?6HF@
Data type: VZLWFK
Return the current second.

Range: 0 to 59.
One of the arguments must be specified, otherwise program execution stops with an
error message.
([DPSOH
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF
If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At all other times, the robot is in the maintenance mode.
6\QWD[
GetTime (
[\ WDay ]
| [ \ Hour ]
| [ \ Min ]
| [ \ Sec ] )
5HODWHGLQIRUPDWLRQ
Described in:
120
Time and date instructions
System Parameters
*2XWSXW
)XQFWLRQ
%DVH:DUH
*2XWSXW5HDGVWKHYDOXHRIDJURXSRIGLJLWDORXWSXWVLJQDOV
G2XWSXWis used to read the current value of a group of digital output signals.
([DPSOH
IF GOutput(go2) = 5 THEN ...
If the current value of the signal JR isequal to then
5HWXUQYDOXH
Data type: QXP
The current value of the signal (a positive integer).

The values of each signal in the group are read and interpreted as an unsigned binary
number. This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the
group.
No. of signals
Return value
No. of signals
Return value
0-1
0 - 511
0-3
10
0 - 1023
0-7
11
0 - 2047
0 - 15
12
0 - 4095
0 - 31
13
0 - 8191
0 - 63
14
0 - 16383
0 - 127
15
0 - 32767
0 - 255
16
0 - 65535
$UJXPHQWV
*2XWSXW6LJQDO
6LJQDO
Data type: VLJQDOJR
The name of the signal group to be read.
121
*2XWSXW
%DVH:DUH
)XQFWLRQ
(UURUKDQGOLQJ
ERR_NORUNUNIT
6\QWD[
GOutput (
[ Signal := ] < variable (9$5) of VLJQDOJR > )
A function with a return value of data type QXP.
5HODWHGLQIRUPDWLRQ
Described in:
122
System Parameters
+H[7R'HF
)XQFWLRQ
%DVH:DUH
+H[7R'HF&RQYHUWIURPKH[DGHFLPDOWRGHFLPDO
+H[7R'HFLVXVHGWRFRQYHUWDQXPEHUVSHFLILHGLQDUHDGDEOHVWULQJLQWKHEDVHWR
WKHEDVH
The input string should be constructed from the character set [0-9,A-Z,a-z].
This routine handle numbers from 0 up to 4294967295 dec or FFFFFFFF hex.
([DPSOH
VAR string str;
str := HexToDec("5F5E0FF");
The variable VWU is given the value "99999999".
5HWXUQYDOXH
Data type: VWULQJ
The string converted to a decimal representation of the given number in the inparameter string.
$UJXPHQWV
+H[7R'HF6WU
6WU
(6WULQJ)
Data type: VWULQJ
The string to convert.
6\QWD[
HexToDec(
)
123
'HF7R+H[
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
124
String functions
Data Types - VWULQJ
String values
,QG,QSRV
)XQFWLRQ
,QGHSHQGHQW$[LV
,QG,QSRV,QGHSHQGHQWLQSRVLWLRQVWDWXV
,QG,QSRVis used to test whether an independent axis has reached the selected position.
([DPSOH
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,2) = TRUE;
WaitTime 0.2;
Wait untilaxis 1 of 6WDWLRQB$ is in the 90 degrees position.
5HWXUQYDOXH
Data type: ERRO
The return values from ,QG,QSRV are:

Return value
Axis status
TRUE
In position and has zero speed.
FALSE
Not in position and/or has not zero speed
$UJXPHQWV
,QG,QSRV0HF8QLW$[LV
0HF8QLW
0HFKDQLFDO8QLW
Data type: PHFXQLW

$[LV
Data type: QXP

The number of the current axis for the mechanical unit (1-6).
/LPLWDWLRQV
An independent axis executed with the instruction ,QG&0RYH always returns the value
FALSE, even when the speed is set to zero.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the
correct status has been achieved. This time period should be longer for external axes
with poor performance.
125
,QG,QSRV
,QGHSHQGHQW$[LV
)XQFWLRQ
(UURUKDQGOLQJ
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
6\QWD[
IndInpos (
[ MecUnit:= ] < variable (9$5) of PHFXQLW> ,
[ Axis:= ] < expression (,1) of QXP>)
5HODWHGLQIRUPDWLRQ
Described in:
126
Independent axes in general
Motion and I/O Principles - 3URJUDP

H[HFXWLRQ
Check the speed status for independent axes
Functions - ,QG6SHHG
Defining independent joints
System Parameters0DQLSXODWRU
,QG6SHHG
)XQFWLRQ
,QGHSHQGHQW$[LV
,QG6SHHG,QGHSHQGHQWVSHHGVWDWXV
,QG6SHHGis used to test whether an independent axis has reached the selected speed.
([DPSOH
IndCMove Station_A, 2, 3.4;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
Wait untilaxis of 6WDWLRQB$ has reached the speed 3.4 degrees/s.
5HWXUQYDOXH
Data type: ERRO
The return values from ,QG6SHHG are:

Return value
Axis status
option ?,Q6SHHG
TRUE
Has reached the selected speed.
FALSE
Has not reached the selected speed.
option ?=HUR6SHHG
TRUE
Zero speed.
FALSE
Not zero speed
$UJXPHQWV
,QG6SHHG0HF8QLW$[LV>?,Q6SHHG@_>?=HUR6SHHG@
0HF8QLW
0HFKDQLFDO8QLW
Data type: PHFXQLW

$[LV
Data type: QXP

The number of the current axis for the mechanical unit (1-6).
>?,Q6SHHG@
Data type: VZLWFK
,QG6SHHG returns value TRUE if the axis has reached the selected speed otherwise FALSE.
127
,QG6SHHG
,QGHSHQGHQW$[LV
)XQFWLRQ
>?=HUR6SHHG@
Data type: VZLWFK
,QG6SHHG returns value TRUE if the axis has zero speed otherwise FALSE.
If both the arguments ?,Q6SHHG and ?=HUR6SHHG are omitted, an error message will be
displayed.
/LPLWDWLRQ
The function ,QG6SHHG?,Q6SHHG will always return the value FALSE in the following
situations:
- The robot is in manual mode with reduced speed.
- The speed is reduced using the 9HO6HW instruction.
- The speed is reduced from the production window.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the
correct status is obtained. This time period should be longer for external axes with poor
performance.
(UURUKDQGOLQJ
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
6\QWD[
IndSpeed (
[ MecUnit:= ] < variable (9$5) of PHFXQLW> ,
[ Axis:= ] < expression (,1) of QXP>
[ \ InSpeed ] | [ \ ZeroSpeed ] )
5HODWHGLQIRUPDWLRQ
Described in:
Independent axes in general
Motion and I/O Principles -3URJUDP

H[HFXWLRQ
More examples
Instructions - ,QG&0RYH
Check the position status for independent axes Functions - ,QG,QSRV

Defining independent joints
128
System Parameters0DQLSXODWRU
,28QLW6WDWH
)XQFWLRQ
%DVH:DUH
,28QLW6WDWH*HWFXUUHQWVWDWHRI,2XQLW
,28QLW6WDWHis used to find out in which state an I/O unit is just now.
([DPSOHV
IF (,28QLW6WDWH81,7 IOUNIT_RUNNING) THEN
! Possible to access the signal on the I/O unit
ELSE
! Read/Write signal on the I/O unit result in error
ENDIF
Test is done if the I/O unit81,7 is up and running.
5HWXUQYDOXH
Data type: LRXQLWBVWDWH
The state of the I/O unit as defined in the table below.
Return value
Symbolic constant
Comment
IOUNIT_RUNNING
Unit is up and running
IOUNIT_RUNERROR
Unit is not working because of some

runtime error
IOUNIT_DISABLE
Unit is disabled by user from RAPID or

FlexPendant
IOUNIT_OTHERERR
Other configuration or startup errors
$UJXPHQWV
,28QLW6WDWH8QLW1DPH
8QLW1DPH
Data type: VWULQJ
The name of the I/O unit to be checked (with same name as configured).
129
,28QLW6WDWH
%DVH:DUH
)XQFWLRQ
6\QWD[
IOUnitState
[ UnitName := ] < expression (,1) of VWULQJ>
A function with a return value of the data type LRXQLWBVWDWH.
5HODWHGLQIRUPDWLRQ
Described in:
Enabling an I/O unit
Instructions - ,2(QDEOe
Disabling an I/O unit
Instructions - ,2'LVDEOe

130
System Parameters
,V)LOH
)XQFWLRQ
,V)LOH&KHFNWKHW\SHRIDILOH
The,V)LOHfunction obtains information about the named file and checks whether it is
the same as the specified type. If no type is specified, only an existence check is performed. The path argument specifies the file. Read, write or execute permission for the
named file is not required, but all directories listed in the path name leading to the file
must be searchable.
([DPSOH
PROC printFT(string filename)
IF IsFile(filename \Directory) THEN
TPWrite filename+" is a directory";
RETURN;
ENDIF
IF IsFile(filename \Fifo) THEN
TPWrite filename+" is a fifo file";
RETURN;
ENDIF
IF IsFile(filename \RegFile) THEN
TPWrite filename+" is a regular file";
RETURN;
ENDIF
IF IsFile(filename \BlockSpec) THEN
TPWrite filename+" is a block special file";
RETURN;
ENDIF
IF IsFile(filename \CharSpec) THEN
TPWrite filename+" is a character special file";
RETURN;
ENDIF
ENDPROC
This example prints out the type of the specified file on the FlexPendant.
5HWXUQYDOXH
Data type: ERRO
The function will return TRUE if the specified type and actual type match, otherwise
FALSE. When no type is specified, it returns TRUE if the file exists and otherwise
FALSE.
131
,V)LOH
)XQFWLRQ
$UJXPHQWV
,V)LOH 3DWK>?'LUHFWRU\@>?)LIR@>?5HJ)LOH@>?%ORFN6SHF@>?&KDU6SHF@
3DWK
Data type:VWULQJ
The file specified with a full or relative path.
>?'LUHFWRU\@
Data type:VZLWFK
Is the file a directory.

>?)LIR@
Data type:VZLWFK
Is the file a fifo, e.g. a serial channel.

>?5HJ)LOH@
Data type:VZLWFK
Is the file a regular file, i.e. a normal binary or ascii file.

>?%ORFN6SHF@
Data type:VZLWFK
Is the file a block special device.

>?&KDU6SHF@
Data type:VZLWFK
Is the file a character special device.
3URJUDPH[HFXWLRQ
This function returns a bool that specifies match or not.
132
,V)LOH
)XQFWLRQ
([DPSOH
7KLVH[DPSOHLPSOHPHQWVDJHQHULFWUDYHUVHRIDGLUHFWRU\VWUXFWXUHIXQFWLRQ
VAR dir directory;
ENDIF
ENDWHILE
CloseDir directory;
ELSE
ENDIF
ERROR
RAISE;
ENDPROC
TPWrite filename;
ENDPROC
PROC main()
! tree of HOME:
ENDPROC
This program traverses the directory structure under the HOME: and for each
file found, it calls the OLVWILOH procedure. The VHDUFKGLU is the generic part that
knows nothing about the start of the search or which routine should be called for
each file. It uses ,V)LOH to check whether it has found a subdirectory or a file and
it uses the late binding mechanism to call the procedure specified in DFWLRQSURF
for all files found. The DFWLRQSURF routine should be a procedure with one parameter of the type string.
(UURUKDQGOLQJ
If the file does not exist and there is a type specified, the system variable ERRNO is
set to ERR_FILEACC. This error can then be handled in the error handler.
133
,V)LOH
)XQFWLRQ
6\QWD[
Isfile (
[ Path:= ] < expression (,1) of VWULQJ>
[ [ '\'Directory ] | [ '\'Fifo ] | [ '\'RegFile ] | [ '\'BlockSpec ] | [ '\'CharSpec ] ]
)
5HODWHGLQIRUPDWLRQ
Described in:
134
Directory
GLU
Open a directory
2SHQ'LU
Close a directory
&ORVH'LU
Read a directory
5HDG'LU
,V0HFK8QLW$FWLYH
)XQFWLRQ
%DVH:DUH
,V0HFK8QLW$FWLYH,VPHFKDQLFDOXQLWDFWLYH
,V0HFK8QLW$FWLYH,V0HFKDQLFDO8QLW$FWLYHis used to check whether a mechanical
unit is activated or not.
([DPSOH
IF IsMechUnitActive(SpotWeldGun) CloseGun SpotWeldGun;
If the mechanical unit 6SRW:HOG*XQ is active, the routine &ORVH*XQ will be
invoked, where the gun is closed.
5HWXUQYDOXH
Data type: ERRO
The function returns:

- TRUE, if the mechanical unit is active
- FALSE, if the mechanical unit is deactive
$UJXPHQWV
,V0HFK8QLW$FWLYH0HFK8QLW
0HFK8QLW
0HFKDQLFDO8QLW
Data type: PHFXQLW
6\QWD[
IsMechUnitActive (
[MechUnit := ] < variable (9$5) of PHFXQLW>
)
5HODWHGLQIRUPDWLRQ
Described in:
Activating mechanical units
Instructions - $FW8QLW
Deactivating mechanical units
Instructions - 'HDFW8QLW
Mechanical units
135
,V0HFK8QLW$FWLYH
%DVH:DUH
136
)XQFWLRQ
,V6WRS6WDWH(YHQW
)XQFWLRQ
$GYDQFHG5$3,'
,V6WRS6WDWH(YHQW7HVWZKHWKHUPRYHG33
,V6WRS6WDWH(YHQW returns information about the movement of the Program Pointer (PP).
([DPSOH
IF IsStopStateEvent (\PPMoved) = TRUE THEN
! PP has been moved during the last program stop
ELSE
! PP has not been moved during the last program stop
ENDIF
IF IsStopStateEvent (\PPToMain) THEN
! PP has been moved to main routine during the last program stop
ENDIF
5HWXUQYDOXH
Data type: ERRO
Status if and how PP has been moved during the last stop state.
758( if PP has been moved during the last stop.
)$/6(if PP has not been moved during the last stop.
If PP has been moved to the main routine, both ?330RYHG and \337R0DLQwill return
758(.
If PP has been moved to a routine, both ?330RYHG and ?337R0DLQ will return 758(.
When calling a routine or a service routine (keep execution context in main program
sequence) ?330RYH will return 758( and ?337R0DLQ will return )$/6(.
$UJXPHQWV
,V6WRS6WDWH(YHQW >?330RYHG@_>?337R0DLQ@
>?330RYHG@
Data type: VZLWFK
Test whether PP has been moved.

>?337R0DLQ@
Data type: VZLWFK
Test whether PP has been moved to main.
137
,V6WRS6WDWH(YHQW
$GYDQFHG5$3,'
)XQFWLRQ
/LPLWDWLRQV
This function can in most cases not be used at forward or backward execution, because
the system is in stop state between every single step.
6\QWD[
IsStopStateEvent(
[\ PPMoved] | [\ PPToMain] )
5HODWHGLQIRUPDWLRQ
Described in:
Making own instructions
138
RAPID Reference Manual- 3URJUDPPLQJRIIOLQH
,V6\QF0RYH2Q
)XQFWLRQ
%DVH:DUH
,V6\QF0RYH2Q7HVWLILQV\QFKURQL]HGPRYHPHQWPRGH
,V6\QF0RYH2Q is used to test if current program task of type 0RWLRQ7DVNis in synchronized movement mode or not.
It is also possible from some 1RQ0RWLRQ7DVN to test, if the connected 0RWLRQ7DVN is
in synchronized movement mode or not. The system parameter &RQWUROOHU7DVNV/8VH
0HFKDQLFDO8QLW *URXS define the connected 0RWLRQ7DVN.
The instruction ,V6\QF0RYH2Q is usually used in a 0XOWL0RYH 6\VWHP with option
&RRUGLQDWHG5RERWV but can be used in any system and in any program task.
([DPSOH
3URJUDPH[DPSOHLQWDVN7B52%
PERS tasks task_list{2} := [ [T_ROB1], [T_ROB2] ];
VAR syncident sync1;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
139
,V6\QF0RYH2Q
%DVH:DUH
)XQFWLRQ
3URJUDPH[DPSOHLQWDVN%&.
PROC main()
...
IF IsSyncMoveOn() THEN
! Connected Motion Task is in synchronized movement mode
ELSE
! Connected Motion Task is in independent mode
ENDIF
...
ENDPROC
At the execution time of ,V6\QF0RYH2Q in the background task BCK1, we test if
the connected motion task for moment is in synchronized movement mode or not.
5HWXUQYDOXH
Data type:ERRO
TRUE if current or connected program task is in synchronized movement mode, otherwise FALSE.
3URJUDPH[HFXWLRQ
Test if current or connected program task is in synchronized movement mode or not.
6\QWD[
IsSyncMoveOn ( )
5HODWHGLQIRUPDWLRQ
Described in:
140
Specify cooperated program tasks
Data Types - WDVNV
Identity for synchronization point
Data Types - V\QFLGHQW
Start coordinated synchronized movements
Instruction - 6\QF0RYH2Q
End coordinated synchronized movements
Instruction - 6\QF0RYH2II
Set independent movements
Instruction - 6\QF0RYH8QGR
,V6\V,G
)XQFWLRQ
%DVH:DUH
,V6\V,G7HVWV\VWHPLGHQWLW\
,V6\V,G6\VWHP,GHQWLW\can be used to test the system identity.
([DPSOH
IF NOT IsSysId("6400-1234") THEN
ErrWrite "System identity fault","Faulty system identity for this program";
EXIT;
ENDIF
The program is made for a special robot system and cant be used of another one.
5HWXUQYDOXH
Data type: ERRO
TRUE = The system identity is the same as specified in the test.

FALSE = The system identity is not the same as specified in the test.
$UJXPHQWV
,V6\V,G6\VWHP,G
6\VWHP,G
Data type: VWULQJ
The system identity.
6\QWD[
IsSysId (
[ SystemId:= ] < expression (,1) of VWULQJ> )
A function with a return value of the data type ERRO
141
,V6\V,G
%DVH:DUH
142
)XQFWLRQ
,V9DU
)XQFWLRQ
%DVH:DUH
,V9DU,VYDULDEOH
,V9DUis used to test whether a data object is a variable or not.
([DPSOH
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure SURFHGXUH will take different actions, depending on whether the
actual parameter SDUDPHWHU is a variable or a persistent variable.
5HWXUQYDOXH
Data type: ERRO
TRUE if the tested actual INOUT parameter is a variable.

FALSE if the tested actual INOUT parameter is not a variable.
$UJXPHQWV
,V9DU'DW2EM
'DW2EM
('DWD2EMHFW)
Data type: any type
The name of the formal INOUT parameter.
6\QWD[
IsVar(
[ DatObj := ] < var or pers (,1287) of any type > )
143
,V9DU
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
144
Test if persistent
Function - ,V3HUV
Types of parameters (access modes)
RAPID Characteristics - 5RXWLQHV
0D[5RE6SHHG
)XQFWLRQ
%DVH:DUH
0D[5RE6SHHG0D[LPXPURERWVSHHG
0D[5RE6SHHG0D[LPXP5RERW6SHHGreturns the maximum TCP speed for the used
robot type.
([DPSOH
TPWrite Max. TCP speed in mm/s for my robot = \Num:=MaxRobSpeed();
The message 0D[7&3VSHHGLQPPVIRUP\URERW is written on the
FlexPendant.
5HWXUQYDOXH
Data type: QXP
Return the max. TCP speed in mm/s for the used robot type and normal pratical TCP
values.
If use of extreme big TCP values in tool frame, create own speeddata with
bigger TCP speed than returned by 0D[5RE6SHHG.
6\QWD[
MaxRobSpeed ( )
5HODWHGLQIRUPDWLRQ
Described in:
Definition of velocity
Data Types - VSHHGGDWD
Definition of maximum velocity
Instructions - 9HO6HW
145
0D[5RE6SHHG
%DVH:DUH
146
)XQFWLRQ
0LU3RV
)XQFWLRQ
%DVH:DUH
0LU3RV0LUURULQJRIDSRVLWLRQ
0LU3RV0LUURU3RVLWLRQis used to mirror the translation and rotation parts of a position.
([DPSOH
CONST robtarget p1;
VAR robtarget p2;
PERS wobjdata mirror;
.
.
p2 := MirPos(p1, mirror);
S is a robtarget storing a position of the robot and an orientation of the tool. This
position is mirrored in the xy-plane of the frame defined by PLUURU, relative to the
world coordinate system. The result is new robtarget data, which is stored in S.
5HWXUQYDOXH
The new position which is the mirrored position of the input position.
$UJXPHQWV
0LU3RV3RLQW0LU3ODQH>\:2EM@>\0LU<@
3RLQW

The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
0LU3ODQH
0LUURU3ODQH
Data type: ZREMGDWD
The work object data defining the mirror plane. The mirror plane is the xy-plane
of the object frame defined in 0LU3ODQH. The location of the object frame is
defined relative to the user frame, also defined in 0LU3ODQH, which in turn is
defined relative to the world frame.
>\:2EM@
(:RUN2EMHFW
Data type: ZREMGDWD
The work object data defining the object frame, and user frame, relative to which
the input position, 3RLQW, is defined. If this argument is left out, the position is
defined relative to the World coordinate system.
1RWH If the position is created with a work object active, this work object must
be referred to in the argument.
147
0LU3RV
%DVH:DUH
)XQFWLRQ
>\0LU<@
0LUURU<
Data type: VZLWFK
If this switch is left out, which is the default rule, the tool frame will be mirrored
as regards the x-axis and the z-axis. If the switch is specified, the tool frame will
be mirrored as regards the y-axis and the z-axis.
/LPLWDWLRQV
No recalculation is done of the robot configuration part of the input robtarget data.
If a coordinate frame is used, the coordinated unit has to be situated in the same task as
the robot.
6\QWD[
MirPos(
[ Point := ] < expression (,1) of UREWDUJHW>,
[MirPlane :=] <expression (,1) of ZREMGDWD> ,
[\WObj := <expression (,1) of ZREMGDWD> ]
[\MirY ])
5HODWHGLQIRUPDWLRQ
Described in:
148
0RG7LPH
)XQFWLRQ
%DVH:DUH
0RG7LPH*HWWLPHRIORDGIRUDORDGHGPRGXOH
0RG7LPH (0RGXOH7LPH) is used to retrieve the time of loading a specified module. The
module is specified by its name and must be in the task memory. The time is measured
in secs since 00:00:00 GMT, Jan 1 1970. The time is returned as a num.
([DPSOH
MODULE mymod
VAR num mytime;

PROC printMyTime()
mytime := ModTime("mymod");
TPWrite "My time is "+NumToStr(mytime,0);
ENDPROC
5HWXUQYDOXH
Data type: QXP
The time measured in secs since 00:00:00 GMT, Jan 1 1970.
$UJXPHQWV
0RG7LPH2EMHFW
2EMHFW
Data type:VWULQJ
The name of the module.
3URJUDPH[HFXWLRQ
This function return a numeric that specify the time when the module was loaded.
149
0RG7LPH
%DVH:DUH
)XQFWLRQ
([DPSOH
7KLVLVDFRPSOHWHH[DPSOHWKDWLPSOHPHQWVDQXSGDWHLIQHZHUVHUYLFH
MODULE updmod
PROC callrout()
Load "HOME:/mymod.mod";

WHILE TRUE DO
! Call some routine in mymod
mymodrout;

IF FileTime("HOME:/mymod.mod" \ModifyTime)
> ModTime("mymod") THEN
UnLoad "HOME:/mymod.mod";
Load "HOME:/mymod.mod";
ENDIF
ENDWHILE
ENDPROC
ENDMODULE

This program reloads a module if there is a newer one at the source. It uses the
0RG7LPH to retrieve the latest loading time for the specified module, and compares it to the )LOH7LPH?0RGLI\7LPH at the source. Then, if the source is newer,
the program unloads and loads the module again.
6\QWD[
ModTime (
[ Object := ] < expression (,1) of VWULQJ>)
5HODWHGLQIRUPDWLRQ
Described in:
Retrieve time info. about a file
150
Functions - )LOH7LPH
12ULHQW
)XQFWLRQ
%DVH:DUH
12ULHQW1RUPDOLVHRULHQWDWLRQ
12ULHQW1RUPDOLVH2ULHQWDWLRQis used to normalise unnormalised orientation
(quaternion).
'HVFULSWLRQ
An orientation must be normalised, i.e. the sum of the squares must
equal 1:
T 12 + T 22 + T 32 + T42 = 1
If the orientation is slightly unnormalised, it is possible to normalise it.

The normalisation error is the absolute value of the sum of the squares of the orientation components.
The orientation is considered to be slightly unnormalised if the normalisation error is
greater then 0.00001 and less then 0.1. If the normalisation error is greater then 0.1 the
orient is unusable.
$%6 T 1 + T2 + T3 + T 4 1 = QRUPHUU
normerr > 0.1

normerr > 0.00001 AND err <= 0.1
normerr <= 0.00001
Unusable
Slightly unnormalised
Normalised
([DPSOH
We have a slightly unnormalised position ( 0.707170, 0, 0, 0.707170 )
$%6 0,707170 + 0 + 0 + 0,707170 1 = 0,0000894

0,0000894 ! 0,00001 XQQRUPDOL]HG
VAR orient unnormorient := [0.707170, 0, 0, 0.707170];

VAR orient normorient;
.
.
normorient := NOrient(unnormorient);
The normalisation of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes ( 0.707107,
0, 0, 0.707107 ).
151
12ULHQW
%DVH:DUH
)XQFWLRQ
5HWXUQYDOXH
Data type: RULHQW
The normalised orientation.
$UJXPHQWV
12ULHQW5RWDWLRQ
2ULHQW
Data type: RULHQW
The orientation to be normalised.
6\QWD[
NOrient(
[Rotation :=] <expression (,1) of RULHQW>
)
A function with a return value of the data type RULHQW.
5HODWHGLQIRUPDWLRQ
Described in:
152
1XP7R6WU
)XQFWLRQ
%DVH:DUH
1XP7R6WU&RQYHUWVQXPHULFYDOXHWRVWULQJ
1XP7R6WU1XPHULF7R6WULQJis used toconvert a numeric value to a string.
([DPSOH
VAR string str;
str := NumToStr(0.38521,3);
The variable VWU is given the value "0.385".
reg1 := 0.38521
str := NumToStr(reg1, 2\Exp);
The variable VWU is given the value "3.85E-01".
5HWXUQYDOXH
Data type: VWULQJ
The numeric value converted to a string with the specified number of decimals, with
exponent if so requested. The numeric value is rounded if necessary. The decimal point
is suppressed if no decimals are included.
$UJXPHQWV
1XP7R6WU9DO'HF>?([S@
9DO
(9DOXH)
Data type: QXP
The numeric value to be converted.

'HF
('HFLPDOV)
Data type: QXP
Number of decimals. The number of decimals must not be negative or greater

than the available precision for numeric values.
>?([S@
(([SRQHQW)
Data type: VZLWFK
To use exponent.
153
1XP7R6WU
%DVH:DUH
)XQFWLRQ
6\QWD[
NumToStr(
[ Val := ] <expression (,1) of QXP> ,
[ Dec := ] <expression (,1) of QXP>
[ \Exp ]
)
5HODWHGLQIRUPDWLRQ
Described in:
154
String functions
Data Types - VWULQJ
String values
2IIV
)XQFWLRQ
%DVH:DUH
2IIV'LVSODFHVDURERWSRVLWLRQ
2IIVis used to add an offset to a robot position.
([DPSOHV
MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;
The robot is moved to a point mm from the positionS (in the z-direction).
p1 := Offs (p1, 5, 10, 15);
The robot position S is displaced mm in the x-direction, mm in the y-direction and mm in the z-direction.
5HWXUQYDOXH
The displaced position data.
$UJXPHQWV
2IIV3RLQW;2IIVHW<2IIVHW=2IIVHW
3RLQW

The position data to be displaced.
;2IIVHW
Data type: QXP
The displacement in the x-direction.

<2IIVHW
Data type: QXP
The displacement in the y-direction.

=2IIVHW
Data type: QXP
The displacement in the z-direction.
155
2IIV
%DVH:DUH
)XQFWLRQ
([DPSOH
PROC pallet (num row, num column, num distance, PERS tooldata tool,
PERS wobjdata wobj)
VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0],
[9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];
palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0);
MoveL palettpos, v100, fine, tool\WObj:=wobj;
ENDPROC
A routine for picking parts from a pallet is made. Each pallet is defined as a work
object (see Figure 13). The part to be picked (row and column) and the distance
between the parts are given as input parameters.
Incrementing the row and column index is performed outside the routine.
Columns
Rows
Y-axis
O O
O O O
X-axis
O O O
)LJXUH7KHSRVLWLRQDQGRULHQWDWLRQRIWKHSDOOHWLVVSHFLILHGE\GHILQLQJ
DZRUNREMHFW
6\QWD[
Offs (
[Point :=] <expression (,1) of UREWDUJHW> ,
[XOffset :=] <expression (,1) of QXP> ,
[YOffset :=] <expression (,1) of QXP> ,
[ZOffset :=] <expression (,1) of QXP> )
5HODWHGLQIRUPDWLRQ
Described in:
Position data
156
2S0RGH
)XQFWLRQ
%DVH:DUH
2S0RGH5HDGWKHRSHUDWLQJPRGH
2S0RGH2SHUDWLQJ0RGHis used to read the current operating mode of the system.
([DPSOH
TEST OpMode()
CASE OP_AUTO:
...
CASE OP_MAN_PROG:
...
CASE OP_MAN_TEST:
...
DEFAULT:
...
ENDTEST
Different program sections are executed depending on the current operating mode.
5HWXUQYDOXH
Data type: V\PQXP
The current operating mode as defined in the table below.
Return value
Symbolic constant
Comment
OP_UNDEF
Undefined operating mode
OP_AUTO
Automatic operating mode
OP_MAN_PROG
Manual operating mode max. 250 mm/s
OP_MAN_TEST
Manual operating mode full speed, 100 %
6\QWD[
OpMode( )
A function with a return value of the data type V\PQXP.
157
2S0RGH
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
158
Different operating modes
Operators manual - IRC5 with FlexPendant - 6WDUWLQJXS
Reading running mode
Functions - 5XQ0RGH
2ULHQW=<;
)XQFWLRQ
%DVH:DUH
2ULHQW=<;%XLOGVDQRULHQWIURPHXOHUDQJOHV
2ULHQW=<;2ULHQWIURP(XOHU=<;DQJOHVis used to build an orient type variable out
of Euler angles.
([DPSOH
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
object.rot := OrientZYX(anglez, angley, anglex)
5HWXUQYDOXH
Data type: RULHQW
The orientation made from the Euler angles.

The rotations will be performed in the following order:
-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.
$UJXPHQWV
2ULHQW=<;=$QJOH<$QJOH;$QJOH
=$QJOH
Data type: QXP
The rotation, in degrees, around the Z axis.

<$QJOH
Data type: QXP
The rotation, in degrees, around the Y axis.

;$QJOH
Data type: QXP
The rotation, in degrees, around the X axis.

The rotations will be performed in the following order:
-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.
159
2ULHQW=<;
%DVH:DUH
)XQFWLRQ
6\QWD[
OrientZYX(
[ZAngle :=] <expression (,1) of QXP> ,
[YAngle :=] <expression (,1) of QXP> ,
[XAngle :=] <expression (,1) of QXP>
)
A function with a return value of the data type RULHQW.
5HODWHGLQIRUPDWLRQ
Described in:
160
25RE7
)XQFWLRQ
%DVH:DUH
25RE75HPRYHVDSURJUDPGLVSODFHPHQWIURPDSRVLWLRQ
25RE72EMHFW5RERW7DUJHWis used to transform a robot position from the program
displacement coordinate system to the object coordinate system and/or to remove an
offset for the external axes.
([DPSOH
VAR robtarget p10;
VAR robtarget p11;
p10 := CRobT();
p11 := ORobT(p10);
The current positions of the robot and the external axes are stored in S and S.
The values stored in Sare related to the ProgDisp/ExtOffs coordinate system.
The values stored in Sare related to the object coordinate system without any
offset on the external axes.
5HWXUQYDOXH
Data type:UREWDUJHW
The transformed position data.
$UJXPHQWV
25RE72UJ3RLQW>?,Q3'LVS@_>?,Q(2IIV@
2UJ3RLQW
2ULJLQDO3RLQWData type: UREWDUJHW
The original point to be transformed.

>?,Q3'LVS@
,Q3URJUDP'LVSODFHPHQWData type: VZLWFK
Returns the TCP position in the ProgDisp coordinate system, i.e. removes external axes offset only.
>?,Q(2IIV@
,Q([WHUQDO2IIVHW
Data type: VZLWFK
Returns the external axes in the offset coordinate system, i.e. removes program
displacement for the robot only.
161
25RE7
%DVH:DUH
)XQFWLRQ
([DPSOHV
p10 := ORobT(p10 \InEOffs );
The ORobT function will remove any program displacement that is active, leaving the TCP position relative to the object coordinate system. The external axes
will remain in the offset coordinate system.
p10 := ORobT(p10 \InPDisp );
The ORobT function will remove any offset of the external axes. The TCP position will remain in the ProgDisp coordinate system.
6\QWD[
ORobT (
[ OrgPoint := ] < expression (,1) of UREWDUJHW>
[\InPDisp] | [\InEOffs])
5HODWHGLQIRUPDWLRQ
Described in:
Definition of program displacement for Instructions - 3'LVS2Q, 3'LVS6HW
the robot
162
Definition of offset for external axes
Instructions - (2IIV2Q, (2IIV6HW
Coordinate systems
Motion and I/O Principles - &RRUGLQDWH6\V

WHPV
3DU,G3RV9DOLG
)XQFWLRQ
%DVH:DUH
3DU,G3RV9DOLG9DOLGURERWSRVLWLRQIRUSDUDPHWHULGHQWLILFD
WLRQ
3DU,G3RV9DOLG3DUDPHWHU,GHQWLILFDWLRQ3RVLWLRQ9DOLGchecks whether the robot
position is valid for the current parameter identification, such as load identification of
tool or payload.
This instruction can only be used in the 0DLQ task or, if in a MultiMove System, in
Motion tasks.
([DPSOH
VAR jointtarget joints;
VAR bool valid_joints{12};

! Read the current joint angles
joints := CJointT();
! Check if valid robot position
IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE THEN
! Valid position for load identification
! Continue with /RDG,G
...
ELSE
! Not valid position for one or several axes for load identification
! Move the robot to the output data given in variable MRLQWV
! and do 3DU,G3RV9DOLG once again
...
ENDIF
Check whether robot position is valid before doing load identification of tool.
5HWXUQYDOXHData type:ERRO
TRUE if robot position is valid for current parameter identification.
FALSE if robot position is not valid for current parameter identification.
$UJXPHQWV
3DU,G3RV9DOLG3DU,G7\SH3RV$[9DOLG>?&RQI$QJOH@
3DU,G7\SH
Data type: SDULGQXP
Type of parameter identification as defined in table below
163
3DU,G3RV9DOLG
%DVH:DUH
)XQFWLRQ
.
Value
Symbolic constant
Comment
TOOL_LOAD_ID
Identify tool load
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
IRBP_K
Identify External Manipulator IRBP K load
IRBP_L
Identify External Manipulator IRBP L load
IRBP_C
Identify External Manipulator IRBP C load
IRBP_C_INDEX
Identify External Manipulator IRBP C_INDEX load
IRBP_T
Identify External Manipulator IRBP T load
IRBP_R
Identify External Manipulator IRBP R load
IRBP_A
Identify External Manipulator IRBP A load
IRBP_B
Identify External Manipulator IRBP B load
IRBP_D
Identify External Manipulator IRBP D load
Note: Only TOOL_LOAD_ID and PAY_LOAD_ID can be used in user defined

RAPID Programs for load identification.
3RV

Variable specifies the actual joint angles for all robot and external axes.
The variable is updated by 3DU,G3RV9DOLG according to the table below.
Input axis joint value
Output axis joint value
Valid
Not changed
Not valid
Changed to suitable value
$[9DOLG
Data type: ERRO
Array variable with 12 elements corresponding to 6 robot and 6 external axes.

The variable is updated by 3DU,G3RV9DOLG according to the table below.
Input axis joint value in Pos
Output status in AxValid
Valid
TRUE
Not valid
FALSE
>?&RQI$QJOH@
Data type: QXP
Option argument for specification of specific configuration angle +/- degrees to

be used for parameter identification.
164
)XQFWLRQ
%DVH:DUH
*)
Load identification pos axis 6 in

another configuration
(Selected by &RQI$QJOH)
*)
Positive &RQI$QJOH in degrees
$[LV
*) Measurement movements in different

configurations axis 6
Load identification pos axis 6 at start
(Verified with 3DU,G3RV9DOLG)
Default + 90 degrees if this argument is not specified.

Min. + or - 30 degrees. Optimum + or - 90 degrees.
(UURUKDQGOLQJ
If an error occurs, the system variable ERRNO is set to ERR_PID_RAISE_PP.
6\QWD[
ParIdPosValid(
[ ParIdType := ] <expression (,1) of SDULGQXP> ,
[ Pos := ]
<variable (9$5) of MRLQWWDUJHW> ,
[ AxValid := ] <array variable {*} (9$5) of ERRO>
[ \ ConfAngle := <expression (,1) of QXP> ] )
5HODWHGLQIRUPDWLRQ
Described in:
Type of parameter identification
Data Types - SDULGQXP
Valid robot type
Functions - 3DU,G5RE9DOLG
Load identification with

complete example
Instructions - /RDG,G
165
%DVH:DUH
166
)XQFWLRQ
3DU,G5RE9DOLG
)XQFWLRQ
%DVH:DUH
3DU,G5RE9DOLG9DOLGURERWW\SHIRUSDUDPHWHULGHQWLILFD
WLRQ
3DU,G5RE9DOLG3DUDPHWHU,GHQWLILFDWLRQ5RERW9DOLGchecks whether the robot type
is valid for the current parameter identification, such as load identification of tool or
payload.
This instruction can only be used in the 0DLQ task or, if in a MultiMove System, in
Motion tasks.
([DPSOH
TEST ParIdRobValid (TOOL_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of tool in actual robot type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of tool with
! IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of tool in actual robot type
...
ENDTEST
5HWXUQYDOXH
Data type:SDULGYDOLGQXP
Whether the specified parameter identification can be performed with the current robot
type, as defined in the table below.
Value
Symbolic constant
Comment
10
ROB_LOAD_VAL
Valid robot type for the actual parameter identification
11
ROB_NOT_LOAD_VAL
Not valid robot type for the actual parameter identification
12
ROB_LM1_LOAD_VAL
Valid robot type IRB 6400FHD for the actual parameter identification if actual load < 200kg
167
3DU,G5RE9DOLG
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
3DU,G5RE9DOLG 3DU,G7\SH>?0HFK8QLW@>?$[LV1R@
3DU,G7\SH
Data type: SDULGQXP
Type of parameter identification as defined in table below.

Value
Symbolic constant
Comment
TOOL_LOAD_ID
Identify tool load
PAY_LOAD_ID
IRBP_K
IRBP_L
IRBP_C
IRBP_C_INDEX
IRBP_T
IRBP_R
IRBP_A
IRBP_B
IRBP_D

>?0HFK8QLW@
0HFKDQLFDO8QLW
Data type: PHFXQLW
Mechanical Unit used for the load identification.

Only to be specified for external manipulator. If this argument is omitted the
TCP-robot in the task is used.
>?$[LV1R@
$[LVQXPEHU
Data type: QXP
Axis number within the mechanical unit, which holds the load to be identified.
Only to be specified for external manipulator.
When the argument ?0HFK8QLW is used, then?$[LV1R must be used.
The argument ?$[LV1R can not be used without ?0HFK8QLW.
Note: Arguments ?0HFK8QLW and ?$[LV1R should not be used in user defined RAPID
program for load identification tool load or payload.
168
)XQFWLRQ
%DVH:DUH
(UURUKDQGOLQJ
If an error occurs, the system variable ERRNO is set to ERR_PID_RAISE_PP.
6\QWD[
ParIdRobValid(
[ParIdType :=] <expression (,1) of SDULGQXP>
[\ MechUnit := <variable (9$5) of PHFXQLW>]
[\ AxisNo := <expression (,1) of QXP>] )
A function with a return value of the data type SDULGYDOLGQXP.
5HODWHGLQIRUPDWLRQ
Described in:
Type of parameter identification
Data Types - SDULGQXP
Mechanical unit to be identified
Result of this function
Data Types - SDULGYDOLGQXP
Valid robot position
Functions - 3DU,G3RV9DOLG

complete example
169
%DVH:DUH
170
)XQFWLRQ
3DWK5HF9DOLG%ZG
)XQFWLRQ
3DWK5HFRYHU\
3DWK5HF9DOLG%ZG,VWKHUHDYDOLGEDFNZDUGSDWKUHFRUGHG
3DWK5HF9DOLG%ZG is used to check if the path recorder is active and if a recorded backward path is available.
([DPSOH
VAR bool bwd_path;
VAR pathrecid fixture_id;

bwd_path := PathRecValidBwd (\ID:=fixture_id);
The variable EZGBSDWK is set to TRUE if it is possible to back-up to the position
with identifier IL[WXUHBLG. If not, EZGBSDWK is set to FALSE
5HWXUQ9DOXH
Data type: ERRO
The return value of the function can be determined from following flow chart:
171
3DWK5HF9DOLG%ZG
3DWK5HFRYHU\
)XQFWLRQ
$UJXPHQWV
3DWK5HF9DOLG%ZG

>?,'@
>?,'@
(Identifier)
Data type:SDWKUHFLG
Variable that specify the name of the recording start position. Data type SDWKUHFLG
is a non-value type, only used as an identifier for naming the recording position.
3URJUDPH[HFXWLRQ
Before the path recorder is ordered to move backwards with 3DWK5HF0RYH%ZG it is
possible to check whether a valid recorded path is present with 3DWK5HF9DOLG%ZG.
([DPSOHV
3DWK5HF6WDUWLG
0RYH/SYPD[]WRRO
MoveL p2, vmax, z50, tool1;
bwd_path := PathRecValidBwd (\ID := Id1);
The path recorder is started and two move instructions are executed.3DWK
5HF9DOLG%ZG will return TRUE and the available backup path will be:
S!S!6WDUWSRVLWLRQ.
3DWK5HF6WDUWLG
0RYH/SYPD[]WRRO
PathRecStop \Clear;
bwd_path:= PathRecValidBwd (\ID := Id1);
The path recorder is started and two move instructions are executed. Then the
path recorder is stopped and cleared. 3DWK5HF9DOLG%ZG will return FALSE.
3DWK5HF6WDUWLG
0RYH/SYPD[]WRRO
PathRecStart id2;
bwd_path := PathRecValidBwd ();
The path recorder is started and one move instruction is executed. Then, an additional path identifier is stated followed by a move instruction. 3DWK5HF9DOLGBwd
will return TRUE and the backup path will be:
S!S
172
3DWK5HF9DOLG%ZG
)XQFWLRQ
3DWK5HFRYHU\
6\QWD[
PathRecValidBwd (
[\ ID := < variable (9$5) of SDWKUHFLG>] )
5HODWHGLQIRUPDWLRQ
Described in:
Path Recorder Identifiers
Data types- SDWKUHFLG
Start - stop the path recorder
Instructions -3DWK5HF6WDUW3DWK5HF6WRS
Play the path recorder backward
Instructions - 3DWK5HF0RYH%ZG
Check if a valid forward path existsFunctions - 3DWK5HF9DOLG)ZG

Play the path recorder forward
Instructions - 3DWK5HF0RYH)ZG
Motion in general
Motion and I/O Principles
173
3DWK5HF9DOLG%ZG
3DWK5HFRYHU\
174
)XQFWLRQ
3DWK5HF9DOLG)ZG
)XQFWLRQ
3DWK5HFRYHU\
3DWK5HF9DOLG)ZG,VWKHUHDYDOLGIRUZDUGSDWKUHFRUGHG
3DWK5HF9DOLG)ZG is used to check if the path recorder can be used to move forward.
The ability to move forward with the path recorder implies that the path recorder must
have been ordered to move backwards earlier.
([DPSOH
VAR bool fwd_path;
VAR pathrecid fixture_id;

fwd_path:= PathRecValidFwd (\ID:=fixture_id);
The variable IZGBSDWK is set to TRUE if it is possible to move forward to the
position with the with identifier IL[WXUHBLG. If not, IZGBSDWK is set to FALSE.
5HWXUQ9DOXH
Data type: ERRO
The return value of 3DWK5HF9DOLG)ZG ZLWKRXW specified ?,' is:
TRUE if:
- The path recorder has moved the robot backwards, using 3DWK5HF0RYH%ZG
- The robot has not moved away from the path executed by 3DWK5HF0RYH%ZG.
FALSE if:
- The above stated conditions are not met.
The return value of 3DWK5HF9DOLG)ZG ZLWK specified ?,' is:
TRUE if:
- The path recorder has moved the robot backwards, using 3DWK5HF0RYH%ZG
- The robot has not moved away from the path executed by 3DWK5HF0RYH%ZG.
- The specified ?,' was passed during the backward motion.
FALSE if:
- The above stated conditions are not met.
175
3DWK5HF9DOLG)ZG
3DWK5HFRYHU\
)XQFWLRQ
$UJXPHQWV
3DWK5HF9DOLG)ZG

>?,'@
>?,'@
,GHQWLILHU
Data type:SDWKUHFLG
Variable that specify the name of the recording start position. Data type SDWKUHFLG
is a non-value type, only used as an identifier for naming the recording position.
3URJUDPH[HFXWLRQ
After the path recorder has been ordered to move backwards using 3DWK5HF0RYH%ZG
it is possible to check if a valid recorded path to move the robot forward along exists.
If the identifier ?,' is omitted 3DWK5HY9DOLG)ZG returns if it is possible to move forward to the position where the backwards movement was initiated.
([DPSOHV
VAR pathrecid id1;
VAR pathrecid id2;
VAR pathrecid id3;
PathRecStart id1;
PathRecStart id2;
PathRecStart id3;

ERROR
StorePath;
IF PathRecValidBwd(\ID:=id3) THEN
PathRecMoveBwd \ID:=id3;
! Do some other operation
ENDIF
IF PathRecValidBwd(\ID:=id2) THEN
PathRecMoveBwd \ID:=id2;
ENDIF

PathRecMoveBwd;
! Do final service action
IF PathRecValidFwd(\ID:=id2) THEN
PathRecMoveFwd \ID:=id2;
ENDIF
176
3DWK5HF9DOLG)ZG
)XQFWLRQ
3DWK5HFRYHU\
IF PathRecValidFwd(\ID:=id3) THEN
PathRecMoveFwd \ID:=id3;
ENDIF

PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;

S
6WDUWSRVLWLRQ
LG
(UURU
LG
S
S
LG

S
(UURU
LG
S

LG
S
LG

6WDUWSRVLWLRQ
LG
S
LG

6WDUWSRVLWLRQ
LG
S
LG

S
LG
S
LG

S
(UURU
LG

(UURU
S
The example above will start the path recorder and add identifiers at three different
locations along the executed path. The picture above have references to the example
code and describes how the robot will move in the case of an error while executing
towards point S. The 3DWK5HF9DOLG%ZG respectively 3DWK5HF9DOLG)ZG are used due
to that it is not possible in advance to determine where in the program a possible error
occurs.
177
3DWK5HF9DOLG)ZG
3DWK5HFRYHU\
)XQFWLRQ
6\QWD[
PathRecValidFwd (
[\ ID := < variable (9$5) of SDWKUHFLG>] )
5HODWHGLQIRUPDWLRQ
Described in:
Path Recorder Identifiers
Data types- SDWKUHFLG
Instructions - 3DWK5HF6WDUW3DWK5HF6WRS
Check if valid backward path existsFunctions - 3DWK5HF9DOLG%ZG
178
Motion in general
Motion and I/O Principles
3)5HVWDUW
)XQFWLRQ
$GYDQFHG5$3,'
3)5HVWDUW&KHFNLQWHUUXSWHGSDWKDIWHUSRZHUIDLOXUH
3)5HVWDUW3RZHU)DLOXUH5HVWDUWis used to check if the path has been interrupted at
power failure. If so it might be necessary to make some specific actions. The function
checks the path on current level, base level or on interrupt level.
([DPSOH
IF PFRestart() = TRUE THEN
It is checked if an interrupted path exists on the current level. If so the function
will return TRUE.
5HWXUQYDOXH
Data type:ERRO
TRUE if an interrupted path exists on the specified path level, otherwise FALSE.
$UJXPHQWV
3)5HVWDUW >?%DVH@_>?,USW@
>?%DVH@
%DVH/HYHOData type: VZLWFK
Returns TRUE if an interrupted path exists on base level.

>?,USW@
,QWHUUXSW/HYHO
Data type: VZLWFK
Returns TRUE if an interrupted path exists on interrupt level.

If no argument is given, the function will return TRUE if an interrupted path
exists on current level.
6\QWD[
PFRestart(
[\Base] | [\Irpt])
179
3)5HVWDUW
$GYDQFHG5$3,'
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
Power Failure
180
...
3RVH,QY
)XQFWLRQ
%DVH:DUH
3RVH,QY,QYHUWVWKHSRVH
3RVH,QY3RVH,QYHUWcalculates the reverse transformation of a pose.
([DPSOH
z1
Pose1
Frame1
z0
y1
x1
Frame0
y0
Pose2
x0
Pose1 represents the coordinates of Frame1 related to Frame0.
The transformation giving the coordinates of Frame0 related to Frame1 is obtained by
the reverse transformation:
VAR pose pose1;
VAR pose pose2;
.
.
pose2 := PoseInv(pose1);
5HWXUQYDOXH
Data type: SRVH
The value of the reverse pose.
$UJXPHQWV
3RVH,QY3RVH
3RVH
Data type: SRVH

The pose to invert.
181
3RVH,QY
%DVH:DUH
)XQFWLRQ
6\QWD[
PoseInv(
[Pose :=] <expression (,1) of SRVH>
)
5HODWHGLQIRUPDWLRQ
Described in:
182
3RVH0XOW
)XQFWLRQ
%DVH:DUH
3RVH0XOW0XOWLSOLHVSRVHGDWD
3RVH0XOW3RVH0XOWLSO\is used to calculate the product of two frame transformations. A typical use is to calculate a new frame as the result of a displacement acting
on an original frame.
([DPSOH
z1
y1
pose1
z0
Frame1
pose2
Frame2
x1
Frame0
y2
y0
x0
z2
pose3
x2
pose1 represents the coordinates of Frame1 related to Frame0.


The transformation giving pose3, the coordinates of Frame2 related to Frame0, is
obtained by the product of the two transformations:
VAR pose pose1;
VAR pose pose2;
VAR pose pose3;
.
.
pose3 := PoseMult(pose1, pose2);
5HWXUQYDOXH
Data type: SRVH
The value of the product of the two poses.
183
3RVH0XOW
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
3RVH0XOW3RVH3RVH
3RVH
Data type: SRVH
The first pose.

3RVH
Data type: SRVH
The second pose.
6\QWD[
PoseMult(
[Pose1 :=] <expression (,1) of SRVH> ,
[Pose2 :=] <expression (,1) of SRVH>
)
5HODWHGLQIRUPDWLRQ
Described in:
184
3RVH9HFW
)XQFWLRQ
%DVH:DUH
3RVH9HFW$SSOLHVDWUDQVIRUPDWLRQWRDYHFWRU
3RVH9HFW3RVH9HFWRUis used to calculate the product of a pose and a vector.
It is typically used to calculate a vector as the result of the effect of a displacement on
an original vector.
([DPSOH
pos2
pos1
z1
z0
pose1
Frame0
y1
Frame1
y0
x1
x0
pos1 is a vector related to Frame1.

The corresponding vector related to Frame0 is obtained by the product:
VAR pose pose1;
VAR pos pos1;
VAR pos pos2;
.
.
pos2:= PoseVect(pose1, pos1);
5HWXUQYDOXH
Data type: SRV
The value of the product of the pose and the original pos.
185
3RVH9HFW
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
3RVH9HFW3RVH3RV
3RVH
Data type: SRVH

The transformation to be applied.
3RV
Data type: SRV

The pos to be transformed.
6\QWD[
PoseVect(
[Pose :=] <expression (,1) of SRVH> ,
[Pos :=] <expression (,1) of SRV>
)
5HODWHGLQIRUPDWLRQ
Described in:
186
3RZ
)XQFWLRQ
%DVH:DUH
3RZ&DOFXODWHVWKHSRZHURIDYDOXH
3RZ3RZHUis used to calculate the exponential value in any base.
([DPSOH
VAR num x;
VAR num y
VAR num reg1;
.
reg1:= Pow(x, y);
UHJ is assigned the value xy.
5HWXUQYDOXH
Data type: QXP
The value of the base x raised to the power of the exponent y (xy ).
$UJXPHQWV
3RZ%DVH([SRQHQW
%DVH
Data type: QXP

The base argument value.
([SRQHQW
Data type: QXP
The exponent argument value.
/LPLWDWLRQV
The execution of the function xy will give an error if:
. x < 0 and y is not an integer;
. x = 0 and y < 0.
187
3RZ
%DVH:DUH
)XQFWLRQ
6\QWD[
Pow(
[Base :=] <expression (,1) of QXP> ,
[Exponent :=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
188
3UHVHQW
)XQFWLRQ
%DVH:DUH
3UHVHQW7HVWVLIDQRSWLRQDOSDUDPHWHULVXVHG
3UHVHQWis used to test if an optional argument has been used when calling a routine.
An optional parameter may not be used if it was not specified when calling the routine.
This function can be used to test if a parameter has been specified, in order to prevent
errors from occurring.
([DPSOH
PROC feeder (\switch on | \switch off)
IF Present (on) Set do1;
IF Present (off) Reset do1;
ENDPROC
The output GR, which controls a feeder, is set or reset depending on the argument used when calling the routine.
5HWXUQYDOXH
Data type: ERRO
TRUE = The parameter value or a switch has been defined when calling the routine.
FALSE = The parameter value or a switch has not been defined.
$UJXPHQWV
3UHVHQW2SW3DU
2SW3DU
2SWLRQDO3DUDPHWHU
Data type: Any type
The name of the optional parameter to be tested.
189
3UHVHQW
%DVH:DUH
)XQFWLRQ
([DPSOH
PROC glue (\switch on, num glueflow, robtarget topoint, speeddata speed,
zonedata zone, PERS tooldata tool, \PERS wobjdata wobj)
IF Present (on) PulseDO glue_on;
SetAO gluesignal, glueflow;
IF Present (wobj) THEN
MoveL topoint, speed, zone, tool \WObj=wobj;
ELSE
MoveL topoint, speed, zone, tool;
ENDIF
ENDPROC
A glue routine is made. If the argument ?RQ is specified when calling the routine,
a pulse is generated on the signal JOXHBRQ. The robot then sets an analog output
JOXHVLJQDO, which controls the glue gun, and moves to the end position. As the
wobj parameter is optional, different MoveL instructions are used depending on
whether this argument is used or not.
6\QWD[
Present (
[OptPar:=] <reference (5()) of any type> )
A REF parameter requires, in this case, the optional parameter name.
5HODWHGLQIRUPDWLRQ
Described in:
Routine parameters
190
Basic Characteristics - 5RXWLQHV
3URJ0HP)UHH
)XQFWLRQ
%DVH:DUH
3URJ0HP)UHH*HWWKHVL]HRIIUHHSURJUDPPHPRU\
3URJ0HP)UHH3URJUDP0HPRU\)UHHis used to get the size of free program
memory.
([DPSOH
FUNC num module_size(string module_name)
VAR num pgmfree_before:=0;
VAR num pgmfree_after:=0;
pgmfree_before:=ProgMemFree();
Load module_name;
pgmfree_after:=ProgMemFree();
Unload module_name;
RETURN (pgmfree_before-pgmfree_after);
ENDFUNC
ProgMemFree is used in a function that returns the value for how much memory a
module allocates in the program memory.
5HWXUQYDOXH
Data type: QXP
The size of free program memory in bytes.
6\QWD[
ProgMemFree( )
A function with a return value of the data type num.
5HODWHGLQIRUPDWLRQ
Described in:
Load a program module
Instructions - /RDG
Unload a program module
Instructions - 8QORDG
191
3URJ0HP)UHH
%DVH:DUH
192
)XQFWLRQ
5DZ%\WHV/HQ
)XQFWLRQ
5DZ%\WHV/HQ*HWWKHOHQJWKRIUDZE\WHVGDWD
5DZ%\WHV/HQ is used to get the current length of valid bytes in a UDZE\WHV variable.
([DPSOH
VAR rawbytes from_raw_data;
VAR rawbytes to_raw_data;
VAR num integer := 8
VAR num float := 13.4;
ClearRawBytes from_raw_data;
PackRawBytes integer, from_raw_data, 1 \IntX := INT;
PackRawBytes float, from_raw_data, (RawBytesLen(from_raw_data)+1) \Float4;
CopyRawBytes from_raw_data, 1, to_raw_data, 3;
In this example the variable IURPBUDZBGDWD of type UDZE\WHVis first cleared, i.e.
all bytes set to 0 (same as default at declaration). Then in the first 2 bytes the
value ofLQWHJHU is placed and with help of the function 5DZ%\WHV/HQ (starting at
index 3) the next 4 bytes the value of IORDW is placed.
After having filled IURPBUDZBGDWD with data, the contents (6 bytes) is copied to
WRBUDZBGDWD, starting at position .
5HWXUQYDOXH
Data type: num
The current length of valid bytes, in a variable of type UDZE\WHV; range 0 ... 1024.
In general, the current length of valid bytes in a UDZE\WHV variable, is updated by the
system to be last written byte in the UDZE\WHVstructure.
For details, see data type UDZE\WHV, instruction &OHDU5DZ%\WHV, &RS\5DZ%\WHV,
3DFN'1+HDGHU 3DFN5DZ%\WHV and 5HDG5DZ%\WHV.
$UJXPHQWV
5DZ%\WHV/HQ5DZ'DWD
5DZ'DWD
Data type:UDZE\WHV
5DZ'DWD is the data container whose current length of valid bytes, shall be
returned.
193
5DZ%\WHV/HQ
)XQFWLRQ
3URJUDPH[HFXWLRQ
During program execution the current length of valid bytes is returned.
6\QWD[
RawBytesLen (
[RawData := ] < variable (9$5) of UDZE\WHV> )
5HODWHGLQIRUPDWLRQ
Described in:
194
UDZE\WHV data
Data Types - UDZE\WHV
Clear the contents of UDZE\WHV data
Instructions - &OHDU5DZ%\WHV
Copy the contents of UDZE\WHV data
Instructions - &RS\5DZ%\WHV
Pack DeviceNet header into UDZE\WHV data
Instructions - 3DFN'1+HDGHU
Pack data into UDZE\WHV data
Instructions - 3DFN5DZ%\WHV
Read UDZE\WHV data
Instructions - 5HDG5DZ%\WHV
Unpack data from UDZE\WHV data
Instructions - 8QSDFN5DZ%\WHV
Write UDZE\WHV data
Instructions - :ULWH5DZ%\WHV
5HDG%LQ
)XQFWLRQ
5HDG%LQ5HDGVDE\WHIURPDILOHRUVHULDOFKDQQHO
5HDG%LQ5HDG%LQDU\is used to read a byte (8 bits) from a file or serial channel.
This function works on both binary and character-based files or serial channels.
([DPSOH
VAR num character;
VAR iodev inchannel;
...
Open "com2:", inchannel\Bin;
character := ReadBin(inchannel);
A byte is read from the binary serial channel LQFKDQQHO.
5HWXUQYDOXH
Data type:QXP
A byte (8 bits) is read from a specified file or serial channel. This byte is converted to
the corresponding positive numeric value and returned as a QXP data type.
If a file is empty (end of file), the number -1 is returned.
$UJXPHQWV
5HDG%LQ,2'HYLFH>?7LPH@
,2'HYLFH
Data type: LRGHY
The name (reference) of the file or serial channel to be read.

>?7LPH@
Data type: QXP
The max. time for the reading operation (timeout) in seconds. If this argument is
not specified, the max. time is set to 60 seconds.
If this time runs out before the reading operation is finished, the error handler
will be called with the error code ERR_DEV_MAXTIME. If there is no error
handler, the execution will be stopped.
The timeout function is in use also during program stop and will be noticed in
the RAPID program at program start.
195
5HDG%LQ
)XQFWLRQ
3URJUDPH[HFXWLRQ
Program execution waits until a byte (8 bits) can be read from the file or serial channel.
([DPSOH
VAR num bindata;
VAR iodev file;

Open HOME:/myfile.bin, file \Read \Bin;
bindata := ReadBin(file);
WHILE bindata <> EOF_BIN DO
TPWrite ByteToStr(bindata\Char);
bindata := ReadBin(file);
ENDWHILE
Read the contents of a binary file P\ILOHELQ from the beginning to the end and
displays the received binary data converted to chars on the FlexPendant (one char
on each line).
/LPLWDWLRQV
The function can only be used for files and serial channels that have been opened with
read access (?5HDG for character based files, ?%LQ or ?$SSHQG?%LQfor binary files).
(UURUKDQGOLQJ
If an error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC.
If time out before the read operation is finished, the system variable ERRNO is set to
ERR_DEV_MAXTIME.
These errors can then be dealt with by the error handler.
3UHGHILQHGGDWD
The constant (2)B%,1 can be used to stop reading at the end of the file.
CONST num EOF_BIN := -1;
196
5HDG%LQ
)XQFWLRQ
6\QWD[
ReadBin(
[IODevice :=] <variable (9$5) of LRGHY>
[\Time:= <expression (,1) of QXP>])
5HODWHGLQIRUPDWLRQ
Described in:
Opening (etc.) files or serial channels
RAPID Summary - &RPPXQLFDWLRQ
Convert a byte to a string data
Functions - %\WH7R6WU
197
5HDG%LQ
198
)XQFWLRQ
5HDG'LU
)XQFWLRQ
5HDG'LU5HDGQH[WHQWU\LQDGLUHFWRU\
5HDG'LUis used to retrieve the name of the next file or subdirectory under a directory
that has been opened with the instruction 2SHQ'LU.
As long as the function returns TRUE, there can be more files or subdirectories to
retrieve.
([DPSOH
PROC lsdir(string dirname)
VAR dir directory;
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified
directory.
5HWXUQYDOXH
Data type: ERRO
The function will return TRUE if it has retrieved a name, otherwise FALSE.
$UJXPHQWV
5HDG'LU 'HY)LOH1DPH
'HY
Data type:GLU
A variable with reference to the directory, fetched by instruction 2SHQ'LU.
)LOH1DPH
Data type:VWULQJ
The retrieved file or subdirectory name.
3URJUDPH[HFXWLRQ
This function returns a bool that specifies success or not.
199
5HDG'LU
)XQFWLRQ
([DPSOH
7KLVH[DPSOHLPSOHPHQWVDJHQHULFWUDYHUVHRIDGLUHFWRU\VWUXFWXUHIXQFWLRQ
VAR dir directory;
ENDIF
ENDWHILE
CloseDir directory;
ELSE
ENDIF
ERROR
RAISE;
ENDPROC
TPWrite filename;
ENDPROC
PROC main()
! tree in HOME:
ENDPROC
This program traverses the directory structure under "HOME:", and for each file
found it calls the OLVWILOH procedure. The VHDUFKGLU is the generic part that knows
nothing about the start of the search or which routine should be called for each
file. It uses ,V)LOH to check whether it has found a subdirectory or a file and it uses
the late binding mechanism to call the procedure specified in DFWLRQSURF for all
files found. The DFWLRQSURF routine should be a procedure with one parameter of
the type string.
(UURUKDQGOLQJ
If the directory is not opened (see 2SHQ'LU), the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.
200
5HDG'LU
)XQFWLRQ
6\QWD[
ReadDir (
[ Dev:= ] < variable (9$5) of GLU>,
[ FileName:= ] < var or pers (,1287) of VWULQJ>)
5HODWHGLQIRUPDWLRQ
Described in:
Directory
GLU
Open a directory
2SHQ'LU
Close a directory
&ORVH'LU
Check file type
,V)LOH
201
5HDG'LU
202
)XQFWLRQ
5HDG0RWRU
)XQFWLRQ
%DVH:DUH
5HDG0RWRU5HDGVWKHFXUUHQWPRWRUDQJOHV
5HDG0RWRUis used to read the current angles of the different motors of the robot and
external axes. The primary use of this function is in the calibration procedure of the
robot.
([DPSOH
VAR num motor_angle2;
motor_angle2 := ReadMotor(2);
The current motor angle of the second axis of the robot is stored in
PRWRUBDQJOH.
5HWXUQYDOXH
Data type: QXP
The current motor angle in radians of the stated axis of the robot or external axes.
$UJXPHQWV
5HDG0RWRU>?0HF8QLW@$[LV
0HF8QLW
0HFKDQLFDO8QLW
Data type: PHFXQLW
The name of the mechanical unit for which an axis is to be read. If this argument
is omitted, the axis for the robot is read. (Note, in this release only robot is permitted for this argument).
$[LV
Data type: QXP

The number of the axis to be read (1 - 6).
3URJUDPH[HFXWLRQ
The motor angle returned represents the current position in radians for the motor and
independently of any calibration offset. The value is not related to a fix position of the
robot, only to the resolver internal zero position, i.e. normally the resolver zero position closest to the calibration position (the difference between the resolver zero position and the calibration position is the calibration offset value). The value represents
the full movement of each axis, although this may be several turns.
203
5HDG0RWRU
%DVH:DUH
)XQFWLRQ
([DPSOH
VAR num motor_angle3;
motor_angle3 := ReadMotor(\MecUnit:=robot, 3);
The current motor angle of the third axis of the robot is stored inPRWRUBDQJOH.
6\QWD[
ReadMotor(
[\MecUnit := < variable (9$5) of PHFXQLW>,]
[Axis := ] < expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
Reading the current joint angle
204
Functions - &-RLQW7
5HDG1XP
)XQFWLRQ
5HDG1XP5HDGVDQXPEHUIURPDILOHRUVHULDOFKDQQHO
5HDG1XP5HDG1XPHULFis used to read a number from a character-based file or serial
channel.
([DPSOH
VAR iodev infile;
...
Open "HOME:/file.doc", infile\Read;
reg1 := ReadNum(infile);
5HJ is assigned a number read from the file ILOHGRF.
5HWXUQYDOXH
Data type:QXP
The numeric value read from a specified file or serial channel.

If the file is empty (end of file), the number 9.999E36 is returned.
$UJXPHQWV
5HDG1XP,2'HYLFH>?'HOLP@>?7LPH@
,2'HYLFH
Data type: LRGHY

>?'HOLP@
('HOLPLWHUV)
Data type: VWULQJ
A string containing the delimiters to use when parsing a line in the file or serial
channel. By default (without ?'HOLP), the file is read line by line and the line-feed
character (\0A) is the only delimiter considered by the parsing. When the ?'HOLP
argument is used, any character in the specified string argument will be considered to determine the significant part of the line.
When using the argument \'HOLP, the control system always adds the characters
carriage return (\0D) and line-feed (\0A) to the delimiters specified by the user.
To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal
representation of the ASCII code of the character (example: TAB is specified by
\09).
205
5HDG1XP
)XQFWLRQ
>?7LPH@
Data type: QXP
If this time runs out before the read operation is finished, the error handler will
be called with the error code ERR_DEV_MAXTIME. If there is no error handler,
the execution will be stopped.
The timeout function is also in use during program stop and will be noticed in the
RAPID program at program start.
3URJUDPH[HFXWLRQ
Starting at the current file position, the function reads and discards any heading delimiters. A heading delimiter without the argument \'HOLP is a line-feed character. Heading
delimiters with the argument \'HOLP are any characters specified in the ?'HOLP argument plus carriage return and line-feed characters. It then reads everything up to and
including the next delimiter character (will be discarded), but not more than 80 characters. If the significant part exceeds 80 characters, the remainder of the characters will
be read on the next reading.
The string that is read is then converted to a numeric value; e.g. 234.4 is converted
to the numeric value 234.4.
([DPSOH
reg1 := ReadNum(infile\Delim:="\09 ");
IF reg1 > EOF_NUM THEN
TPWrite "The file is empty";
...
Reads a number in a line where numbers are separated by TAB (\09) or
SPACE ( ) characters.
Before using the number read from the file, a check is performed to make sure
that the file is not empty.
/LPLWDWLRQV
The function can only be used for character based files that have been opened for reading.
206
5HDG1XP
)XQFWLRQ
(UURUKDQGOLQJ
If an access error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC.
If there is an attempt to read non-numeric data, the system variable ERRNO is set to
ERR_RCVDATA.
If time out before the read operation is finished, the system variable ERRNO is set to
ERR_DEV_MAXTIME.
3UHGHILQHGGDWD
The constant (2)B180 can be used to stop reading, at the end of the file.
CONST num EOF_NUM := 9.998E36;
6\QWD[
ReadNum (
[IODevice :=]<variable (9$5) of LRGHY>
[\Delim:=<expression (,1) of VWULQJ>]
[\Time:=<expression (,1) of QXP>])
5HODWHGLQIRUPDWLRQ
Described in:
207
5HDG1XP
208
)XQFWLRQ
5HDG6WU
)XQFWLRQ
5HDG6WU5HDGVDVWULQJIURPDILOHRUVHULDOFKDQQHO
5HDG6WU5HDG6WULQJis used to read a string from a character-based file or serial channel.
([DPSOH
VAR string text;
VAR iodev infile;
...
Open "HOME:/file.doc", infile\Read;
text := ReadStr(infile);
7H[W is assigned a string read from the file ILOHGRF.
5HWXUQYDOXH
Data type:VWULQJ
The string read from the specified file or serial channel.

If the file is empty (end of file), the string "EOF" is returned.
$UJXPHQWV
5HDG6WU,2'HYLFH>?'HOLP@>?5HPRYH&5@>?'LVFDUG+HDGHUV@
>?7LPH@
,2'HYLFH
Data type: LRGHY

>?'HOLP@
('HOLPLWHUV)
Data type: VWULQJ
A string containing the delimiters to use when parsing a line in the file or serial
channel. By default the file is read line by line and the line-feed character (\0A)
is the only delimiter considered by the parsing. When the ?'HOLP argument is
used, any character in the specified string argument plus by default line-feed
character will be considered to determine the significant part of the line.
To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal
representation of the ASCII code of the character (example: TAB is specified by
\09).
209
5HDG6WU
>?5HPRYH&5@
)XQFWLRQ
Data type: VZLWFK
A switch used to remove the trailing carriage return character when reading PC
files. In PC files, a new line is specified by carriage return and line feed (CRLF).
When reading a line in such files, the carriage return character is by default read
into the return string. When using this argument, the carriage return character will
be read from the file but not included in the return string.
>?'LVFDUG+HDGHUV@
Data type: VZLWFK
This argument specifies whether the heading delimiters (specified in \'HOLPplus

default line-feed) are skipped or not before transferring data to the return string.
By default, if the first character at the current file position is a delimiter, it is read
but not transferred to the return string, the line parsing is stopped and the return
will be an empty string. If this argument is used, all delimiters included in the line
will be read from the file but discarded, and the return string will contain the data
starting at the first non-delimiter character in the line.
>?7LPH@
Data type: QXP
be called with the error code ERR_DEV_MAXTIME. If there is no error handler,
the execution will be stopped.
The timeout function is in use also during program stop and will be noticed in the
RAPID program at program start.
3URJUDPH[HFXWLRQ
Starting at the current file position, if the ?'LVFDUG+HDGHUV argument is used, the function reads and discards any heading delimiters (line-feed characters and any character
specified in the ?'HOLP argument). In all cases, it then reads everything up to the next
delimiter character, but not more than 80 characters. If the significant part exceeds 80
characters, the remainder of the characters will be read on the next reading. The delimiter that caused the parsing to stop is read from the file but not transferred to the return
string. If the last character in the string is a carriage return character and the ?5HPRYH&5
argument is used, this character will be removed from the string.
210
5HDG6WU
)XQFWLRQ
([DPSOH
IF text = EOF THEN
...
Before using the string read from the file, a check is performed to make sure that
the file is not empty.
([DPSOH
Consider a file containing:
<LF><SPACE><TAB>Hello<SPACE><SPACE>World<CR><LF>

text will be an empty string: the first character in the file is the default <LF>
delimiter.
text := ReadStr(infile\DiscardHeaders);
text will contain <SPACE><TAB>Hello<SPACE><SPACE>World<CR>: the
first character in the file, the default <LF> delimiter, is discarded.
text := ReadStr(infile\RemoveCR\DiscardHeaders);
text will contain <SPACE><TAB>Hello<SPACE><SPACE>World: the first
character in the file, the default <LF> delimiter, is discarded; the final carriage
return character is removed
text := ReadStr(infile\Delim:= \09\RemoveCR\DiscardHeaders);
text will contain Hello: the first characters in the file that match either the
default <LF> delimiter or the character set defined by ?'HOLP (space and tab) are
discarded. Data is then transferred up to the first delimiter that is read from the
file but not transferred into the string. A new invocation of the same statement
will return World.
211
5HDG6WU
)XQFWLRQ
([DPSOH
Consider a file containing:
<CR><LF>Hello<CR><LF>

text will contain the <CR> (\0d) character: <CR> and <LF> characters are read
from the file, but only <CR> is transferred to the string. A new invocation of the
same statement will return Hello\0d.
text := ReadStr(infile\RemoveCR);
text will contain an empty string: <CR> and <LF> characters are read from the
file; <CR> is transferred but removed from the string. A new invocation of the
same statement will return Hello.
text := ReadStr(infile\Delim:=\0d);
text will contain an empty string: <CR> is read from the file but not transferred
to the return string. A new invocation of the same instruction will return an empty
string again: <LF> is read from the file but not transferred to the return string.
text := ReadStr(infile\Delim:=\0d\DiscardHeaders);
text will contain Hello. A new invocation of the same instruction will return
EOF (end of file).
/LPLWDWLRQV
The function can only be used for files or serial channels that have been opened for
reading in a character-based mode.
(UURUKDQGOLQJ
ERR_FILEACC.
If timeout before the read operation is finished, the system variable ERRNO is set to
ERR_DEV_MAXTIME.
212
5HDG6WU
)XQFWLRQ
3UHGHILQHGGDWD
The constant (2) can be used to check if the file was empty when trying to read from
the file or to stop reading at the end of the file.
CONST string EOF := "EOF";
6\QWD[
ReadStr (
[IODevice :=] <variable (9$5) of LRGHY>
[\Delim:=<expression (,1) of VWULQJ>]
[\RemoveCR]
[\DiscardHeaders]
5HODWHGLQIRUPDWLRQ
Described in:
213
5HDG6WU
214
)XQFWLRQ
5HDG6WU%LQ
)XQFWLRQ
5HDG6WU%LQ5HDGVDVWULQJIURPDELQDU\VHULDOFKDQQHORU
ILOH
5HDG6WU%LQ5HDG6WULQJ%LQDU\is used to read a string from a binary serial channel
or file.
([DPSOH
VAR iodev channel2;
VAR string text;
...
Open com2:, channel2 \Bin;
text := ReadStrBin (channel2, 10);
7H[W is assigned a characters text string read from the serial channel referred
to by FKDQQHO.
5HWXUQYDOXH
Data type:VWULQJ
The text string read from the specified serial channel or file. If the file is empty (end of
file), the string "EOF" is returned.
$UJXPHQWV
5HDG6WU%LQ,2'HYLFH1R2I&KDUV>?7LPH@
,2'HYLFH
Data type: LRGHY
The name (reference) of the binary serial channel or file to be read.

1R2I&KDUV
Data type: QXP
The number of characters to be read from the binary serial channel or file.
>?7LPH@
Data type: QXP
be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped.
The timeout function is in use also during program stop and will be noticed in
the RAPID program at program start.
215
5HDG6WU%LQ
)XQFWLRQ
3URJUDPH[HFXWLRQ
The function reads the specified number of characters from the binary serial channel or
file.
([DPSOH
text := ReadStrBin(infile,20);
IF text = EOF THEN
Before using the string read from the file, a check is performed to make sure that
the file is not empty.
/LPLWDWLRQV
The function can only be used for serial channels or files that have been opened for
reading in a binary mode.
(UURUKDQGOLQJ
ERR_FILEACC.
If timeout before the read operation is finished, the system variable ERRNO is set to
ERR_DEV_MAXTIME.
3UHGHILQHGGDWD
The constant (2) can be used to check if the file was empty, when trying to read from
the file or to stop reading at the end of the file.
CONST string EOF := "EOF";
216
5HDG6WU%LQ
)XQFWLRQ
6\QWD[
ReadStrBin (
[IODevice :=] <variable (9$5) of LRGHY>,
[NoOfChars :=] <expression (,1) of QXP>
5HODWHGLQIRUPDWLRQ
Described in:
Opening (etc.) serial channels
or files
Write binary string
Instructions - :ULWH6WU%LQ
217
5HDG6WU%LQ
218
)XQFWLRQ
5HDG9DU
)XQFWLRQ
5HDG9DU5HDGYDULDEOHIURPDGHYLFH
5HDG9DU 5HDG9DULDEOH is used to read a variable from a device connected to the
serial sensor interface.
The sensor interface communicates with a maximum of two sensors over serial
channels using the RTP1 transport protocol.
The two channels must be named laser1: and swg:.
This is an example of a sensor channel configuration.
COM_PHY_CHANN:
-name sio1: -type sio-Channel 1-Baudrate 19200
COM_TRP:
-Name laser1:-Type RTP1 -PhyChnnel sio1
([DPSOH
CONST num XCoord := 8;
CONST num YCoord := 9;
CONST num ZCoord := 10;
VAR pos SensorPos;
! Read a cartesian position from the sensor.
SensorPos.x := ReadVar (XCoord);
SensorPos.y := ReadVar (YCoord);
SensorPos.z := ReadVar (ZCoord);
$UJXPHQWV
5HDG9DU9DU1R>?6HQVRU1R@
9DU1R
Data type:QXP
The argument 9DU1R is used to select variable to be read.

>?6HQVRU1R@
Data type:QXP
The optional SensorNo is used if more than one sensor is connected to the robot
controller.
SensorNo 0 selects the sensor connected to the laser1: channel.
SensorNo 1 selects the sensor connected to the swg: channel.
If the argument is left out the default SensorNo 0 is used.
219
5HDG9DU
)XQFWLRQ
)DXOWPDQDJHPHQW
Error constant ((5512 value) Description
SEN_NO_MEAS
Measurement failure
SEN_NOREADY
Sensor unable to handle command
SEN_GENERRO
General sensor error
SEN_BUSY
Sensor busy
SEN_UNKNOWN
Unknown sensor
SEN_EXALARM
External sensor error
SEN_CAALARM
Internal sensor error
SEN_TEMP
Sensor temperature error
SEN_VALUE
Illegal communication value
SEN_CAMCHECK
Sensor check failure
SEN_TIMEOUT
Communication error
6\QWD[
ReadVar
[ VarNo := ] < expression (,1) of QXP >
[ ( \ SensorNo := < expression (,1) of QXP > ) ] ;
5HODWHGLQIRUPDWLRQ
Described in:
220
Write a sensor variable
Instructions - :ULWH9DU
Write a sensor data block
Instructions - :ULWH%ORFN
Read a sensor data block
Instructions - 5HDG%ORFN
Configuration of
sensor communication
System Parameters - &RPPXQLFDWLRQ
5HO7RRO
)XQFWLRQ
%DVH:DUH
5HO7RRO0DNHDGLVSODFHPHQWUHODWLYHWRWKHWRRO
5HO7RRO5HODWLYH7RROis used to add a displacement and/or a rotation, expressed in
the tool coordinate system, to a robot position.
([DPSOH
MoveL
RelTool (p1, 0, 0, 100), v100, fine, tool1;
The robot is moved to a position that is 100 mm from p1 in the direction of the
tool.
MoveL
RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;
The tool is rotated 25o around its z-axis.
5HWXUQYDOXH
The new position with the addition of a displacement and/or a rotation, if any, relative
to the active tool.
$UJXPHQWV
5HO7RRO3RLQW'['\']>\5[@>\5\@>\5]@
3RLQW

The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
'[
Data type: QXP

The displacement in mm in the x direction of the tool coordinate system.
'\
Data type: QXP

The displacement in mm in the y direction of the tool coordinate system.
']
Data type: QXP

The displacement in mm in the z direction of the tool coordinate system.
>?5[@
Data type: QXP

The rotation in degrees around the x axis of the tool coordinate system.
221
5HO7RRO
%DVH:DUH
)XQFWLRQ
>?5\@
Data type: QXP

The rotation in degrees around the y axis of the tool coordinate system.
>?5]@
Data type: QXP

The rotation in degrees around the z axis of the tool coordinate system.
In the event that two or three rotations are specified at the same time, these will be performed first around the x-axis, then around the new y-axis, and then around the new
z-axis.
6\QWD[
RelTool(
[ Point := ] < expression (,1) of UREWDUJHW>,
[Dx :=] <expression (,1) of QXP> ,
[Dy :=] <expression (,1) of QXP> ,
[Dz :=] <expression (,1) of QXP>
[\Rx := <expression (,1) of QXP> ]
[\Ry := <expression (,1) of QXP> ]
[\Rz := <expression (,1) of QXP> ])
5HODWHGLQIRUPDWLRQ
Described in:
222
Positioning instructions
RAPID Summary - 0RWLRQ
5RE26
)XQFWLRQ
%DVH:DUH
5RE26&KHFNLIH[HFXWLRQLVRQ5&RU9&
5RE265RERW2SHUDWLQJ6\VWHPcan be used to check, if the execution is performed
on Robot Controller RC or Virtual Controller VC (such as RobotStudio, ProgramMaker, QuickTeach).
([DPSOH
IF RobOS() THEN
! Execution statements in RC
ELSE
! Execution statements in VC
ENDIF
5HWXUQYDOXH
Data type: ERRO
TRUE if execution runs on Robot Controller, FALSE otherwise.
6\QWD[
RobOS ()
223
5RE26
%DVH:DUH
224
)XQFWLRQ
5RXQG
)XQFWLRQ
%DVH:DUH
5RXQG5RXQGLVDQXPHULFYDOXH
5RXQGis used to round a numeric value to a specified number of decimals or to an integer value.
([DPSOH
VAR num val;
val := Round(0.38521\Dec:=3);
The variable YDO is given the value 0.385.
val := Round(0.38521\Dec:=1);
val := Round(0.38521);
The variable YDO is given the value 0.
5HWXUQYDOXH
Data type: QXP
The numeric value rounded to the specified number of decimals.
$UJXPHQWV
5RXQG9DO>?'HF@
9DO
(9DOXH)
Data type: QXP
The numeric value to be rounded.

>?'HF@
('HFLPDOV
Data type: QXP
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value
is rounded to an integer.
The number of decimals must not be negative or greater than the available precision for numeric values.
225
5RXQG
%DVH:DUH
)XQFWLRQ
6\QWD[
Round(
[ Val := ] <expression (,1) of QXP>
[ \Dec := <expression (,1) of QXP> ]
)
5HODWHGLQIRUPDWLRQ
Described in:
226
Truncating a value
Functions - 7UXQF
5XQ0RGH
)XQFWLRQ
%DVH:DUH
5XQ0RGH5HDGWKHUXQQLQJPRGH
5XQ0RGH5XQQLQJ0RGHis used to read the current running mode of the program
task.
([DPSOH
IF RunMode() = RUN_CONT_CYCLE THEN
..
ENDIF
The program section is executed only for continuous or cycle running.
5HWXUQYDOXH
Data type: V\PQXP
The current running mode as defined in the table below.
Return value
Symbolic constant
Comment
RUN_UNDEF
Undefined running mode
RUN_CONT_CYCLE
Continuous or cycle running mode
RUN_INSTR_FWD
Instruction forward running mode
RUN_INSTR_BWD
Instruction backward running mode
RUN_SIM
Simulated running mode. Not released yet.
RUN_STEP_MOVE
Move instructions forward running, logical

instructions continuous running mode
$UJXPHQWV
5XQ0RGH>?0DLQ@
>?0DLQ@
Data type: VZLWFK
Return current mode for the task if it is a motion task. If used in a non-motion
task, it will return the current mode of the motion task that the non-motion task
is connected to.
If this argument is omitted, the return value always mirrors the current running
mode for the program task which executes the function 5XQ0RGH.
227
5XQ0RGH
%DVH:DUH
)XQFWLRQ
6\QWD[
RunMode ( [\Main] )
A function with a return value of the data type V\PQXP.
5HODWHGLQIRUPDWLRQ
Described in:
Reading operating mode
228
Functions - 2S0RGH
6LQ
)XQFWLRQ
%DVH:DUH
6LQ&DOFXODWHVWKHVLQHYDOXH
6LQ6LQHis used to calculate the sine value from an angle value.
([DPSOH
VAR num angle;
VAR num value;
.
.
value := Sin(angle);
5HWXUQYDOXH
Data type: QXP
The sine value, range [-1, 1] .
$UJXPHQWV
6LQ$QJOH
$QJOH
Data type: QXP
6\QWD[
Sin(
[Angle:=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
229
6LQ
%DVH:DUH
230
)XQFWLRQ
6RFNHW*HW6WDWXV
)XQFWLRQ
6RFNHW0HVVDJLQJ
6RFNHW*HW6WDWXV*HWFXUUHQWVRFNHWVWDWH
6RFNHW*HW6WDWXV returns the current state of a socket.
([DPSOHV
VAR socketdev socket1;
VAR socketstatus state;
...
SocketCreate socket1;
state := SocketGetStatus( socket1 );
The socket status SOCKET_CREATED will be stored in the variable VWDWH.
5HWXUQYDOXH
Data type:VRFNHWVWDWXV
The current state of the socket.

Only the predefined symbolic constants of type VRFNHWVWDWXV can be used to check the
state.
$UJXPHQWV
6RFNHW*HW6WDWXV6RFNHW
6RFNHW
Data type:VRFNHWGHY
The socket variable which state is of interest.
3URJUDPH[HFXWLRQ
The function returns one of the following socket states: SOCKET_CREATED,
SOCKET_CONNECTED, SOCKET_BOUND, SOCKET_LISTENING or
SOCKET_CLOSED.
([DPSOHV
VAR socketstatus status;
VAR socketdev my_socket;
VAR string str_data :=Hallo world;
...
SocketCreate my_socket;
SocketConnect my_socket, 192.168.0.1, 1025;
231
6RFNHW*HW6WDWXV
6RFNHW0HVVDJLQJ
)XQFWLRQ
! A lot of RAPID code

status := SocketGetStatus( my_socket );
IF status <> SOCKET_CONNECTED THEN
TPWrite Socket is not connected;
ELSE
SocketSend my_socket \Str:=str_data;
ENDIF
A client socket is created and connected to a remote computer. Before the socket
is used in a 6RFNHW6HQG instruction the state of the socket is checked so that it is
still connected.
/LPLWDWLRQV
The state of a socket can only be changed by executing RAPID socket instruction.
E.g. if the socket is connected and later the connection is broken, this will not be
reported be the 6RFNHW*HW6WDWXV function. Instead there will be an error returned when
the socket is used in a 6RFNHW6HQG or 6RFNHW5HFHLYH instruction.
6\QWD[
SocketGetStatus
( [ Socket := ] < variable (9$5) of VRFNHWGHY > )
A function with a return value of the data type VRFNHWVWDWXV.
5HODWHGLQIRUPDWLRQ
Described in:
Socket communication in general
Application manual Robot communication and I/O control

Instructions - 6RFNHW&UHDWH
Create a new socket
Connect to remote computer (only client)Instructions - 6RFNHW&RQQHFW
232
Send data to remote computer
Instructions - 6RFNHW6HQG
Receive data from remote computer
Instructions - 6RFNHW5HFHLYH
Close the socket
Instructions - 6RFNHW&ORVH
Bind a socket (only server)
Instructions - 6RFNHW%LQG
Listening connections (only server)
Instructions - 6RFNHW/LVWHQ
Accept connections (only server)
Instructions - 6RFNHW$FFHSW
6TUW
)XQFWLRQ
%DVH:DUH
6TUW&DOFXODWHVWKHVTXDUHURRWYDOXH
6TUW6TXDUHURRWis used to calculate the square root value.
([DPSOH
VAR num x_value;
VAR num y_value;
.
.
y_value := Sqrt( x_value);
5HWXUQYDOXH
Data type: QXP
The square root value.
$UJXPHQWV
6TUW9DOXH
9DOXH
The argument value for square root (
Data type: QXP

); it has to be
t0.
6\QWD[
Sqrt(
[Value:=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
233
6TUW
%DVH:DUH
234
)XQFWLRQ
67&DOF)RUFH
)XQFWLRQ
6HUYRWRROFRQWURO
67&DOF)RUFH&DOFXODWHWKHWLSIRUFHIRUD6HUYR7RRO
67&DOF)RUFHis used to calculate the tip force for a Servo Tool. This function is used
e.g. to find the max allowed tip force for a servo tool.
([DPSOH
VAR num tip_force;
tip_force := STCalcForce(gun1, 7);
Calculate the tip force when the desired motor torque is 7 Nm.
5HWXUQ9DOXH
The calculated tip force [N]
Data type: QXP
$UJXPHQWV
67&DOF)RUFH7RRO1DPH0RWRU7RUTXH
7RRO1DPH
Data type: VWULQJ

0RWRU7RUTXH
Data type: QXP
The desired motor torque [Nm].
(UURUKDQGOLQJ
If the specified servo tool name is not a configured servo tool, the system variable
ERRNO is set to ERR_NO_SGUN.
The error can be handled in a Rapid error handler.
235
67&DOF)RUFH
6HUYRWRROFRQWURO
)XQFWLRQ
6\QWD[
STCalcForce
[ ToolName := ] < expression (,1) of VWULQJ > ,
[ MotorTorque := ] < expression (,1) of QXP > ;
5HODWHGLQIRUPDWLRQ
Described in:
236
Open a servo tool
Instructions - 672SHQ
Close a servo tool
Instructions - 67&ORVH
Calculate the motor torque
Functions - 67&DOF7RUTXH
67&DOF7RUTXH
)XQFWLRQ
6HUYRWRROFRQWURO
67&DOF7RUTXH&DOFWKHPRWRUWRUTXHIRUDVHUYRWRRO
67&DOF7RUTXHis used to calculate the motor torque for a Servo Tool. This function is
used e.g. when a force calibration is performed.
([DPSOH
VAR num curr_motortorque;
curr_motortorque := STCalcTorque( gun1, 1000);
Calculate the motor torque when the desired tip force is 1000N.
5HWXUQYDOXH
The calculated motor torque [Nm]
Data type: QXP
$UJXPHQWV
67&DOF7RUTXH7RRO1DPH7LS)RUFH
7RRO1DPH
Data type: VWULQJ

7LS)RUFH
Data type: QXP
The desired tip force [N].
(UURUKDQGOLQJ
If the specified servo tool name is not a configured servo tool, the system variable
ERRNO is set to ERR_NO_SGUN.
The error can be handled in a Rapid error handler.
237
67&DOF7RUTXH
6HUYRWRROFRQWURO
)XQFWLRQ
6\QWD[
STCalcTorque
[ ToolName := ] < expression (,1) of VWULQJ > ,
[ TipForce := ] < expression (,1) of QXP > ;
5HODWHGLQIRUPDWLRQ
Described in:
238
Open a servo tool
Close a servo tool
Calculate the tip force
Functions - 67&DOF)RUFH
67,V&ORVHG
)XQFWLRQ
6HUYRWRROFRQWURO
67,V&ORVHG7HVWVLIDVHUYRWRROLVFORVHG
67,V&ORVHGis used to test if a servo tool is closed.
([DPSOH
IF STIsClosed(gun1) THEN
!Start the weld process
Set weld_start;
ELSE
..........
ENDIF
5HWXUQYDOXH
TRUE if the tested tool is closed, i.e. the desired tip force is achieved.
Data type: ERRO
FALSE if the tested tool is not closed.
$UJXPHQWV
67,V&ORVHG7RRO1DPH
7RRO1DPH
Data type: VWULQJ
6\QWD[
STIsClosed(
[ ToolName := ] < expression (,1) of VWULQJ > )
A function with a return value of the data type bool.
5HODWHGLQIRUPDWLRQ
Described in:
Open a servo tool
Close a servo tool
Test if a servo tool is open
Functions - 67,V2SHQ
239
67,V&ORVHG
6HUYRWRROFRQWURO
240
)XQFWLRQ
67,V2SHQ
)XQFWLRQ
6HUYRWRROFRQWURO
67,V2SHQ7HVWVLIDVHUYRWRROLVRSHQ
67,V2SHQis used to test if a servo tool is open.
([DPSOH
IF STIsOpen(gun1) THEN
!Start the motion
MoveL .......
ELSE
..........
ENDIF
5HWXUQYDOXH
TRUE if the tested tool is open, i.e. the tool arm is in the programmed open position.
Data type: ERRO
FALSE if the tested tool is not open.
$UJXPHQWV
67,V2SHQ7RRO1DPH
7RRO1DPH
Data type: VWULQJ
6\QWD[
STIsOpen(
[ ToolName := ] < expression (,1) of VWULQJ > )
A function with a return value of the data type bool.
5HODWHGLQIRUPDWLRQ
Described in:
Open a servo tool
Close a servo tool
Test if a servo tool is closed
Functions - 67,V&ORVHG
241
67,V2SHQ
6HUYRWRROFRQWURO
242
)XQFWLRQ
6WU)LQG
)XQFWLRQ
%DVH:DUH
6WU)LQG6HDUFKHVIRUDFKDUDFWHULQDVWULQJ
6WU)LQG6WULQJ)LQG is used tosearch in a string, starting at a specified position, for a
character that belongs to a specified set of characters.
([DPSOH
VAR num found;

found := StrFind("Robotics",1,"aeiou");
The variable IRXQG is given the value 2.
found := StrFind("Robotics",1,"aeiou"\NotInSet);
found := StrFind("IRB 6400",1,STR_DIGIT);
found := StrFind("IRB 6400",1,STR_WHITE);
5HWXUQYDOXH
Data type: QXP
The character position of the first character, at or past the specified position, that
belongs to the specified set. If no such character is found, String length +1 is returned.
$UJXPHQWV
6WU)LQG6WU&K3RV6HW>?1RW,Q6HW@
6WU
(6WULQJ)
Data type: VWULQJ
(&KDUDFWHU3RVLWLRQ)
Data type: QXP
The string to search in.

&K3RV
Start character position. A runtime error is generated if the position is outside the
string.
6HW
Data type: VWULQJ

Set of characters to test against.
243
6WU)LQG
%DVH:DUH
)XQFWLRQ
>?1RW,Q6HW@
Data type: VZLWFK
Search for a character not in the set of characters.
6\QWD[
StrFind(
[ ChPos := ] <expression (,1) of QXP> ,
[ Set:= ] <expression (,1) of VWULQJ>
[\NotInSet ]
)
5HODWHGLQIRUPDWLRQ
Described in:
244
String functions
Data Types - VWULQJ
String values
6WU/HQ
)XQFWLRQ
%DVH:DUH
6WU/HQ*HWVWKHVWULQJOHQJWK
6WU/HQ6WULQJ/HQJWKis used to find the current length of a string.
([DPSOH
VAR num len;
len := StrLen("Robotics");
The variable OHQ is given the value 8.
5HWXUQYDOXH
Data type: QXP
The number of characters in the string (>=0).
$UJXPHQWV
6WU/HQ6WU
6WU
(6WULQJ)
Data type: VWULQJ
The string in which the number of characters is to be counted.
6\QWD[
StrLen(
[ Str := ] <expression (,1) of VWULQJ>
)
5HODWHGLQIRUPDWLRQ
Described in:
String functions
Data Types - VWULQJ
String values
245
6WU/HQ
%DVH:DUH
246
)XQFWLRQ
6WU0DS
)XQFWLRQ
%DVH:DUH
6WU0DS0DSVDVWULQJ
6WU0DS6WULQJ0DSSLQJ is used to create a copy of a string in which all characters are
translated according to a specified mapping.
([DPSOH
VAR string str;

str := StrMap("Robotics","aeiou","AEIOU");
The variable VWU is given the value "RObOtIcs".
str := StrMap("Robotics",STR_LOWER, STR_UPPER);
The variable VWU is given the value "ROBOTICS".
5HWXUQYDOXH
Data type: VWULQJ
The string created by translating the characters in the specified string, as specified by
the "from" and "to" strings. Each character, from the specified string, that is found in
the "from" string is replaced by the character at the corresponding position in the "to"
string. Characters for which no mapping is defined are copied unchanged to the resulting string.
$UJXPHQWV
6WU0DS6WU)URP0DS7R0DS
6WU
(6WULQJ)
Data type: VWULQJ
The string to translate.

)URP0DS
Data type: VWULQJ
Index part of mapping.

7R0DS
Data type: VWULQJ
Value part of mapping.
247
6WU0DS
%DVH:DUH
)XQFWLRQ
6\QWD[
StrMap(
[ FromMap:= ] <expression (,1) of VWULQJ> ,
[ ToMap:= ] <expression (,1) of VWULQJ>
)
5HODWHGLQIRUPDWLRQ
Described in:
248
String functions
Data Types - VWULQJ
String values
6WU0DWFK
)XQFWLRQ
%DVH:DUH
6WU0DWFK6HDUFKIRUSDWWHUQLQVWULQJ
6WU0DWFK6WULQJ0DWFKis used to search in a string, starting at a specified position,
for a specified pattern.
([DPSOH
VAR num found;

found := StrMatch("Robotics",1,"bo");
5HWXUQYDOXH
Data type: QXP
The character position of the first substring, at or past the specified position, that is
equal to the specified pattern string. If no such substring is found, string length +1 is
returned.
$UJXPHQWV
6WU0DWFK6WU&K3RV3DWWHUQ
6WU
(6WULQJ)
Data type: VWULQJ
(&KDUDFWHU3RVLWLRQ)
Data type: QXP
The string to search in.

&K3RV
string.
3DWWHUQ
Data type: VWULQJ
Pattern string to search for.
6\QWD[
StrMatch(
[ Pattern:= ] <expression (,1) of VWULQJ>
)
249
6WU0DWFK
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
250
String functions
Data Types - VWULQJ
String values
6WU0HPE
)XQFWLRQ
%DVH:DUH
6WU0HPE&KHFNVLIDFKDUDFWHUEHORQJVWRDVHW
6WU0HPE6WULQJ0HPEHUis used to check whether a specified character in a string
belongs to a specified set of characters.
([DPSOH
VAR bool memb;

memb := StrMemb("Robotics",2,"aeiou");
The variable PHPE is given the value TRUE, as o is a member of the set "aeiou".
memb := StrMemb("Robotics",3,"aeiou");
The variable PHPE is given the value FALSE, as b is not a member of the set
"aeiou".
memb := StrMemb("S-721 68 VSTERS",3,STR_DIGIT);
The variable PHPE is given the value TRUE.
5HWXUQYDOXH
Data type: ERRO
TRUE if the character at the specified position in the specified string belongs to the
specified set of characters.
$UJXPHQWV
6WU0HPE6WU&K3RV6HW
6WU
(6WULQJ)
Data type: VWULQJ
(&KDUDFWHU3RVLWLRQ)
Data type: QXP
The string to check in.

&K3RV
The character position to check. A runtime error is generated if the position is

outside the string.
6HW
Data type: VWULQJ

Set of characters to test against.
251
6WU0HPE
%DVH:DUH
)XQFWLRQ
6\QWD[
StrMemb(
[ Set:= ] <expression (,1) of VWULQJ>
)
5HODWHGLQIRUPDWLRQ
Described in:
252
String functions
Data Types - VWULQJ
String values
6WU2UGHU
)XQFWLRQ
%DVH:DUH
6WU2UGHU&KHFNVLIVWULQJVDUHRUGHUHG
6WU2UGHU6WULQJ2UGHUis used to check whether two strings are in order, according to
a specified character ordering sequence.
([DPSOH
VAR bool le;

le := StrOrder("FIRST","SECOND",STR_UPPER);
The variable OH is given the value TRUE, because "FIRST" comes before
"SECOND" in the character ordering sequence STR_UPPER.
5HWXUQYDOXH
Data type: ERRO
TRUE if the first string comes before the second string (Str1 <= Str2) when characters
are ordered as specified.
Characters that are not included in the defined ordering are all assumed to follow the
present ones.
$UJXPHQWV
6WU2UGHU6WU6WU2UGHU
6WU
(6WULQJ)
Data type: VWULQJ
(6WULQJ)
Data type: VWULQJ
First string value.

6WU
Second string value.
2UGHU
Data type: VWULQJ
Sequence of characters that define the ordering.
253
6WU2UGHU
%DVH:DUH
)XQFWLRQ
6\QWD[
StrOrder(
[ Str1 := ] <expression (,1) of VWULQJ> ,
[ Str2 := ] <expression (,1) of VWULQJ> ,
[ Order := ] <expression (,1) of VWULQJ>
)
5HODWHGLQIRUPDWLRQ
Described in:
254
String functions
Data Types - VWULQJ
String values
6WU3DUW
)XQFWLRQ
%DVH:DUH
6WU3DUW)LQGVDSDUWRIDVWULQJ
6WU3DUW6WULQJ3DUWis used to find a part of a string, as a new string.
([DPSOH
VAR string part;

part := StrPart("Robotics",1,5);
The variable SDUW is given the value "Robot".
5HWXUQYDOXH
Data type: VWULQJ
The substring of the specified string, which has the specified length and starts at the
specified character position.
$UJXPHQWV
6WU3DUW6WU&K3RV/HQ
6WU
(6WULQJ)
Data type: VWULQJ
The string in which a part is to be found.

&K3RV
(&KDUDFWHU3RVLWLRQ)
Data type: QXP
string.
/HQ
(/HQJWK)
Data type: QXP
Length of string part. A runtime error is generated if the length is negative or

greater than the length of the string, or if the substring is (partially) outside the
string.
6\QWD[
StrPart(
[ Len:= ] <expression (,1) of QXP>
)
255
6WU3DUW
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
256
String functions
Data Types - VWULQJ
String values
6WU7R%\WH
)XQFWLRQ
%DVH:DUH
6WU7R%\WH&RQYHUWVDVWULQJWRDE\WHGDWD
6WU7R%\WH6WULQJ7R%\WHis used to convert a VWULQJ with a defined byte data format
into a E\WH data.
([DPSOH
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010", "A"];
VAR byte data_buffer{5};
data_buffer{1} := StrToByte(con_data_buffer{1});
The content of the array component GDWDBEXIIHU^`will be 10 decimal after the
6WU7R%\WH function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);
6WU7R%\WH function.
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);
6WU7R%\WH function.
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);
6WU7R%\WH function.
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);
6WU7R%\WH function.
5HWXUQYDOXH
Data type: E\WH
The result of the conversion operation in decimal representation.
257
6WU7R%\WH
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
6WU7R%\WH&RQ6WU>?+H[@_>?2NW@_>?%LQ@_>?&KDU@
&RQ6WU
&RQYHUW6WULQJ
Data type: VWULQJ
The string data to be converted.

If the optional switch argument is omitted, the string to be converted has GHFLPDO (Dec)
format.
>?+H[@
+H[DGHFLPDO
Data type: VZLWFK
The string to be converted has KH[DGHFLPDO format.

>?2NW@
2FWDO
Data type: VZLWFK
The string to be converted has RFWDO format.

>?%LQ@
%LQDU\
Data type: VZLWFK
The string to be converted has ELQDU\ format.

>?&KDU@
&KDUDFWHU
Data type: VZLWFK
The string to be converted has $6&,,character format.
/LPLWDWLRQV
Depending on the format of the string to be converted, the following string data
is valid:
Format:
Dec .....: 0 - 9
Hex .....: 0 - 9, a -f, A - F
Okt ......: 0 - 7
Bin ......: 0 - 1
Char ....: Any ASCII character
String length:
3
2
3
8
1
Range:
"0" - "255"
"0" - "FF"
"0" - "377"
"0" - "11111111"
One ASCII char
RAPID character codes (e.g. \07 for BEL control character) can be used as
arguments in &RQ6WU.
258
6WU7R%\WH
)XQFWLRQ
%DVH:DUH
6\QWD[
StrToByte(
[ConStr :=] <expression (,1) of VWULQJ>
[\ Hex ] | [\ Okt] | [\ Bin] | [\ Char]
) ;
5HODWHGLQIRUPDWLRQ
Described in:
Convert a byte to a string data
Instructions - %\WH7R6WU
Other bit (byte) functions
Other string functions
259
6WU7R%\WH
%DVH:DUH
260
)XQFWLRQ
6WU7R9DO
)XQFWLRQ
%DVH:DUH
6WU7R9DO&RQYHUWVDVWULQJWRDYDOXH
6WU7R9DO6WULQJ7R9DOXHis used to convert a string to a value of any data type.
([DPSOH
VAR bool ok;
VAR num nval;
ok := StrToVal("3.85",nval);
The variable RN is given the value TRUE and QYDO is given the value .
5HWXUQYDOXH
Data type: ERRO
TRUE if the requested conversion succeeded, FALSE otherwise.
$UJXPHQWV
6WU7R9DO6WU9DO
6WU
(6WULQJ)
Data type: VWULQJ
A string value containing literal data with format corresponding to the data type
used in argument 9DO. Valid format as for RAPID literal aggregates.
9DO
(9DOXH)
Data type: $1<7<3(
Name of the variable or persistent of any data type for storage of the result from
the conversion. The data is unchanged if the requested conversion failed.
([DPSOH
VAR string 15 := [600, 500, 225.3];
VAR bool ok;
VAR pos pos15;
ok := StrToVal(str15,pos15);
The variable RN is given the value TRUE and the variable Sis given the value
that are specified in the string VWU.
261
6WU7R9DO
%DVH:DUH
)XQFWLRQ
6\QWD[
StrToVal(
[ Val := ] <var or pers (,1287) of $1<7<3(>
)
5HODWHGLQIRUPDWLRQ
Described in:
262
String functions
Data Types - VWULQJ
String values
7DQ
)XQFWLRQ
%DVH:DUH
7DQ&DOFXODWHVWKHWDQJHQWYDOXH
7DQ7DQJHQWis used to calculate the tangent value from an angle value.
([DPSOH
VAR num angle;
VAR num value;
.
.
value := Tan(angle);
5HWXUQYDOXH
Data type: QXP
The tangent value.
$UJXPHQWV
7DQ$QJOH
$QJOH
Data type: QXP
6\QWD[
Tan(
[Angle :=] <expression (,1) of QXP>
)
5HODWHGLQIRUPDWLRQ
Described in:
Arc tangent with return value in the
range [-180, 180]

Functions - $7DQ
263
7DQ
%DVH:DUH
264
)XQFWLRQ
7DVN5XQ0HF
)XQFWLRQ
%DVH:DUH
7DVN5XQ0HF&KHFNLIWDVNFRQWURODQ\PHFKDQLFDOXQLW
7DVN5XQ0HFis used to check if the program task controls any mechanical units (robot
with TCP or manipulator without TCP).
([DPSOH
VAR bool flag;
flag := TaskRunMec( );
If current task controls any mechanical unit IODJ will be TRUE, otherwise
FALSE.
5HWXUQYDOXH
Data type: ERRO
If current task controls any mechanical unit the return value will be TRUE,
otherwise FALSE.
3URJUDPH[HFXWLRQ
Check if current program task controls any mechanical unit.
6\QWD[
TaskRunMec( )
5HODWHGLQIRUPDWLRQ
Described in:
Check if task control some robot
Functions - 7DVN5XQ5RE

System Parameters
265
7DVN5XQ0HF
%DVH:DUH
266
)XQFWLRQ
7DVN5XQ5RE
)XQFWLRQ
%DVH:DUH
7DVN5XQ5RE&KHFNLIWDVNFRQWUROVRPHURERW
7DVN5XQ5REis used to check if the program task controls some robot (mechanical unit
with TCP).
([DPSOH
VAR bool flag;
flag := TaskRunRob( );
If current task controls some robot, IODJ will be set to TRUE, otherwise FALSE.
5HWXUQYDOXH
Data type: ERRO
If current task controls some robot, the return value will be TRUE,
otherwise FALSE.
3URJUDPH[HFXWLRQ
Check if current program task controls some robot.
6\QWD[
TaskRunRob ( )
5HODWHGLQIRUPDWLRQ
Described in:
Check if task controls any mechanical unitFunctions - 7DVN5XQ0HF
System Parameters
267
7DVN5XQ5RE
%DVH:DUH
268
)XQFWLRQ
7HVW$QG6HW
)XQFWLRQ
%DVH:DUH
7HVW$QG6HW7HVWYDULDEOHDQGVHWLIXQVHW
7HVW$QG6HW can be used together with a normal data object of the type ERRO, as a binary
semaphore, to retrieve exclusive right to specific RAPID code areas or system
resources. The function could be used both between different program tasks and different execution levels (TRAP or Event Routines) within the same program task.
Example of resources that can need protection from access at the same time:
- Use of some RAPID routines with function problems when executed in parallel.
- Use of the FlexPendant - Operator Output & Input
([DPSOH
0$,1SURJUDPWDVN
PERS bool tproutine_inuse := FALSE;
....
WaitUntil TestAndSet(tproutine_inuse);
TPWrite First line from MAIN;
TPWrite Second line from MAIN;
TPWrite Third line from MAIN;
tproutine_inuse := FALSE;
%$&.SURJUDPWDVN
PERS bool tproutine_inuse := FALSE;
....
WaitUntil TestAndSet(tproutine_inuse);
TPWrite First line from BACK1;
TPWrite Second line from BACK1;
TPWrite Third line from BACK1;
tproutine_inuse := FALSE;

.
To avoid mixing up the lines, one from MAIN and one from BACK1, the use of the
TestAndSet function guarantees that all three lines from each task are not separated.
If program task MAIN takes the semaphore 7HVW$QG6HWWSURXWLQHBLQXVHfirst, then
program task BACK1 must wait until the program task MAIN has left the semaphore.
5HWXUQYDOXH
Data type: QXP
TRUE if the semaphore has been taken by me (executor of TestAndSet function),

otherwise FALSE.
269
7HVW$QG6HW
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
7HVW$QG6HW2EMHFW
2EMHFW
Data type:ERRO
User defined data object to be used as semaphore. The data object could be a VAR
or a PERS. If TestAndSet are used between different program tasks, the object
must be a PERS or an installed VAR (intertask objects).
3URJUDPH[HFXWLRQ
This function will in one indivisible step check the user defined variable and, if it is
unset, will set it and return TRUE, otherwise it will return FALSE.
IF Object = FALSE THEN
Object := TRUE;
RETURN TRUE;
ELSE
RETURN FALSE;
ENDIF
([DPSOH
LOCAL VAR bool doit_inuse := FALSE;
...
PROC doit(...)
WaitUntil TestAndSet (doit_inuse);
....
doit_inuse := FALSE;
ENDPROC
If a module is installed built-in and shared, it is possible to use a local module
variable for protection of access from different program tasks at the same time.
1RWHLQWKLVFDVH: If program execution is stopped in the routine GRLW and the program pointer is moved to PDLQ, the variable GRLWBLQXVH will not be reset. To avoid
this, reset the variable GRLWBLQXVH to FALSE in the START event routine.
6\QWD[
TestAndSet (
[ Object := ] < variable or persistent (,1287) of ERRO> )
270
7HVW$QG6HW
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Wait until variable unset - then set Instructions - :DLW7HVW$QG6HW
(type wait with interrupt control)
271
7HVW$QG6HW
%DVH:DUH
272
)XQFWLRQ
7HVW',
)XQFWLRQ
%DVH:DUH
7HVW',7HVWVLIDGLJLWDOLQSXWLVVHW
7HVW',is used to test whether a digital input is set.
Examples
IF TestDI (di2) THEN . . .
If the current value of the signal GL is equal to 1, then . . .
IF NOT TestDI (di2) THEN . . .
If the current value of the signal GL is equal to 0, then . . .
WaitUntil TestDI(di1) AND TestDI(di2);
Program execution continues only after both the GL input and the GL input have
been set.
5HWXUQYDOXH
Data type: ERRO
TRUE = The current value of the signal is equal to 1.

FALSE = The current value of the signal is equal to 0.
$UJXPHQWV
7HVW',6LJQDO
6LJQDO
Data type: VLJQDOGL
The name of the signal to be tested.
6\QWD[
TestDI (
[ Signal := ] < variable (9$5) of VLJQDOGL > )
273
7HVW',
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
Reading the value of a digital input signalData Types- 6LJQDO[[
274
7HVW6LJQ5HDG
)XQFWLRQ
%DVH:DUH
7HVW6LJQ5HDG5HDGWHVWVLJQDOYDOXH
7HVW6LJQ5HDG is used to read the actual test signal value.
This function returns the momentary value or the mean value of the latest samples,
depending on channel specification in instruction 7HVW6LJQ'HILQH.
([DPSOH
CONST num speed_channel;
VAR num speed_value;
...
TestSignDefine speed_channel, speed, orbit, 1, 0;
...
! During some movements with orbits axis 1
speed_value := TestSignRead(speed_channel);
...
TestSignReset;
VSHHGBYDOXHis assigned the mean value of the latest 8 samples generated each
0.5ms of the test signal VSHHG on channel VSHHGBFKDQQHO.
The channel VSHHGBFKDQQHO measures the speed of axis on the mechanical unit
RUELW.
5HWXUQYDOXH
Data type:QXP
The numeric value in SI units on the motor side for the specified channel according to
the definition in instruction 7HVW6LJQ'HILQH.
$UJXPHQWV
7HVW6LJQ5HDG&KDQQHO
&KDQQHO
Data type: QXP
The channel number 1-12 for the test signal to be read.

The same number must be used in the definition instruction 7HVW6LJQ'HILQH
275
7HVW6LJQ5HDG
%DVH:DUH
)XQFWLRQ
3URJUDPH[HFXWLRQ
Returns the momentary value or the mean value of the latest samples, depending on the
channel specification in the instruction 7HVW6LJQ'HILQH.
For predefined test signals with valid SI units for external manipulator axes, see data
type WHVWVLJQDO.
([DPSOH
CONST num torque_channel;
VAR num torque_value;
VAR intnum timer_int;
CONST jointtarget psync := [...];
...
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001;
...
MoveAbsJ psync \NoEOffs, v5, fine, tool0;
...
IDelete timer_int;
TestSignReset;
TRAP TorqueTrap
IF (TestSignRead(torque_channel) > 6) THEN
TPWrite Torque pos = + ValToStr(CJointT());
Stop;
EXIT;
ELSE
IDelete timer_int;
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
ENDIF
ENDTRAP
The joint position, when the torque reference for manipulator ,5%3B. axis is
for the first time greater than Nm on the motor side during the slow movement
to position SV\QF, is displayed on the Operators Window on the TP.
6\QWD[
TestSignRead(
[ Channel :=] <expression (,1) of QXP>)
276
7HVW6LJQ5HDG
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Define test signal
Instructions - 7HVW6LJQ'HILQH
Reset test signals
Instructions - 7HVW6LJQ5HVHW
277
7HVW6LJQ5HDG
%DVH:DUH
278
)XQFWLRQ
7H[W*HW
)XQFWLRQ
$GYDQFHG5$3,'
7H[W*HW*HWWH[WIURPV\VWHPWH[WWDEOHV
7H[W*HWis used to get a text string from the system text tables.
([DPSOH
VAR string text1;
...
text1 := TextGet(14, 5);
The variable WH[W is assigned the text stored in text resource and index .
5HWXUQYDOXH
Data type: VWULQJ
Specified text from the system text tables.
$UJXPHQWV
7H[W*HW 7DEOH,QGH[
7DEOH
Data type: QXP

The text table number (positive integer).
,QGH[
Data type: QXP
The index number (positive integer) within the text table.
6\QWD[
TextGet (
[ Table := ] < expression (,1) of QXP > ,
[ Index := ] < expression (,1) of QXP > )
279
7H[W*HW
$GYDQFHG5$3,'
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
280
Get text table number
Functions - 7H[W7DE*HW
Install text table
Instructions - 7H[W7DE,QVWDOO
Format text files
RAPID Kernel Reference Manual - 7H[WILOH
String functions
Data Types - VWULQJ
String values
7H[W7DE)UHH7R8VH
)XQFWLRQ
$GYDQFHG5$3,'
7H[W7DE)UHH7R8VH7HVWZKHWKHUWH[WWDEOHLVIUHH
7H[W7DE)UHH7R8VHshould be used to test whether the text table name (text resource
string) is free to use (not already installed in the system), i.e. whether it is possible to
install the text table in the system or not.
([DPSOH
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START

PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routineLQVWDOOBWH[W is executed, the function 7H[W7DE
)UHH7R8VHreturns TRUE and the text file WH[WBILOHHQJis installed in the system.
After that the installed text strings can be fetched from the system to RAPID by
the functions 7H[W7DE*HW and 7H[W*HW.
Next time the event routineLQVWDOOBWH[W is executed, the function
7H[W7DE)UHH7R8VHreturns FALSE and the installation is QRW repeated.
5HWXUQYDOXH
Data type: ERRO
This function returns:

- TRUE, if the text table isQRW already installed in the system
- FALSE, if the text table is already installed in the system
$UJXPHQWV
7H[W7DE)UHH7R8VH7DEOH1DPH
7DEOH1DPH
Data type: VWULQJ
The text table name (a string with max. 80 characters).

Ref. to <WH[WBUHVRXUFH>:: in the document 7H[WILOHV in RAPID Kernel Reference
Manual. The string WH[WBUHVRXUFH is the text table name.
281
7H[W7DE)UHH7R8VH
$GYDQFHG5$3,'
)XQFWLRQ
/LPLWDWLRQV
Limitations for installation of text tables (text resources) in the system:
- It is not possible to install the same text table more than once in the system
- It is not possible to uninstall (free) a single text table from the system.
The only way to uninstall text tables from the system is to cold start the system.
All text tables (both system and user defined) will then be uninstalled.
6\QWD[
TextTabFreeToUse(
[ TableName := ] < expression (,1) of VWULQJ > )
5HODWHGLQIRUPDWLRQ
Described in:
282
Install text table
Format of text files
RAPID Kernel Reference Manual -

7H[WILOHV
Get text table number
Functions - 7H[W7DE*HW
Get text from system text tables
Functions - 7H[W*HW
String functions
Data Types - VWULQJ
7H[W7DE*HW
)XQFWLRQ
$GYDQFHG5$3,'
7H[W7DE*HW*HWWH[WWDEOHQXPEHU
7H[W7DE*HWis used to get the text table number of a user defined text table during run
time.
([DPSOH
A new text table named GHEXUUBSDUW for user defined texts. The new text table has the
file name GHEXUUHQJ
deburr.eng
# deburr.eng - USERS deburr_part1 english text description file
#
# DESCRIPTION:
# Users text file for RAPID development
#
deburr_part1::
0:
RAPID S4: Users text table deburring part1
1:
Part 1 is not in pos
2:
Identity of worked part: XYZ
3:
Part error in line 1
#
# End of file
RAPID - Code
VAR num text_res_no;
VAR string user_text;
...
text_res_no := TextTabGet("deburr_part1");
The variable WH[WBUHVBQR is assigned the text table number for the defined text
table GHEXUUBSDUW.
ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
A message is stored in the robot log. The message is also shown on the FlexPendant display. The messages will be taken from the text table GHEXUUBSDUW
3DUWLVQRWLQSRV
,GHQWLW\RIZRUNHGSDUW;<=
283
7H[W7DE*HW
$GYDQFHG5$3,'
)XQFWLRQ
5HWXUQYDOXH
Data type: QXP
The text table number of the defined text table.
$UJXPHQWV
7H[W7DE*HW 7DEOH1DPH
7DEOH1DPH
Data type: VWULQJ
The text table name (a string with max. 16 characters).
6\QWD[
TextTabGet (
[ TableName := ] < expression (,1) of VWULQJ > ;
5HODWHGLQIRUPDWLRQ
Described in:
284
Get text from system text tables
Functions - 7H[W*HW
Install text table
Format text files
RAPID Kernel Reference Manual -

7H[WILOHV
String functions
Data Types - VWULQJ
String values
Basic Characteristics -
%DVLF(OHPHQWV
7UXQF
)XQFWLRQ
%DVH:DUH
7UXQF7UXQFDWHVDQXPHULFYDOXH
7UXQF7UXQFDWHis used to truncate a numeric value to a specified number of decimals
or to an integer value.
([DPSOH
VAR num val;
val := Trunc(0.38521\Dec:=3);
reg1 := 0.38521
val := Trunc(reg1\Dec:=1);
val := Trunc(0.38521);
The variable YDO is given the value 0.
5HWXUQYDOXH
Data type: QXP
The numeric value truncated to the specified number of decimals.
$UJXPHQWV
7UXQF9DO>?'HF@
9DO
(9DOXH)
Data type: QXP
The numeric value to be truncated.

>?'HF@
('HFLPDOV)
Data type: QXP
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value
is truncated to an integer.
The number of decimals must not be negative or greater than the available precision for numeric values.
285
7UXQF
%DVH:DUH
)XQFWLRQ
6\QWD[
Trunc(
[ Val := ] <expression (,1) of QXP>
[ \Dec := <expression (,1) of QXP> ]
)
5HODWHGLQIRUPDWLRQ
Described in:
286
Rounding a value
Functions - 5RXQG
8,$OSKD(QWU\
)XQFWLRQ
%DVH:DUH
8,$OSKD(QWU\8VHU$OSKD(QWU\
8,$OSKD(QWU\8VHU,QWHUDFWLRQ$OSKD(QWU\ is used to enter a string from the available User Device such as the FlexPendant. After that the output information has been
written, the user specified string is transferred to the program.
([DPSOH
VAR string answer;
...
answer := UIAlphaEntry(
\Header:=UIAlphaEntry Header,
\Message:=Which procedure do You want to run?
\Icon:=iconInfo
\InitString:=default_proc);
%answer%;
Above alpha message box with icon, header, message, and init string are written
on the FlexPendant display. The user edit init string or write a new string with
the supported Alpha Pad. Program execution waits until OK is pressed and then
the written string is returned in the variable DQVZHU. The program then call the
specified procedure with late binding.
5HWXUQYDOXH
Data type: VWULQJ
This functions returns the input string.


8,$OSKD(QWU\
%DVH:DUH
)XQFWLRQ
If function breaks via?%UHDN)ODJ:

- If parameter ?,QLW6WULQJ is specified, this string is returned
- If parameter ?,QLW6WULQJis not specified, empty string is returned.
If function breaks via ERROR handler, no return value at all.
$UJXPHQWV
8,$OSKD(QWU\>?+HDGHU@>?0HVVDJH@_>?0VJ$UUD\@
>?:UDS@>?,FRQ@>?,QLW6WULQJ@>?0D[7LPH@
>?',%UHDN@>?'2%UHDN@>?%UHDN)ODJ@
>?+HDGHU@
Data type: VWULQJ
Header text to be written at the top of the message box.

Max. 32 characters.
>?0HVVDJH@
Data type: VWULQJ
One text line to be written on the display.

>?0VJ$UUD\@
0HVVDJH$UUD\
Data type: VWULQJ
Several text lines from an array to be written on the display.

Only one of parameter ?0HVVDJH or ?0VJ$UUD\ can be used at the same time.
Max. layout space 9 lines with 40 characters.
>?:UDS@
Data type: VZLWFK
If selected, all the specified strings in the argument?0VJ$UUD\will be concatenated to one string with single space between each individual strings and spread
out on as few lines as possible.
Default, each string in the argument ?0VJ$UUD\will be on separate line on the
display.
>?,FRQ
Data type: LFRQGDWD
Defines the icon to be displayed. Only one of the predefined icons of type
LFRQGDWDcan be used.
Default no icon.
288
8,$OSKD(QWU\
)XQFWLRQ
%DVH:DUH
>?,QLW6WULQJ@
Data type: VWULQJ
An initial string to be display in the text entry box as default.

>?0D[7LPH@
Data type: QXP
The maximum amount of time [s] that program execution waits. If the OK button
is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant
ERR_TP_MAXTIME can be used to test whether or not the maximum time has
elapsed.
>?',%UHDN@
'LJLWDO,QSXW%UHDN
Data type: VLJQDOGL
The digital input signal that may interrupt the operator dialog. If the OK button
is not pressed before the signal is set to 1 (or is already 1), the program continues
to execute in the error handler, unless the BreakFlag is used (see below). The
constant ERR_TP_DIBREAK can be used to test whether or not this has
occurred.
>?'2%UHDN@
'LJLWDO2XWSXW%UHDN
Data type: VLJQDOGR
The digital output signal that may interrupt the operator dialog. If the OK button
constant ERR_TP_DOBREAK can be used to test whether or not this has
occurred.
>?%UHDN)ODJ@
Data type: HUUQXP
A variable (before used set to 0 by the system) that will hold the error code if
?0D[7LPH?',%UHDNRU?'2%UHDN is used. The constants ERR_TP_MAXTIME,
ERR_TP_ DIBREAK and ERR_TP_ DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed.
3URJUDPH[HFXWLRQ
The alpha message box with alpha pad, icon, header, message lines and init string are
displayed according to the programmed arguments. Program execution waits until the
user has edit or create a new string and press OK or the message box is interrupted by
time-out or signal action.
The input string and interrupt reason are transfer back to the program.
New message box on TRAP level take focus from message box on basic level.
3UHGHILQHGGDWD
Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;

8,$OSKD(QWU\
%DVH:DUH
)XQFWLRQ
CONST icondata iconWarning := 2;

CONST icondata iconError := 3;
([DPSOH
VAR errnum err_var;
VAR string answer;
VAR string logfile;
...
answer := UIAlphaEntry (\Header:= Log file name:
\Message:=Enter the name of the log file to create? \Icon:=iconInfo
\InitString:=signal.log \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
logfile:=signal.log;
CASE 0:
! Operator answer
logfile := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a string and press OK.
The message box can also be interrupted with time out or break by digital input
signal. In the program its possible to find out the reason and take the appropriate
action.
(UURUKDQGOLQJ
,ISDUDPHWHU?%UHDN)ODJLVQRWXVHGWKHVHVLWXDWLRQVFDQWKHQEHGHDOWZLWKE\WKH
HUURUKDQGOHU
If there is a time-out (parameter ?0D[7LPH) before an input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
If digital input is set (parameter ?',%UHDN) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error
handler.
If a digital output is set (parameter ?'2%UHDN) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
7KLVVLWXDWLRQFDQRQO\EHGHDOWZLWKE\WKHHUURUKDQGOHU
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system vari-
290
8,$OSKD(QWU\
)XQFWLRQ
%DVH:DUH
able ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
/LPLWDWLRQV
Avoid using a too small value for the time-out parameter ?0D[7LPHwhen
8,$OSKD(QWU\ is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow TPU response.
6\QWD[
UIAlphaEntry(
[\Header:= <expression (,1) of VWULQJ>]
[\ Message:= <expression (,1) of VWULQJ>]
| [\MsgArray:=<array {*} (,1) of VWULQJ>]
[\Wrap]
[\Icon:= <expression (,1) of LFRQGDWD>]
[\InitString:=<expression (,1) of VWULQJ!]
[\MaxTime := <expression (,1) of QXP>]
[\DIBreak := <variable (9$5) of VLJQDOGL>]
[\DOBreak := <variable (9$5) of VLJQDOGR>]
[\BreakFlag := <var or pers (,1287) of HUUQXP>]
)
A function with return value of the data type VWULQJ.
5HODWHGLQIRUPDWLRQ
Described in:
Icon display data
Data Types - LFRQGDWD
User Interaction Message Box

type basic
Functions - 8,0VJ%R[

type advanced
Functions - 8,0HVVDJH%R[
User Interaction Number Entry
Functions - 8,1XP(QWU\
User Interaction Number Tune
Functions - 8,1XP7XQH
User Interaction List View
Functions - 8,/LVW9LHZ
System connected to FlexPendant etc.
Functions - 8,&OLHQW([LVW

8,$OSKD(QWU\
%DVH:DUH
292
)XQFWLRQ
8,&OLHQW([LVW
)XQFWLRQ
%DVH:DUH
8,&OLHQW([LVW([LVW8VHU&OLHQW
8,&OLHQW([LVW8VHU,QWHUDFWLRQ&OLHQW([LVW is used to check if some User Device
such as the FlexPendant is connected to the controller.
([DPSOH
IF UIClientExist() THEN
! Possible to get answer from the operator
! The TPReadFK and UIMsgBox ... can be used
ELSE
! Not possible to communicate with any operator
ENDIF
Test is done, if its possible to get some answer from the operator of the system
5HWXUQYDOXH
Data type: ERRO
Return 758(if a FlexPendant is connected to the system, otherwise )$/6(
6\QWD[
UIClientExist( )
A function with return value of the type ERRO.

8,&OLHQW([LVW
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
294

type basic

type advanced
User Interaction Alpha Entry
Functions - 8,$OSKD(QWU\
8,/LVW9LHZ
)XQFWLRQ
%DVH:DUH
8,/LVW9LHZ8VHU/LVW9LHZ
8,/LVW9LHZ8VHU,QWHUDFWLRQ/LVW9LHZ is a used to define menu lists with text and
optional icons (not released yet) on the available User Device such as the FlexPendant.
The menu has two different styles, one with validations buttons and one that reacts
instantly to the user selection.
([DPSOH
CONST listitem list{3} := [ [,Item 1], [,Item 2], [,Item 3] ];
VAR num list_item;
VAR btnres button_answer;
...
list_item := UIListView (
\Result:=button_answer
\Header:=UIListView Header,
list
\Buttons:=btnOKCancel
\Icon:=iconInfo
\DefaultIndex:=1);
IF button_answer = btnOK THEN
! Do Item 1
ELSE
! User has select Cancel
ENDIF
Above menu list with icon, header, menu ,WHP,WHP and buttons are written
on the FlexPendant display. Program execution waits until OK or Cancel is

8,/LVW9LHZ
%DVH:DUH
)XQFWLRQ
pressed. Both the selection in the list and the pressed button are transfer to the
program.
5HWXUQYDOXH
Data type: QXP
This functions returns the user selection in the list menu corresponding to the index in
the array specified in the parameter /LVW,WHPV.
If the function breaks via?%UHDN)ODJ:
- If parameter ?'HIDXOW,QGH[ is specified, this index is returned
- If parameter ?'HIDXOW,QGH[is not specified, 0 is returned
$UJXPHQWV
8,/LVW9LHZ>?5HVXOW@>?+HDGHU@/LVW,WHPV>?%XWWRQV@_
>?%WQ$UUD\@>?,FRQ@>?'HIDXOW,QGH[@>?0D[7LPH@
>?',%UHDN@>?'2%UHDN@>?%UHDN)ODJ@
>?5HVXOW@
Data type: EWQUHV
The numeric value of the button that is selected from the list menu box.
If argument ?%XWWRQV is used, the predefined symbolic constants of type EWQUHV is
returned. If argument ?%WQ$UUD\ is used, the corresponding array index is
returned.
Argument ?5HVXOW set toUHV8QNZQ equal to 0 if one of following condition:
- none of parameters ?%XWWRQVor?%WQ$UUD\are used
- argument ?%XWWRQV EWQ1RQH is used
- if the function breaks via?%UHDN)ODJor ERROR handler
>?+HDGHU@
Data type: VWULQJ
Header text to be written at the top of the list menu box.

Max. 32 characters.
/LVW,WHP
Data type: OLVWLWHP
An array with one or several list menu items to be displayed consisting of:
ComponentLPDJH of type VWULQJ:
- The path including file name for the icon image to display
(QRWLPSOHPHQWHGLQWKLVVRIWZDUHUHOHDVH).
- Use empty string or stEmpty if no icon to display.
296
8,/LVW9LHZ
)XQFWLRQ
%DVH:DUH
ComponentWH[Wof type VWULQJ:

- The text for the menu line to display.
Max. 7 items with 40 characters.
>?%XWWRQV@
Data type: EXWWRQGDWD
Defines the push buttons to be displayed. Only one of the predefined buttons
combination of type EXWWRQGDWD can be used.
>?%WQ$UUD\@
(%XWWRQ$UUD\)
Data type: VWULQJ
Own definition of push buttons stored in an array of strings.

This function return the array index when corresponding string is selected.
Only one of parameter ?%XWWRQV or ?%WQ$UUD\ can be used at the same time.
If none of the parameters ?%XWWRQV or ?%WQ$UUD\ orargument ?%XWWRQV EWQ1RQH
is used, the menu list reacts instantly to the user selection.
Max. 5 buttons.
>?,FRQ
Data type: LFRQGDWD
Default no icon.
>?'HIDXOW,QGH[
Data type: QXP
The default user selection in the list menu corresponding to the index in the array
specified in the parameter /LVW,WHPV.
>?0D[7LPH@
Data type: QXP
The maximum amount of time [s] that program execution waits. If no button is
pressed or no selection is done within this time, the program continues to execute
in the error handler unless the BreakFlag is used (see below). The constant
elapsed.
>?',%UHDN@
'LJLWDO,QSXW%UHDN
Data type: VLJQDOGL
The digital input signal that may interrupt the operator dialog. If no button is
pressed or no selection is done before the signal is set to 1 (or is already 1), the
program continues to execute in the error handler, unless the BreakFlag is used
(see below). The constant ERR_TP_DIBREAK can be used to test whether or
not this has occurred.
>?'2%UHDN@
'LJLWDO2XWSXW%UHDN
Data type: VLJQDOGR
The digital output signal that may interrupt the operator dialog. If no button is
pressed or no selection is done before the signal is set to 1 (or is already 1), the
program continues to execute in the error handler, unless the BreakFlag is used

8,/LVW9LHZ
%DVH:DUH
)XQFWLRQ
(see below). The constant ERR_TP_DOBREAK can be used to test whether or
not this has occurred.
>?%UHDN)ODJ@
Data type: HUUQXP
A variable that will hold the error code if ?0D[7LPH?',%UHDNRU?'2%UHDN is

used. The constants ERR_TP_MAXTIME, ERR_TP_ DIBREAK and ERR_TP_
DOBREAK can be used to select the reason. If this optional variable is omitted,
the error handler will be executed.
3URJUDPH[HFXWLRQ
The menu list with icon, header, list items and default item are displayed according to
the programmed arguments. Program execution waits until the operator has done the
selection or the menu list is interrupted by time-out or signal action.
The selected list item and interrupt reason are transfer back to the program.
New menu list on TRAP level take focus from menu list on basic level.
3UHGHILQHGGDWD
Icons:
Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
298
8,/LVW9LHZ
)XQFWLRQ
%DVH:DUH
([DPSOH
CONST listitem list{2} := [ [,Calibrate tool1], [,Calibrate tool2] ];
VAR num list_item;
VAR errnum err_var;
...
list_item := UIListView ( \Header:=Select tool ?, list \Icon:=iconInfo
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE 0:
! Operator answer
IF list_item =1 THEN
! Calibrate tool1
ELSEIF list_item=2 THEN
! Calibrate tool2
ENDIF
DEFAULT:
ENDTEST
The message box is displayed and the operator can select a item in the list. The
message box can also be interrupted with time out or break by digital input signal. In the program its possible to find out the reason and take the appropriate
action.
(UURUKDQGOLQJ
HUURUKDQGOHU
error handler.
If digital input is set (parameter ?',%UHDN) before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues
in the error handler.
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.

8,/LVW9LHZ
%DVH:DUH
)XQFWLRQ
/LPLWDWLRQV
8,/LVW9LHZ is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow TPU response.
6\QWD[
UIListView (
[\Result := <var or pers (,1287) of EWQUHV>]
[\Header := <expression (,1) of VWULQJ>] ,
[ListItems :=] <array {*} (,1) of OLVWLWHP>
[\Buttons := <expression (,1) of EXWWRQGDWD>]
| [\BtnArray :=<array {*} (,1) of VWULQJ!]
[\Icon := <expression (,1) of LFRQGDWD>]
[\DefaultIndex :=<expression (,1) of QXP!]]
)
A function with return value of the data type QXP.
300
8,/LVW9LHZ
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Icon display data
Push button data
Data Types - EXWWRQGDWD
Push button result data
Data Types - EWQUHV
List item data structure
Data Types - lLVWLWHP

type basic

type advanced

8,/LVW9LHZ
%DVH:DUH
302
)XQFWLRQ
8,0HVVDJH%R[
)XQFWLRQ
%DVH:DUH
8,0HVVDJH%R[8VHU0HVVDJH%R[W\SHDGYDQFHG
8,0HVVDJH%R[8VHU,QWHUDFWLRQ0HVVDJH%R[ is used to communicate with the user
of the robot system on available User Device such as the FlexPendant.
After that the output information has been written, the user selection of the displayed
push buttons is transferred back to the program.
([DPSOH
VAR btnres answer;
CONST string my_message{5}:= [Message Line 1,Message Line 2,
Message Line 3,Message Line 4,Message Line 5];
CONST string my_buttons{2}:=[OK,Skip];
...
answer:= UIMessageBox (
\Header:=UIMessageBox Header
\MsgArray:=my_message
\BtnArray:=my_buttons
\Icon:=iconInfo);
IF answer = 1 THEN
! Operator selection OK
ELSEIF answer = 2 THEN
! Operator selection Skip
ELSE
! No such case defined
ENDIF

8,0HVVDJH%R[
%DVH:DUH
)XQFWLRQ
Above message box is with icon, header, message and user defined push buttons
are written on the FlexPendant display. Program execution waits until OK or Skip
is pressed. In other words, DQVZHUwill be assigned 1 (OK) or 2 (Skip) depending
on which of the buttons is depressed (corresponding array index).
Note that Message Line 1 ... Message Line 5 are displayed on separate lines 1 to
5 (the switch ?:UDS is not used).
5HWXUQYDOXH
Data type: EWQUHV
The numeric value of the button that is selected from the message box.
If argument ?%XWWRQV is used, the predefined symbolic constants of type EWQUHV is
returned
If argument ?%WQ$UUD\ is used, the corresponding array index is returned.
If function breaks via?%UHDN)ODJor if ?%XWWRQV EWQ1RQH:
- If parameter ?'HIDXOW%WQ is specified, this index is returned
- If parameter ?'HIDXOW%WQis not specified, UHV8QNZQ equal to 0 is returned.
$UJXPHQWV
8,0HVVDJH%R[>?+HDGHU@>?0HVVDJH@_>?0VJ$UUD\@
>?:UDS@>?%XWWRQV@_>?%WQ$UUD\@>?'HIDXOW%WQ@
>?,FRQ@>?,PDJH@>?0D[7LPH@>?',%UHDN@>?'2%UHDN@
>?%UHDN)ODJ@
>?+HDGHU@
Data type: VWULQJ

Max. 32 characters.
>?0HVVDJH@
Data type: VWULQJ

>?0VJ$UUD\@
0HVVDJH$UUD\
Data type: VWULQJ

304
8,0HVVDJH%R[
)XQFWLRQ
%DVH:DUH
>?:UDS@
Data type: VZLWFK
display.
>?%XWWRQV@
Data type: EXWWRQGDWD
Defines the push buttons to be displayed. Only one of the predefined buttons
combination of type EXWWRQGDWD can be used.
Default, the system display the OK button.
>?%WQ$UUD\@
%XWWHQ$UUD\
Data type: VWULQJ
Own definition of push buttons stored in an array of strings.

This function return the array index when corresponding string is selected.
Only one of parameter ?%XWWRQV or ?%WQ$UUD\ can be used at the same time.
Max. 5 buttons.
>?'HIDXOW%WQ@
'HIDXOW%XWWRQ
Data type: EWQUHV
Allows to specify a value that should be returned if the message box is interrupted by ?0D[7LPH, ?',%UHDN or \'2%UHDN. Its possible to specify the predefined symbolic constant of type EWQUHV or any user defined value.
>?,FRQ
Data type: LFRQGDWD
Default no icon.
>?,PDJH@
Data type: VWULQJ
1RW LPSOHPHQWHGLQWKLVVRIWZDUHUHOHDVH
>?0D[7LPH@
Data type: QXP
The maximum amount of time [s] that program execution waits. If no button is
selected within this time, the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME
can be used to test whether or not the maximum time has elapsed.
>?',%UHDN@
'LJLWDO,QSXW%UHDN
Data type: VLJQDOGL
The digital input signal that may interrupt the operator dialog. If no button is
selected when the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant

8,0HVVDJH%R[
%DVH:DUH
)XQFWLRQ
ERR_TP_DIBREAK can be used to test whether or not this has occurred.

>?'2%UHDN@
'LJLWDO2XWSXW%UHDN
Data type: VLJQDOGR
The digital output signal that may interrupt the operator dialog. If no button is
selected when the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DOBREAK can be used to test whether or not this has occurred.
>?%UHDN)ODJ@
Data type: HUUQXP
3URJUDPH[HFXWLRQ
The message box with icon, header, message lines and buttons are displayed according
to the programmed arguments. Program execution waits until the user select one button
or the message box is interrupted by time-out or signal action.
The user selection and interrupt reason are transfer back to the program.
3UHGHILQHGGDWD
Icons:
Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
306
8,0HVVDJH%R[
)XQFWLRQ
%DVH:DUH
CONST btnres resCancel := 5;

CONST btnres resYes := 6;
CONST btnres resNo := 7;
([DPSOH
VAR errnum err_var;
VAR btnres answer;
...
answer := UIMessageBox (\Header:= Cycle step 3
\Message:=Continue with the calibration ? \Buttons:=btnOKCancel
\DefaultBtn:=resCancel \Icon:=iconInfo \MaxTime:=60 \DIBreak:=di5
\BreakFlag:=err_var);
IF answer = resOK THEN
! OK from the operator
ELSE
! Cancel from the operator or operation break
TEST err_var
! Time out
! Input signal break
DEFAULT:
ENDTEST
ENDIF
The message box is displayed and the operator can answer OK or Cancel.
The message box can also be interrupted with time out or break by digital input
signal. In the program its possible to find out the reason.
(UURUKDQGOLQJ
HUURUKDQGOHU
error handler.
error handler.

8,0HVVDJH%R[
%DVH:DUH
)XQFWLRQ
handler.
/LPLWDWLRQV
8,0HVVDJH%R[ is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow TPU response.
6\QWD[
UIMessageBox(
[\Message:= <expression (,1) of VWULQJ> ]
[\Wrap]
[\Buttons:= <expression (,1) of EXWWRQGDWD>]
| [\BtnArray:=<array {*}(,1) of VWULQJ!]
[\DefaultBtn:=<expression (,1) of EWQUHV!]
[\Image:=<expression (,1) of VWULQJ!]
[\BreakFlag := <var or pers (,1287) of HUUQXP>] )
A function with return value of the data type EWQUHV.
308
8,0HVVDJH%R[
)XQFWLRQ
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Icon display data
Push button data
Data Types - EXWWRQGDWD
Push button result data
Data Types - EWQUHV

type basic

8,0HVVDJH%R[
%DVH:DUH
310
)XQFWLRQ
8,1XP(QWU\
)XQFWLRQ
%DVH:DUH
8,1XP(QWU\8VHU1XPEHU(QWU\
8,1XP(QWU\8VHU,QWHUDFWLRQ1XPEHU(QWU\ is used to enter a numeric value from
the available User Device such as the FlexPendant. After that the output information
has been written, the user specified numeric value is checked, approved and transferred
back to the program.
([DPSOH
VAR num answer;
...
answer := UINumEntry(
\Header:=UINumEntry Header
\Message:=How many units should be produced?
\Icon:=iconInfo
\InitValue:=5
\MinValue:=1
\MaxValue:=10
\AsInteger);
FOR i FROM 1 TO answer DO
produce_part;
ENDFOR
Above numeric message box with icon, header, message, init-, max- and minvalue are written on the FlexPendant display. The message box check that the
operator select an integer within the value range. Program execution waits until
OK is pressed and then the selected numerical value is returned. The routine
SURGXFHBSDUW is then repeated the number of times that is input via the FlexPen5$3,'UHIHUHQFHPDQXDOSDUW)XQFWLRQVDQGGDWDW\SHV$=

8,1XP(QWU\
%DVH:DUH
)XQFWLRQ
dant.
5HWXUQYDOXH
Data type: QXP
This functions returns the input numeric value.

If function breaks via?%UHDN)ODJ:
- If parameter ?,QLW9DOXH is specified, this value is returned
- If parameter ?,QLW9DOXHis not specified, value 0 is returned.
$UJXPHQWV
8,1XP(QWU\>?+HDGHU@>?0HVVDJH@_>?0VJ$UUD\@
>?:UDS@>?,FRQ@>?,QLW9DOXH@>?0LQ9DOXH@>?0D[9DOXH@
>?$V,QWHJHU@>?0D[7LPH@>?',%UHDN@>?'2%UHDN@
?%UHDN)ODJ@
>?+HDGHU@
Data type: VWULQJ

Max. 32 characters.
>?0HVVDJH@
Data type: VWULQJ

>?0VJ$UUD\@
0HVVDJH$UUD\
Data type: VWULQJ

>?:UDS@
Data type: VZLWFK
display.
>?,FRQ
Data type: LFRQGDWD
312
8,1XP(QWU\
)XQFWLRQ
%DVH:DUH
Default no icon.
>?,QLW9DOXH@
Data type: QXP
Initial value that are displayed in the entry box.

>?0LQ9DOXH@
Data type: QXP
The minimum value for the return value.

>?0D[9DOXH@
Data type: QXP
The maximum value for the return value.

>?$V,QWHJHU@
Data type: VZLWFK
Eliminates the decimal point from the number pad to ensure that the return value
is a integer.
>?0D[7LPH@
Data type: QXP
elapsed.
>?',%UHDN@
'LJLWDO,QSXW%UHDN
Data type: VLJQDOGL
occurred.
>?'2%UHDN@
'LJLWDO2XWSXW%UHDN
Data type: VLJQDOGR
occurred.
>?%UHDN)ODJ@
Data type: HUUQXP

8,1XP(QWU\
%DVH:DUH
)XQFWLRQ
3URJUDPH[HFXWLRQ
The numeric message box with numeric pad, icon, header, message lines, init-, maxand minvalue are displayed according to the programmed arguments. Program execution waits until the user has enter approved numeric value and press OK or the message
box is interrupted by time-out or signal action.
The input numeric value and interrupt reason are transfer back to the program.
3UHGHILQHGGDWD
Icons:
([DPSOH
VAR errnum err_var;
VAR num answer;
VAR num distance;
...
answer := UINumEntry (\Header:= BWD move on path
\Message:=Enter the path overlap ? \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
TEST err_var
distance := 5;
CASE 0:
! Operator answer
distance := answer;
DEFAULT:
ENDTEST
The message box is displayed and the operator can enter a numeric value and
press OK. The message box can also be interrupted with time out or break by digital input signal. In the program its possible to find out the reason and take the
appropriate action.
314
8,1XP(QWU\
)XQFWLRQ
%DVH:DUH
(UURUKDQGOLQJ
HUURUKDQGOHU
error handler.
error handler.
handler.
If the initial value (parameter ?,QLW9DOXH is not specified within the range of the minimum and maximum value (parameters ?0LQ9DOXHand?0D[9DOXH), the system variable
ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler.
If the minimum value (parameter ?0LQ9DOXHis greater then the maximum value
(parameter ?0D[9DOXH), the system variable ERRNO is set to ERR_UI_MAXMIN and
the execution continues in the error handler.
If the initial value (parameter ?,QLW9DOXH) is not an integer as specified in the parameter
?$V,QWHJHU, the system variable ERRNO is set to ERR_UI_NOTINT and the execution
continues in the error handler.
/LPLWDWLRQV
8,1XP(QWU\ is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow TPU response.
6\QWD[
UINumEntry(
[Message:= <expression (,1) of VWULQJ> ]

8,1XP(QWU\
%DVH:DUH
)XQFWLRQ
[\Wrap]
[\InitValue:=<expression (,1) of QXP!]
[\MinValue:=<expression (,1) of QXP!]
[\MaxValue:=<expression (,1) of QXP!]
[\AsInteger]
[\BreakFlag := <var or pers (,1287) of HUUQXP>] )
A function with return value of the data typeQXP.
5HODWHGLQIRUPDWLRQ
Described in:
316
Icon display data

type basic

type advanced
8,1XP7XQH
)XQFWLRQ
%DVH:DUH
8,1XP7XQH8VHU1XPEHU7XQH
8,1XP7XQH8VHU,QWHUDFWLRQ1XPEHU7XQH is used to tune a numeric value from the
available User Device such as the FlexPendant. After that the output information has
been written, the user tuned numeric value is checked, approved and transferred back
to the program.
([DPSOH
VAR num flow;
...
flow := UINumTune(
\Header:=UINumTune Header,
\Message:=Tune the flow?
\Icon:=iconInfo,
2.5,
0.1
\MinValue:=1.5
\MaxValue:=3.5);
Above numeric tune message box with icon, header, message, init-, increment,
max- and minvalue are written on the FlexPendant display. The message box
check that the operator tune theIORZ value with step 0.1 from init value 2.5
within the value range 1.5 .. 3.5. Program execution waits until OK is pressed and
then the selected numerical value is returned and stored in the variable IORZ.

8,1XP7XQH
%DVH:DUH
)XQFWLRQ
5HWXUQYDOXH
Data type: QXP
This functions returns the tuned numeric value.

If function breaks via?%UHDN)ODJ, the specified ,QLW9DOXH is returned.
$UJXPHQWV
8,1XP7XQH>?+HDGHU@>?0HVVDJH@_>?0VJ$UUD\@>?:UDS@
>?,FRQ@,QLW9DOXH,QFUHPHQW>?0LQ9DOXH@>?0D[9DOXH@
>?0D[7LPH@>?',%UHDN@>?'2%UHDN@>?%UHDN)ODJ@
>?+HDGHU@
Data type: VWULQJ

Max. 32 characters.
>?0HVVDJH@
Data type: VWULQJ

>?0VJ$UUD\@
0HVVDJH$UUD\
Data type: VWULQJ

>?:UDS@
Data type: VZLWFK
display.
>?,FRQ
Data type: LFRQGDWD
Default no icon.
318
8,1XP7XQH
)XQFWLRQ
%DVH:DUH
,QLW9DOXH
Data type: QXP
Initial value that are displayed in the entry box.

,QFUHPHQW
Data type: QXP
This parameter specifies how much the value should change when plus or minus
button is pressed.
>?0LQ9DOXH@
Data type: QXP
The minimum value for the return value.

>?0D[9DOXH@
Data type: QXP
The maximum value for the return value.

>?0D[7LPH@
Data type: QXP
elapsed.
>?',%UHDN@
'LJLWDO,QSXW%UHDN
Data type: VLJQDOGL
occurred.
>?'2%UHDN@
'LJLWDO2XWSXW%UHDN
Data type: VLJQDOGR
occurred.
>?%UHDN)ODJ@
Data type: HUUQXP
3URJUDPH[HFXWLRQ
The numeric tune message box with tune +/- buttons, icon, header, message lines, init, increment- max- and minvalue are displayed according to the programmed argu5$3,'UHIHUHQFHPDQXDOSDUW)XQFWLRQVDQGGDWDW\SHV$=

8,1XP7XQH
%DVH:DUH
)XQFWLRQ
ments. Program execution waits until the user has tuned the numeric value and press
OK or the message box is interrupted by time-out or signal action.
The input numeric value and interrupt reason are transfer back to the program.
New message box on TRAP level take focus from message box on basic level
3UHGHILQHGGDWD
Icons:
([DPSOH
VAR errnum err_var;
VAR num tune_answer;
VAR num distance;
...
tune_answer := UINumTune (\Header:= BWD move on path
\Message:=Enter the path overlap ? \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
TEST err_var
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
ENDTEST
The tune message box is displayed and the operator can tune the numeric value
and press OK. The message box can also be interrupted with time out or break by
digital input signal. In the program its possible to find out the reason and take the
appropriate action.
(UURUKDQGOLQJ
HUURUKDQGOHU
If there is a time-out (parameter ?0D[7LPH) before an input from the operator, the sys-
320
8,1XP7XQH
)XQFWLRQ
%DVH:DUH
tem variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
error handler.
handler.
If the initial value (parameter ?,QLW9DOXH is not specified within the range of the minimum and maximum value (parameters ?0LQ9DOXHand?0D[9DOXH), the system variable
ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler.
If the minimum value (parameter ?0LQ9DOXHis greater then the maximum value
(parameter ?0D[9DOXH), the system variable ERRNO is set to ERR_UI_MAXMIN and
the execution continues in the error handler.
/LPLWDWLRQV
8,1XP7XQH is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow TPU response.
6\QWD[
UINumTune(
[\Message:= <expression (,1) of VWULQJ> ]
[\Wrap]
[\Icon:= <expression (,1) of LFRQGDWD>] ,
[InitValue:= ] <expression (,1) of QXP!
[Increment:= ] <expression (,1) of QXP!
[\MinValue:=<expression (,1) of QXP!]
[\MaxValue:=<expression(,1) of QXP!]

8,1XP7XQH
%DVH:DUH
)XQFWLRQ

)
A function with return value of the data type QXP.
5HODWHGLQIRUPDWLRQ
Described in:
322
Icon display data

type basic

type advanced
9DO7R6WU
)XQFWLRQ
%DVH:DUH
9DO7R6WU&RQYHUWVDYDOXHWRDVWULQJ
9DO7R6WU9DOXH7R6WULQJis used to convert a value of any data type to a string.
([DPSOH
VAR string str;
VAR pos p := [100,200,300];
str := ValToStr(1.234567);
The variable VWU is given the value "1.23457".
str := ValToStr(TRUE);
The variable VWU is given the value "TRUE".
str := ValToStr(p);
The variable VWU is given the value "[100,200,300]".
5HWXUQYDOXH
Data type: VWULQJ
The value is converted to a string with standard RAPID format. This means in principle
6 significant digits. If the decimal part is less than 0.000005 or greater than 0.999995,
the number is rounded to an integer.
A runtime error is generated if the resulting string is too long.
$UJXPHQWV
9DO7R6WU9DO
9DO
(9DOXH)
Data type: $1<7<3(
A value of any data type.
6\QWD[
ValToStr(
[ Val := ] <expression (,1) of $1<7<3(>
)
323
9DO7R6WU
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
324
String functions
Data Types - VWULQJ
String values
9HFW0DJQ
)XQFWLRQ
%DVH:DUH
9HFW0DJQ0DJQLWXGHRIDSRVYHFWRU
9HFW0DJQ9HFWRU0DJQLWXGHis used to calculate the magnitude of a SRV vector.
([DPSOH
$]
\
$\
[
$[
A vector $ can be written as the sum of its components in the three orthogonal directions:
$ = $[ [ + $\ \ + $] ]
The magnitude of $ is:
$ =
$[ + $\ + $]
2
The vector is described by the data type SRV and the magnitude by the data type QXP:
VAR num magnitude;
VAR pos vector;
.
.
vector := [1,1,1];
magnitude := VectMagn(vector);
5HWXUQYDOXH
Data type: QXP
The magnitude of the vector (data type SRV).
325
9HFW0DJQ
%DVH:DUH
)XQFWLRQ
$UJXPHQWV
9HFW0DJQ9HFWRU
9HFWRU
Data type: SRV
The vector described by the data type SRV.
6\QWD[
VectMagn(
[Vector :=] <expression (,1) of SRV>
)
5HODWHGLQIRUPDWLRQ
Described in:
326
DLRWULJJ
'DWDW\SH
%DVH:DUH
DLRWULJJ$QDORJ,2WULJJHUFRQGLWLRQ
DLRWULJJ$QDORJ,27ULJJHUis used to define the condition to generate an interrupt
for an analog input or output signal.
'HVFULSWLRQ
Data of the type DLRWULJJ defines the way a low and a high threshold will be used to
determine whether the logical value of an analog signal satisfies a condition to generate
an interrupt.
([DPSOH
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog
input signal DL is between and . A call is then made to the LURXWLQH trap
routine.
3UHGHILQHGGDWD
The following symbolic constants of the data type DLRWULJJ are predefined and can be
used when specifying a condition for the instructions ,6LJQDO$, and ,6LJQDO$2.
Value
Symbolic constant
Comment
AIO_ABOVE_HIG
H
Signal will generate interrupts if above specified

high value
AIO_BELOW_HIG
H
Signal will generate interrupts if below specified

high value
AIO_ABOVE_LOW
Signal will generate interrupts if above specified

low value
AIO_BELOW_LOW

low value
AIO_BETWEEN
Signal will generate interrupts if between specified low and high values
AIO_OUTSIDE

low value or above specified high value
AIO_ALWAYS
Signal will always generate interrupts
327
DLRWULJJ
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
DLRWULJJis an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
328
Interrupt from analog input signal
Instructions - ,6LJQDO$,
Interrupt from analog output signal
Instructions - ,6LJQDO$2
Data types in general, alias data types
Basic Characteristics - 'DWD7\SHV
ERRO
'DWDW\SH
ERRO/RJLFDOYDOXHV
%RRO is used for logical values (true/false).
'HVFULSWLRQ
The value of data of the typeERRO can be either 758( or )$/6(.
([DPSOHV
flag1 := TRUE;
flag is assigned the value TRUE.
VAR bool highvalue;
VAR num reg1;
.
highvalue := reg1 > 100;
KLJKYDOXH is assigned the value 758( if UHJLVJUHDWHUWKDQ; otherwise,
)$/6( is assigned.
IF highvalue Set do1;
The GR signal is set if KLJKYDOXH is 758(.
highvalue := reg1 > 100;
mediumvalue := reg1 > 20 AND NOT highvalue;
PHGLXPYDOXH is assigned the value 758( if UHJ is between and .
5HODWHGLQIRUPDWLRQ
Described in:
Logical expressions
Basic Characteristics - ([SUHVVLRQV
Operations using logical values
329
ERRO
330
'DWDW\SH
EWQUHV
'DWDW\SH
%DVH:DUH
EWQUHV3XVKEXWWRQUHVXOWGDWD
EWQUHV (EXWWRQUHVXOW) is used for representing the user selection of the push button display on the User Device such as the FlexPendant.
'HVFULSWLRQ
A EWQUHV constant is intended to be used when checking the result value from the
instruction 8,0VJ%R[ and the return value from the functions 8,0HVVDJH%R[and
8,/LVW9LHZ
([DPSOH
VAR btnres answer;
UIMsgBox More ? \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration EWQ<HV1R will give an Yes and an No push button on the user interface. The user selection will be stored in the variable DQVZHU.
3UHGHILQHGGDWD
The following constants of the data type EWQUHV are predefined in the system
Value
Constants
Button answer
resUnkwn
Unknown result
resOK
OK
resAbort
Abort
resRetry
Retry
resIgnore
Ignore
resCancel
Cancel
resYes
Yes
resNo
No
It is possible to work with user defined push buttons answer with the functions
331
EWQUHV
%DVH:DUH
'DWDW\SH
8,0HVVDJH%R[and 8,/LVW9LHZ.
&KDUDFWHULVWLFV
EWQUHV is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
332
Instructions - 8,0VJ%R[
Alias data type button data
Data type - EXWWRQGDWD
EXVVWDWH
'DWDW\SH
%DVH:DUH
EXVVWDWH6WDWHRI,2EXV
EXVVWDWH is used to mirror in which state an I/O bus is just now
'HVFULSWLRQ
A EXVVWDWH constant is intended to be used when checking the return value from the
instruction ,2%XV6WDWH.
([DPSOH
VAR busstate bstate;
IOBusState IBS, bstate;
TEST bstate
CASEBUSSTATE_RUN
! Possible to access the signals on the IBS bus
DEFAULT:
! Actions for not up and running IBS bus
ENDTEST
3UHGHILQHGGDWD
The following symbolic constants of the data type EXVVWDWH are predefined and can be
used when checking return values from the instruction ,2%XV6WDWH.
Return value
Symbolic constant
Comment
BUSSTATE_HALTED
Bus is not running, stopped by user
BUSSTATE_RUN
Bus is up and running
BUSSTATE_ERROR
Bus error
BUSSTATE_STARTUP Bus is starting up
BUSSTATE_INIT
Bus in its init state
&KDUDFWHULVWLFV
EXVVWDWH is an alias data type for QXP and consequently inherits its characteristics.
333
EXVVWDWH
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Get current state of I/O Bus
Functions - ,2%XV6WDWH

334
System Parameter
EXWWRQGDWD
'DWDW\SH
%DVH:DUH
EXWWRQGDWD3XVKEXWWRQGDWD
EXWWRQGDWD is used for representing a standard push button combination for display on
the User Device such as the FlexPendant.
'HVFULSWLRQ
A EXWWRQGDWD constant is used for representing response push buttons in instruction
UIMsgBox and functions 8,0HVVDJH%R[and 8,/LVW9LHZ
([DPSOH
VAR btnres answer;
UIMsgBox More ? \Buttons:=btnYesNo \Result:= answer;
...
ELSE
...
ENDIF
The standard button enumeration EWQ<HV1R will give an Yes and an No push button.
3UHGHILQHGGDWD
The following constants of the data type EXWWRQGDWD are predefined in the system.
Value
Constants
Button displayed
-1
btnNone
No button
btnOK
OK
btnAbrtRtryIgn
Abort, Retry and Ignore
btnOKCancel
OK and Cancel
btnRetryCancel
Retry and Cancel
btnYesNo
Yes and No
btnYesNoCancel
Yes, No and Cancel
Its possible to display user defined push buttons with the functions 8,0HVVDJH%R[
and 8,/LVW9LHZ.
335
EXWWRQGDWD
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
EXWWRQGDWD is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
336
Alias data type button result
Data type - EWQUHV
E\WH
'DWDW\SH
%DVH:DUH
E\WH'HFLPDOYDOXHV
%\WH is used for decimal values (0 - 255) according to the range of a byte.
This data type is used in conjunction with instructions and functions that handle the bit
manipulations and convert features.
'HVFULSWLRQ
Data of the type E\WH represents a decimal byte value.
([DPSOHV
CONST num parity_bit := 8;

Definition of a variable GDWDwith a decimal value 130.
BitClear data1, parity_bit;
Bit number 8 (SDULW\BELW) in the variable GDWD will be set to 0, e.g. the content
of the variable GDWD will be changed from 130 to 2 (decimal representation).
(UURUKDQGOLQJ
If an argument of the type E\WH has a value that is not in the range between 0 and 255,
an error is returned on program execution.
&KDUDFWHULVWLFV
%\WH is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
Alias data types
Basic Characteristics- 'DWD7\SHV
Bit functions
337
E\WH
%DVH:DUH
338
'DWDW\SH
FORFN
'DWDW\SH
%DVH:DUH
FORFN7LPHPHDVXUHPHQW
&ORFN is used for time measurement. A FORFN functions like a stopwatch used for timing.
'HVFULSWLRQ
Data of the type FORFN stores a time measurement in seconds and has a resolution of
0.01 seconds.
([DPSOH
VAR clock clock1;
ClkReset clock1;
The clock, FORFN, is declared and reset. Before using &ON5HVHW, &ON6WDUW, &ON6WRSand
&ON5HDG, you must declare a variable of data type FORFN in your program.
/LPLWDWLRQV
The maximum time that can be stored in a clock variable is approximately 49 days
(4,294,967 seconds). The instructions &ON6WDUW, &ON6WRS and &ON5HDG report clock
overflows in the very unlikely event that one occurs.
A clock must be declared as a 9$5 variable type, not as a SHUVLVWHQW variable type.
&KDUDFWHULVWLFV
&ORFN is a non-value data type and cannot be used in value-oriented operations.
5HODWHGLQIRUPDWLRQ
Described in:
Summary of Time and Date Instructions
Non-value data type characteristics
339
FORFN
%DVH:DUH
340
'DWDW\SH
FRQIGDWD
'DWDW\SH
%DVH:DUH
FRQIGDWD5RERWFRQILJXUDWLRQGDWD
&RQIGDWDis used to define the axis configurations of the robot.
'HVFULSWLRQ
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is
in the same position and with the same orientation, with several different positions or
configurations of the robots axes.
Some robot types use iterative numerical methods to determine the robot axes positions. In these cases the configuration parameters may be used to define good starting
values for the joints to be used by the iterative procedure.
To unambiguously denote one of these possible configurations, the robot configuration
is specified using four axis values. For a rotating axis, the value defines the current
quadrant of the robot axis. The quadrants are numbered 0, 1, 2, etc. (they can also be
negative). The quadrant number is connected to the current joint angle of the axis. For
each axis, quadrant 0 is the first quarter revolution, 0 to 90, in a positive direction
from the zero position; quadrant 1 is the next revolution, 90 to 180, etc. Quadrant -1
is the revolution 0 to (-90), etc. (see Figure 1).
-4
-3
-1
-2
)LJXUH7KHFRQILJXUDWLRQTXDGUDQWVIRUD[LV
For a linear axis, the value defines a meter interval for the robot axis. For each axis,
value 0 means a position between 0 and 1 meters, 1 means a position between 1 and 2
meters. For negative values, -1 means a position between -1 and 0 meters, etc. (see Figure 2).
341
FRQIGDWD
%DVH:DUH
'DWDW\SH
-2.0
-3.0
-3
0.0
-1.0
-2
-1
1.0
0
2.0
3.0
2
x (m)
Configuration value
)LJXUH&RQILJXUDWLRQYDOXHVIRUDOLQHDUD[LV
5RERWFRQILJXUDWLRQGDWDIRU,5%
There are three singularities within the robots working range (See 0RWLRQDQG,23ULQ
FLSOHV6LQJXODULWLHV).
cf1 is the quadrant number for axis 1.
cfx is used to select one of eight possible robot configurations numbered from 0
through 7. The table below describes each one of them in terms of how the robot is positioned relative to the three singularities.
:ULVWFHQWHU
UHODWLYHWRD[LV
:ULVWFHQWHUUHODWLYH
WRORZHUDUP
In front of
In front of
Positive
In front of
In front of
Negative
In front of
Behind
Positive
In front of
Behind
Negative
Behind
In front of
Positive
Behind
In front of
Negative
Behind
Behind
Positive
Behind
Behind
Negative
FI[
$[LVDQJOH
The pictures below give an example of how the same tool position and orientation is
attained by using the eight different configurations.
342
FRQIGDWD
'DWDW\SH
Axis 1
%DVH:DUH
Axis 1
Lower arm
Lower arm
%% $
$%%
-beta
beta
Wrist center
Wrist center
FI[
FI[
)LJXUH([DPSOHRIURERWFRQILJXUDWLRQDQG1RWHWKHGLIIHUHQWVLJQV
RIWKHD[LVDQJOH
Axis 1
Axis 1
beta
%%
$
-beta
$
%%
Wrist center
Wrist center
Lower arm
Lower arm
FI[
FI[
RIWKHD[LVDQJOH
343
FRQIGDWD
%DVH:DUH
Axis 1
'DWDW\SH
Wrist center
Axis 1
Wrist center
beta
-beta
$
%%
%
$%
Lower arm
Lower arm
FI[
FI[
RIWKHD[LVDQJOH
Axis 1
Axis 1
Lower arm
%% $
Lower arm
beta
Wrist center
FI[
-beta
$%%
Wrist center
FI[
RIWKHD[LVDQJOH
Only the configuration parameter cf4 is used.
Only the configuration parameter cf6 is used.
344
FRQIGDWD
'DWDW\SH
%DVH:DUH
Only the three configuration parameters cf1, cf4 and cf6 are used.
All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6 respectively and cfx for joint 5.
The robots have two rotation axes (arms 1 and 2) and one linear axis (arm 3).
cf1 is used for the rotating axis 1
cfx is used for the rotating axis 2
cf4 and cf6 are not used
The robots have two linear axes (arms 1 and 2) and one or two rotating axes (arms 4
and 5) (Arm 3 locked)
cf1 is used for the linear axis 1
cfx is used for the linear axis 2
cf6 is not used
345
FRQIGDWD
%DVH:DUH
'DWDW\SH
The robot has three linear axes (arms 1, 2 and 3) and one rotating axis (arm 4).
cf1 is used for the linear axis 1
cfx is used for the linear axis 2
cf6 is not used
Because of the robots mainly linear structure, the correct setting of the configuration
parameters c1, cx is of less importance.
&RPSRQHQWV
FI
Data type: QXP

Rotating axis:
The current quadrant of axis 1, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 1, expressed as a positive or negative integer.
FI
Data type: QXP

Rotating axis:
Linear axis:
FI
Data type: QXP

Rotating axis:
Linear axis:
346
FRQIGDWD
'DWDW\SH
%DVH:DUH
FI[
Data type: QXP

Rotating axis:
For the IRB140, the current robot configuration, expressed as an integer in the
range from 0 to 7.
For the IRB5400, the current quadrant of axis 5, expressed as a positive or negative integer.
For other robots, using the current quadrant of axis 2, expressed as a positive or
negative integer.
Linear axis:
([DPSOH
VAR confdata conf15 := [1, -1, 0, 0]
A robot configuration FRQI is defined as follows:
- The axis configuration of the robot axis 1 is quadrant , i.e. 90-180o.
- The axis configuration of the robot axis 4 is quadrant , i.e. 0-(-90o).
- The axis configuration of the robot axis 6 is quadrant , i.e. 0 - 90o.
- The axis configuration of the robot axis 5 is quadrant , i.e. 0 - 90o.
6WUXFWXUH
< dataobject ofFRQIGDWD>
< FIof QXP >
< FI of QXP >
< FI of QXP >
< FIx of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
Coordinate systems
Motion and I/O Principles - &RRUGLQDWH 6\VWHPV
Handling configuration data
Motion and I/O Principles - 5RERW&RQILJXUDWLRQ
347
FRQIGDWD
%DVH:DUH
348
'DWDW\SH
FRUUGHVFU
)XQFWLRQ
%DVH:DUH
FRUUGHVFU&RUUHFWLRQJHQHUDWRUGHVFULSWRU
&RUUGHVFU&RUUHFWLRQJHQHUDWRUGHVFULSWRUis used by correction generators. A correction generator adds geometric offsets in the path coordinate system.
'HVFULSWLRQ
Data of the type FRUUGHVFU contains a reference to a correction generator.
Connection to a correction generator is done by the instruction &RUU&RQ and the
descriptor (the reference to the correction generator) can be used to deliver geometric
offsets in the path coordinate system with the instruction &RUU:ULWH.
Offsets provided earlier can be removed by disconnecting a correction generator with
the instruction &RUU'LVFRQ. All connected correction generators can be removed with
the instruction&RUU&OHDU.
The function &RUU5HDG returns the sum of all the delivered offsets so far (includes all
connected correction generators).
([DPSOH
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;
A correction generator is connected with the instruction &RUU&RQ and referenced by
the descriptor LG. Offsets are then delivered to the correction generator (with reference
LG) using the instruction &RUU:ULWH.
&KDUDFWHULVWLFV
&RUUGHVFU is a non-value data type.
349
FRUUGHVFU
%DVH:DUH
)XQFWLRQ
5HODWHGLQIRUPDWLRQ
Described in:
350
Connects to a correction generator
Instructions - &RUU&RQ
Disconnects from a correction generator
Instructions - &RUU'LVFRQ
Writes to a correction generator
Instructions - &RUU:ULWH
Reads the current total offsets
Functions - &RUU5HDG
Removes all correction generators
Instructions - &RUU&OHDU
Characteristics of non-value data types
GDWDSRV
'DWDW\SH
%DVH:DUH
GDWDSRV(QFORVLQJEORFNIRUDGDWDREMHFW
GDWDSRVis the enclosing block to a data object (internal system data) retrieved with the
function *HW1H[W6\P.
'HVFULSWLRQ
Data of the type GDWDSRVcontains information of where a certain object is defined in
the system. It is used for instructions *HW'DWD9DO and 6HW'DWD9DO.
([DPSOH
VAR datapos block;
VAR string name;
VAR bool truevar:=TRUE;
...
SetDataSearch bool ?Object:=my.* ?InMod:=mymod?LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name?Block:=block,truevar;
ENDWHILE
This session will set all local ERRO data objects that begin with P\ in the module
P\PRG to TRUE.
&KDUDFWHULVWLFV
GDWDSRV is a non-value data type.
5HODWHGLQIRUPDWLRQ
Described in:
Define a symbol set in a search session Instructions - 6HW'DWD6HDUFK
Get next matching symbol
Functions - *HW1H[W6\P
Get the value of a data object
Instructions - *HW'DWD9DO
Set the value of a data object
Instructions - 6HW'DWD9DO
Set the value of many object
Instructions - 6HW$OO'DWD9DO
351
GDWDSRV
%DVH:DUH
352
'DWDW\SH
GLRQXP
'DWDW\SH
%DVH:DUH
GLRQXP'LJLWDOYDOXHV
'LRQXP GLJLWDOLQSXWRXWSXWQXPHULF is used for digital values (0 or 1).
This data type is used in conjunction with instructions and functions that handle digital
input or output signals.
'HVFULSWLRQ
Data of the type GLRQXP represents a digital value 0 or 1.
([DPSOHV
CONST dionum close := 1;
Definition of a constant FORVHwith a value equal to .
SetDO grip1, close;
The signal JULS is set to FORVH, i.e. 1.
3UHGHILQHGGDWD
The constants KLJKORZDQGHGJH are predefined in the system module XVHUV\V:
CONST dionum low:=0;
CONST dionum high:=1;
CONST dionum edge:=2;
The constants ORZ and KLJKare designed for IO instructions.
(GJH can be used together with the interrupt instructions ,6LJQDO', and ,6LJQDO'2.
&KDUDFWHULVWLFV
'LRQXP is an alias data type for QXP and consequently inherits its characteristics.
353
GLRQXP
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
354
Summary input/output instructions
System Parameters
Alias data types
Basic Characteristics- 'DWD7\SHV
GLU
'DWDW\SH
%DVH:DUH
GLU)LOHGLUHFWRU\VWUXFWXUH
GLUGLUHFWRU\is used to traverse directory structures.
'HVFULSWLRQ
Data of the type GLU contains a reference to a directory on disk or network. It can be
linked to the physical directory by means of the instruction 2SHQ'LU and then used for
reading.
([DPSOH
PROC lsdir(string dirname)
VAR dir directory;
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
&KDUDFWHULVWLFV
GLU is a non-value data type and cannot be used in value-oriented operations.
5HODWHGLQIRUPDWLRQ
Described in:
Open a directory
2SHQ'LU
Read a directory
5HDG'LU
Close a directory
&ORVH'LU
Check file type
,V)LOH
355
GLU
%DVH:DUH
356
'DWDW\SH
HUUGRPDLQ
'DWDW\SH
%DVH:DUH
HUUGRPDLQ(UURUGRPDLQ
HUUGRPDLQHUURUGRPDLQis used to specify an error domain.
'HVFULSWLRQ
Data of the type HUUGRPDLQrepresents the domain where the error, warning or state
changed is logged.
Refer to 8VHU*XLGH(UURU0DQDJHPHQW6\VWHPDQG(UURU0HVVDJHV
for more information.
([DPSOH
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine WUDSBHUU, the error domain, the error
number and the error type are saved into appropriate variables.
357
HUUGRPDLQ
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
The following predefined constants can be used to specify an error domain.
7DEOH3UHGHILQHGHUURUGRPDLQV
Name
Error Domain
Value
COMMON_ERR
All error and state changed domains
OP_STATE
Operational state change
SYSTEM_ERR
System errors
HARDWARE_ERR
Hardware errors
PROGRAM_ERR
Program errors
MOTION_ERR
Motion errors
OPERATOR_ERROR
Operator errors
IO_COM_ERR
I/O and Communication errors
USER_DEF_ERR
User defined errors (raised by RAPID)
OPTION_PROD_ERR
Optional product errors
PROCESS_ERR
Process errors
11
&KDUDFWHULVWLFV
HUUGRPDLQis an alias data type for num and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
358
Ordering an interrupt on errors
Instructions - ,(UURU
Error numbers
Trouble shooting manual - IRC5
Alias data types
HUUQXP
'DWDW\SH
HUUQXP(UURUQXPEHU
(UUQXP is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.
'HVFULSWLRQ
If the robot detects an error during program execution, this can be dealt with in the
error handler of the routine. Examples of such errors are values that are too high and
division by zero. The system variable (5512, of type HUUQXP, is thus assigned different values depending on the nature of an error. The error handler may be able to correct
an error by reading this variable and then program execution can continue in the correct
way.
An error can also be created from within the program using the RAISE instruction.
This particular type of error can be detected in the error handler by specifying an error
number (within the range 1-90 or booked with instruction %RRN(UU1R) as an argument
to RAISE.
([DPSOHV
reg1 := reg2 / reg3;
.
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg3 := 1;
RETRY;
ENDIF
If UHJ = 0, the robot detects an error when division is taking place. This error,
however, can be detected and corrected by assigning UHJ thevalue . Following
this, the division can be performed again and program execution can continue.
CONST errnum machine_error := 1;
.
IF di1=0 RAISE machine_error;
.
ERROR
IF ERRNO=machine_error RAISE;
An error occurs in a machine (detected by means of the input signal GL). A jump
is made to the error handler in the routine which, in turn, calls the error handler
of the calling routine where the error may possibly be corrected. The constant,
PDFKLQHBHUURU, is used to let the error handler know exactly what type of error
has occurred.
359
HUUQXP
'DWDW\SH
3UHGHILQHGGDWD
The system variable ERRNO can be used to read the latest error that occurred. A number of predefined constants can be used to determine the type of error that has occurred.
Name
Cause of error
ERR_ACC_TOO_LOW
Too low acceleration/deceleration specified in

instruction 3DWK$FF/LPor :RUOG$FF/LP
ERR_ALRDYCNT
The interrupt variable is already connected to a TRAP

routine
The robot is already moving when executing a 6WDUW
0RYHRU6WDUW0RYH5HWU\instruction
6FDOH/DJ analog signal value outside limit in 7ULJJ,2
7ULJJ(TXLS or7ULJJ6SHHG
More than one present conditional argument for the
same parameter
Argument is expression, not present or of type switch
when executing ArgName
Argument is not a persistent reference
Argument is not a variable reference
Axis is not active
Axis is not independent
Axis is moving
Parameter axis in instruction TestSign and SetCurrRef
is wrong.
Limit StepBwdPath
If an IOEnable or IODisable request is interrupted by
another request to the same unit
Procedure call error (not procedure) at runtime (late
binding)
ERR_ALRDY_MOVING
ERR_AO_LIM
ERR_ARGDUPCND
ERR_ARGNAME
ERR_ARGNOTPER
ERR_ARGNOTVAR
ERR_AXIS_ACT
ERR_AXIS_IND
ERR_AXIS_MOVING
ERR_AXIS_PAR
ERR_BWDLIMIT
ERR_CALLIO_INTER
ERR_CALLPROC
360
ERR_CFG_INTERNAL
Not allowed to read internal parameter- 5HDG&IJ

'DWD
ERR_CFG_ILLTYPE
ERR_CFG_LIMIT
ERR_CFG_NOTFND
ERR_CNTNOTVAR
ERR_CNV_NOT_ACT
ERR_CNV_CONNECT
Type mismatch - 5HDG&IJ'DWD, :ULWH&IJ'DWD

Data limit - :ULWH&IJ'DWD
Not found - 5HDG&IJ'DWD, :ULWH&IJ'DWD
CONNECT target is not a variable reference
The conveyor is not activated.
The :DLW:REM instruction is already active.
ERR_CNV_DROPPED
The object that the instruction :DLW:REM was waiting

for has been dropped.
ERR_DEV_MAXTIME
Timeout when executing a ReadBin, ReadNum or a

ReadStr instruction
ERR_DIPLAG_LIM
Too big 'LS/DJ in the instruction 7ULJJ6SHHGconnected to current 7ULJJ/7ULJJ&7ULJJ5$3,'UHIHUHQFHPDQXDOSDUW)XQFWLRQVDQGGDWDW\SHV$=
HUUQXP
'DWDW\SH
ERR_DIVZERO
Division by zero
ERR_EXCRTYMAX
Maximum number of retries exceeded.
ERR_EXECPHR
An attempt was made to execute an instruction using a

place holder
ERR_FILEACC
A file is accessed incorrectly
ERR_FILEEXIST
A file already exists
ERR_FILEOPEN
A file cannot be opened
ERR_FILNOTFND
File not found
ERR_FNCNORET
No return value
ERR_FRAME
Unable to calculate new frame
ERR_ILLDIM
Incorrect array dimension
ERR_ILLQUAT
Attempt to use illegal orientation (quaternion) valve
ERR_ILLRAISE
Error number in RAISE out of range
ERR_INOMAX
No more interrupt numbers available
ERR_IODISABLE
Timeout when executing IODisable
ERR_IODN_TIMEOUT
Timeout when executing IODNGetAttr or IODNSetAttr
ERR_IOENABLE
Timeout when executing IOEnable
ERR_IOERROR
I/O Error from instruction Save
ERR_LOADED
The program module is already loaded
ERR_LOADID_FATAL
Only internal use in LoadId
ERR_LOADID_RETRY
ERR_LOADNO_INUSE
The load session is in use in StartLoad
ERR_LOADNO_NOUSE
The load session is not in use in CancelLoad
ERR_MAXINTVAL
The integer value is too large
ERR_MODULE
Incorrect module name in instruction 6DYH and (UDVH0RGXOH
ERR_MSG_PENDING
The unit is busy
ERR_NAME_INVALID
If the unit name does not exist or if the unit is not allowed
to be disabled
ERR_NEGARG
Negative argument is not allowed
ERR_NORUNUNIT
If there is no contact with the unit
ERR_NOTARR
Data is not an array
ERR_NOTEQDIM
The array dimension used when calling the routine does

not coincide with its parameters
ERR_NOTINTVAL
Not an integer value
ERR_NOTPRES
A parameter is used, despite the fact that the corresponding argument was not used at the routine call
361
HUUQXP
'DWDW\SH
ERR_NOTSAVED
362
Module has been changed since it was loaded into the

system.
ERR_OUTOFBND
The array index is outside the permitted limits
ERR_OVERFLOW
Clock overflow
ERR_PATH
Missing destination path in instruction Save
ERR_PATHDIST
Too long regain distance for 6WDUW0RYH or 6WDUW0RY

H5HWU\ instruction
ERR_PATH_STOP
Stop of the movement because of some process error
ERR_PID_MOVESTOP
ERR_PID_RAISE_PP
Error from ParIdRobValid or ParIdPosValid
ERR_PROGSTOP
The robot is program stop state when executing a

6WDUW0RYH or 6WDUW0RYH5HWU\ instruction
ERR_RANYBIN_CHK
Check sum error detected at data transfer with instruction ReadAnyBin
ERR_RANYBIN_EOF
End of file is detected before all bytes are read in

instruction ReadAnyBin
ERR_RCVDATA
An attempt was made to read non numeric data with

ReadNum
ERR_REFUNKDAT
Reference to unknown entire data object
ERR_REFUNKFUN
Reference to unknown function
ERR_REFUNKPRC
Reference to unknown procedure at linking time or at

run time (late binding)
ERR_REFUNKTRP
Reference to unknown trap
ERR_ROBLIMIT
Axis outside working area or limits exceeded for at

least one coupled joint
ERR_SC_WRITE
Error when sending to external computer
ERR_SIGSUPSEARCH
The signal has already a positive value at the beginning of the search process
ERR_STARTMOVE
The robot is in hold state when executing a 6WDUW0RYH

or 6WDUW0RYH5HWU\ instruction
ERR_SOCK_CLOSED
The socket is closed, or is not created
ERR_SOCK_CONNREF
The connection was refused by the remote computer
ERR_SOCK_ISCON
The socket is already connected
ERR_SOCK_TIMEOUT
The connection was not established within the time out

time
ERR_STRTOOLNG
The string is too long
ERR_SYM_ACCESS
Symbol read/write access error
ERR_SYNCMOVEOFF
Timeout from SyncMoveOff
ERR_SYNCMOVEON
Timeout from SyncMoveOn
HUUQXP
'DWDW\SH
ERR_TP_DIBREAK
A TPRead instruction was interrupted by a digital

input
ERR_TP_DOBREAK
A TPRead instruction was interrupted by a digital output
ERR_TP_MAXTIME
Timeout when executing a TPRead instruction
ERR_TP_NO_CLIENT
No client to interact with when using TPReadFK

instruction
ERR_TRUSTLEVEL
Not allowed to disable IO unit
ERR_UI_INITVALUE
Initial value error in function UINumEntry
ERR_UI_MAXMIN
Min value is greater then max value in function UINumEntry
ERR_UI_NOTINT
Value is not a integer when specified that an integer

should be used when using UINumEntry
ERR_UNIT_PAR
Parameter Mech_unit in TestSign and SetCurrRef is

wrong
ERR_UNKINO
Unknown interrupt number
ERR_UNKPROC
Incorrect reference to the load session in instruction

WaitLoad
ERR_UNLOAD
Unload error in instruction UnLoad or WaitLoad
ERR_WAITSYNCTASK
Time-out from WaitSyncTask
ERR_WAIT_MAXTIME
Timeout when executing a WaitDI or WaitUntil instruction
ERR_WHLSEARCH
No search stop
&KDUDFWHULVWLFV
(UUQXP is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
Error recovery
RAPID Summary - (UURU5HFRYHU\

Basic Characteristics - (UURU5HFRYHU\
Data types in general, alias data types Basic Characteristics - 'DWD7\SHV
363
HUUQXP
364
'DWDW\SH
HUUVWU
'DWDW\SH
%DVH:DUH
HUUVWU(UURUVWULQJ
(UUVWUis used to write text in error messages.
([DPSOH
VAR errstr arg:= This is an example;
ErrLog 5100, \W, ERRSTR_TASK, ERRSTR_CONTEXT, arg, ERRSTR_EMPTY,
ERRSTR_UNUSED;
3UHGHILQHGGDWD
Name
Description
ERRSTR_EMPTY
Argument is empty
ERRSTR_UNUSED
Argument is not used
ERRSTR_TASK
Name of current task
ERRSTR_CONTEXT
Context
&KDUDFWHULVWLFV
(UUVWU is an alias data type for VWULQJand consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
Basic Characteristics -'DWD7\SHV
365
HUUVWU
%DVH:DUH
366
'DWDW\SH
HUUW\SH
'DWDW\SH
%DVH:DUH
HUUW\SH(UURUW\SH
HUUW\SHHUURUW\SHis used to specify an error type (gravity).
'HVFULSWLRQ
Data of the type HUUW\SHrepresents the type (state change, warning, error) of an error
message.
Refer to 8VHU*XLGH(UURU0DQDJHPHQW6\VWHPDQG(UURU0HVVDJHV
for more information.
([DPSOH
VAR num err_number;
...
TRAP trap_err
ENDTRAP
number and the error type are saved into appropriate variables.
3UHGHILQHGGDWD
The following predefined constants can be used to specify an error type.
7DEOH3UHGHILQHGHUURUW\SHV
Name
Error Type
Value
TYPE_ALL
Any type of error (state change, warning, error)
TYPE_STATE
State change (operational message)
TYPE_WARN
Warning (such as RAPID recoverable error)
TYPE_ERR
Error
367
HUUW\SH
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
HUUW\SHis an alias data type for num and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
368
Ordering an interrupt on errors
Error numbers
Trouble shooting manual - IRC5
Alias data types
H[WMRLQW
'DWDW\SH
%DVH:DUH
H[WMRLQW3RVLWLRQRIH[WHUQDOMRLQWV
([WMRLQWis used to define the axis positions of external axes, positioners or workpiece
manipulators.
'HVFULSWLRQ
The robot can control up to six external axes in addition to its six internal axes, i.e. a
total of twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each
such logical axis can be connected to a physical axis and, in this case, the connection
is defined in the system parameters.
Data of the type H[WMRLQW is used to hold position values for each of the logical axes a - f.
For each logical axis connected to a physical axis, the position is defined as follows:
- For rotating axes the position is defined as the rotation in degrees from the
calibration position.
- For linear axes the position is defined as the distance in mm from the calibration position.
If a logical axis is not connected to a physical one, the value 9E9 is used as a position
value, indicating that the axis is not connected. At the time of execution, the position
data of each axis is checked and it is checked whether or not the corresponding axis is
connected. If the stored position value does not comply with the actual axis connection,
the following applies:
- If the position is not defined in the position data (value is 9E9), the value will
be ignored if the axis is connected and not activated. But if the axis is activated,
it will result in an error.
- If the position is defined in the position data, although the axis is not connected,
the value will be ignored.
If an external axis offset is used (instruction (2IIV2Q or (2IIV6HW), the positions are
specified in the ExtOffs coordinate system.
&RPSRQHQWV
HD[BD
H[WHUQDOD[LVD
Data type: QXP
The position of the external logical axis a, expressed in degrees or mm

(depending on the type of axis).
HD[BE
H[WHUQDOD[LVE
Data type: QXP
The position of the external logical axis b, expressed in degrees or mm

(depending on the type of axis).
369
H[WMRLQW
%DVH:DUH
'DWDW\SH

HD[BI
H[WHUQDOD[LVI
Data type: QXP
The position of the external logical axis f, expressed in degrees or mm (depending on the type of axis).
([DPSOH
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;
The position of an external positioner, D[SRV is defined as follows:
- The position of the external logical axis a is set to 11, expressed in degrees or
mm (depending on the type of axis).
- The position of the external logical axis b is set to 12.3, expressed in degrees
or mm (depending on the type of axis).
- Axes c to f are undefined.
6WUXFWXUH
< dataobject ofH[WMRLQW>
< HD[BDof QXP >
< HD[BEof QXP >
< HD[BFof QXP >
< HD[BGof QXP >
< HD[BHof QXP >
< HD[BIof QXP >
5HODWHGLQIRUPDWLRQ
Described in:
370
Position data
ExtOffs coordinate system
LFRQGDWD
'DWDW\SH
%DVH:DUH
LFRQGDWD,FRQGLVSOD\GDWD
LFRQGDWD is used for representing standard icons on the User Device such as the FlexPendant.
'HVFULSWLRQ
An LFRQGDWD enumeration constant may be passed to the ,FRQargument in the instruction 8,0VJ%R[ and functions 8,0HVVDJH%R[8,1XP(QWU\8,1XP7XQH8,$OSKD(Q
WU\and 8,/LVW9LHZ
([DPSOH
VAR btnres answer;
UIMsgBox More ? \Buttons:=btnYesNo \Icon:=iconInfo \Result:= answer;
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration constant LFRQ,QIRwill give an information icon
at the head of the message box on the user interface.
3UHGHILQHGGDWD
The following constants of the data type LFRQGDWD are predefined in the system:
Value
Constant
Icon
iconNone
No icon
iconInfo
Information icon
iconWarning
Warning icon
iconError
Error icon
371
LFRQGDWD
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
LFRQGDWD is an alias data type for QXP and consequently inherits its characteristics.
6WUXFWXUH
1XP is an atomic data type; i.e. does not comprise other data types.
5HODWHGLQIRUPDWLRQ
Described in:
372
LGHQWQR
'DWDW\SH
%DVH:DUH
LGHQWQR,GHQWLW\IRUPRYHLQVWUXFWLRQV
LGHQWQR(LGHQWLW\QXPEHU) is used to control synchronizing of two or more coordinated
synchronized movement with each other.
The data type LGHQWQR can only be used in a 0XOWL0RYH 6\VWHP with option &RRUGL
QDWHG5RERWV and only in program tasks defined as 0RWLRQ7DVN.
'HVFULSWLRQ
Move instructions in a 0XOWL0RYH6\VWHPmustbe programmed with parameter ?,' of
data type LGHQWQR, if coordinated synchronized movement, and ?,' is not allowed in
any other cases.
The specified ?,' number must be the same in all cooperating program tasks. The id
number gives a guarantee that the movements are not mixed up at runtime.
In coordinated synchronized mode, there must be the same amount of executed move
instructions in all program tasks. The optional parameter ?,'of data type LGHQWQR will
be used to check that associated move instructions are run in parallel before start of the
movements. The?,' number must be the same in the move instructions that are run in
parallel.
The user does not have to declare any variable of type LGHQWQR, but can use a number
directly in the instructions (see example).
373
LGHQWQR
%DVH:DUH
'DWDW\SH
([DPSOH
PERS tasks task_list{2} := [[T_ROB1],[T_ROB2]];
PROC proc1()...
MoveL *\ID:=10,v100,z50,mytool;
MoveL *\ID:=20,v100,fine,mytool;
SyncMoveOff sync2;
...
ENDPROC

PROC proc2()
...
MoveL *\ID:=10,v100,z50,mytool;
MoveL *\ID:=20,v100,fine,mytool;
SyncMoveOff sync4;
...
ENDPROC
&KDUDFWHULVWLFV
LGHQWQR is an alias data type for QXP and thus inherits its properties.
5HODWHGLQIRUPDWLRQ
Described in:
374
Alias data types
LQWQXP
'DWDW\SH
LQWQXP,QWHUUXSWLGHQWLW\
,QWQXP LQWHUUXSWQXPHULF is used to identify an interrupt.
'HVFULSWLRQ
When a variable of type LQWQXP is connected to a trap routine, it is given a specific
value identifying the interrupt. This variable is then used in all dealings with the interrupt, such as when ordering or disabling an interrupt.
More than one interrupt identity can be connected to the same trap routine. The system
variable ,1712 can thus be used in a trap routine to determine the type of interrupt that
occurs.
([DPSOHV
VAR intnum feeder_error;
.
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;
An interrupt is generated when the input GL is set to . When this happens, a call
is made to the FRUUHFWBIHHGHU trap routine.
VAR intnum feeder1_error;
VAR intnum feeder2_error;
.
PROC init_interrupt();
.
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
.
ENDPROC
.
TRAP correct_feeder
IF INTNO=feeder1_error THEN
.
ELSE
.
ENDIF
.
ENDTRAP
An interrupt is generated when either of the inputs GL or GL is set to . A call is
then made to the FRUUHFWBIHHGHUtrap routine. The system variable INTNO is used
in the trap routine to find out which type of interrupt has occurred.
375
LQWQXP
'DWDW\SH
/LPLWDWLRQV
The maximum number of active variables of type LQWQXP at any one time (between
&211(&7 and ,'HOHWH) is limited to 70.The maximum number of interrupts, in the
queue for execution of 75$3 routine at any one time, is limited to 30.
&KDUDFWHULVWLFV
,QWQXP is an alias data type for QXP and thus inherits its properties.
5HODWHGLQIRUPDWLRQ
Described in:
376
Summary of interrupts
RAPID Summary - ,QWHUUXSWV
Alias data types
LRGHY
'DWDW\SH
%DVH:DUH
LRGHY6HULDOFKDQQHOVDQGILOHV
,RGHY,2GHYLFHis used for serial channels, such as printers and files.
'HVFULSWLRQ
Data of the type LRGHY contains a reference to a file or serial channel. It can be linked
to the physical unit by means of the instruction 2SHQ and then used for reading and
writing.
([DPSOH
VAR iodev file;
.
Open HOME:/LOGDIR/INFILE.DOC, file\Read;
input := ReadNum(file);
The file,1),/('2& is opened for reading. When reading from the file,ILOH is
used as a reference instead of the file name.
&KDUDFWHULVWLFV
,RGHY is a non-value data type.
5HODWHGLQIRUPDWLRQ
Described in:
Communication via serial channels
Configuration of serial channels
System Parameters
377
LRGHY
%DVH:DUH
378
'DWDW\SH
LRXQLWBVWDWH
'DWDW\SH
%DVH:DUH
LRXQLWBVWDWH6WDWHRI,2XQLW
LRXQLWBVWDWH is used to mirror in which state an I/O unit is just now
'HVFULSWLRQ
An LRXQLWBVWDWH constant is intended to be used when checking the return value from
the function ,28QLW6WDWH.
([DPSOH
IF (,28QLW6WDWH81,7 IOUNIT_RUNNING) THEN
! Possible to access the signal on the I/O unit
ELSE
! Read/Write signal on the I/O unit result in error
ENDIF
Test is done if the I/O unit81,7 is up and running.
3UHGHILQHGGDWD
The following symbolic constants of the data type LRXQLWBVWDWH are predefined and can
be used when checking return values from the function ,28QLW6WDWH.
Return value
Symbolic constant
Comment
IOUNIT_RUNNING
Unit is up and running
IOUNIT_RUNERROR
Unit is not working because of some

runtime error
IOUNIT_DISABLE
Unit is disabled by user from RAPID or

FlexPendant
IOUNIT_OTHERERR
Other configuration or startup errors
&KDUDFWHULVWLFV
,RXQLWBVWDWH is an alias data type for QXP and consequently inherits its characteristics.
379
LRXQLWBVWDWH
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Get current state of I/O Unit
Functions - ,28QLW6WDWH

380
System Parameters
MRLQWWDUJHW
'DWDW\SH
%DVH:DUH
MRLQWWDUJHW-RLQWSRVLWLRQGDWD
-RLQWWDUJHW is used to define the position that the robot and the external axes will move
to with the instruction 0RYH$EV-.
'HVFULSWLRQ
-RLQWWDUJHW defines each individual axis position, for both the robot and the external
axes.
&RPSRQHQWV
URED[
URERWD[HV
Data type: UREMRLQW
Axis positions of the robot axes in degrees.

Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.
H[WD[
H[WHUQDOD[HV
Data type: H[WMRLQW
The position of the external axes.

The position is defined as follows for each individual axis (HD[BD, HD[BE ...
HD[BI):
- For rotating axes, the position is defined as the rotation in degrees from the calibration position.
- For linear axes, the position is defined as the distance in mm from the calibration position.
External axes HD[BDare logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program execution, the following applies:
- If the position is not defined in the position data (value 9E9) the value will be
ignored, if the axis is connected and not activated. But if the axis is activated it
will result in error.
- If the position is defined in the position data yet the axis is not connected, the
value is ignored.
No movement is performed but no error is generated for an axis with valid position data, if the axis isnt activated.
381
MRLQWWDUJHW
%DVH:DUH
'DWDW\SH
([DPSOHV
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];
The normal calibration position for IRB2400 is defined in FDOLEBSRV by the data
type MRLQWWDUJHWThe normal calibration position 0 (degrees or mm) is also
defined for the external logical axis a. The external axes b to f are undefined.
6WUXFWXUH
< dataobject ofMRLQWWDUJHW>
< URED[ of UREMRLQW >
< UD[B of QXP >
< UD[B of QXP >
< UD[B of QXP >
< UD[B of QXP >
< UD[B of QXP >
< UD[B of QXP >
< H[WD[ of H[WMRLQW >
< HD[BD of QXP >
< HD[BE of QXP >
< HD[BF of QXP >
< HD[BG of QXP >
< HD[BH of QXP >
< HD[BI of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
382
Move to joint position
Instructions - 0RYH$EV-
Configuration of external axes
System Parameters
OLVWLWHP
'DWDW\SH
%DVH:DUH
OLVWLWHP/LVWLWHPGDWDVWUXFWXUH
OLVWLWHP is used to define menu lines that include text with optional small icons on the
User Device such as the FlexPendant.
'HVFULSWLRQ
Data of the type OLVWLWHP allows the user to define menu lines for the function
8,/LVW9LHZ.
&RPSRQHQWV
LPDJH
Data type: VWULQJ
The path including file name for the icon image to display
(QRWLPSOHPHQWHGLQWKLVVRIWZDUHUHOHDVH).
Use empty string or stEmpty if no icon to display.
WH[W
Data type: VWULQJ

The text for the menu line to display.
6WUXFWXUH
<dataobject of OLVWLWHP>
<LPDJH of VWULQJ>
<WH[Wof VWULQJ>
5HODWHGLQIRUPDWLRQ
Described in:
User Interaction ListView
383
OLVWLWHP
%DVH:DUH
384
'DWDW\SH
ORDGGDWD
'DWDW\SH
%DVH:DUH
ORDGGDWD/RDGGDWD
/RDGGDWDis used to describe loads attached to the mechanical interface of the robot
(the robots mounting flange).
Load data usually defines the payload (grip load is defined by the instruction *ULS
/RDG) of the robot, i.e. the load held in the robot gripper. The tool load is specified in
the tool data (WRROGDWD) which includes load data.
'HVFULSWLRQ
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
,WLVLPSRUWDQWWRDOZD\VGHILQHWKHDFWXDOWRROORDGDQGZKHQXVHGWKHSD\ORDG
RIWKHURERWWRR,QFRUUHFWGHILQLWLRQVRIORDGGDWDFDQUHVXOWLQRYHUORDGLQJRIWKH
URERWPHFKDQLFDOVWUXFWXUH
When incorrect load data is specified, it can often lead to the following consequences:
- If the value in the specified load data is greater than that of the value of the true
load;
-> The robot will not be used to its maximum capacity
-> Impaired path accuracy including a risk of overshooting
-> Risk of overloading the mechanical structure
- If the value in the specified load data is less than the value of the true load;
The payload is connected/disconnected using the instruction *ULS/RDG.
&RPSRQHQWV
PDVV
Data type: QXP

The weight of the load in kg.
FRJ
FHQWUHRIJUDYLW\
Data type: SRV
The centre of gravity of a tool load expressed in the wrist coordinate system.
If a stationary tool is used, it means the centre of gravity for the tool holding the
work object.
The centre of gravity of a payload expressed in the tool coordinate system. The
object coordinate system when a stationary tool is used.
385
ORDGGDWD
%DVH:DUH
'DWDW\SH
DRP
D[HVRIPRPHQW
Data type: RULHQW
7RROORDG5HIWR)LJXUH
The orientation of the coordinate system defined by the inertial axes of the tool
load. Expressed in the wrist coordinate system as a quaternion (q1, q2, q3, q4). If
a stationary tool is used, it means the inertial axes for the tool holding the work
object.
The orientation of the tool load coordinate system must coincide with the orientation of the wrist coordinate system. ,WPXVWDOZD\VEHVHWWR
3D\ORDG5HIWRILJXUHDQG
The orientation of the coordinate system defined by the inertial axes of the payload. Expressed in the tool coordinate system as a quaternion (q1, q2, q3, q4). The
object coordinate system if a stationary tool is used.
The orientation of the payload coordinate system must coincide with the orientation of the wrist coordinate system. ,WPXVWDOZD\VEHVHWWR.
Because of this limitation, the best way is to define the orientation of the tool
coordinate system (WRROIUDPH) to coincide with the orientation of the wrist coordinate system.
The wrist coordinate system

<
=
,< Tool load coordinate system Inertial axes of tool load
,=
<
;
,;
7&3
Tool coordinate system

;
,<
,=
Payload coordinate system Inertial axes of payload
,;
)LJXUH5HVWULFWLRQRQWKHRULHQWDWLRQRIWRROORDGDQGSD\ORDGFRRUGLQDWH
V\VWHP
386
ORDGGDWD
'DWDW\SH
%DVH:DUH
Wrist coordinate system

<
=
Gripper
<
Tool coordinate system

=
<
Payload coordinate
= system Inertial axes of payload
Payload
;
The centre of gravity of the payload
)LJXUH7KHFHQWUHRIJUDYLW\DQGLQHUWLDOD[HVRIWKHSD\ORDG
L[
LQHUWLD[Data type: QXP

The moment of inertia of the load around the x-axis of the tool load or payload
coordinate system in kgm.
Correct definition of the inertial moments will allow optimal utilisation of the
path planner and axes control. This may be of special importance when handling
large sheets of metal, etc. All inertial moments of inertia L[, L\ and L] equal to
0 kgm imply a point mass.
Normally, the inertial moments must only be defined when the distance from the
mounting flange to the centre of gravity is less than the dimension of the load
(see Figure 9).
payload
distance
x
dimension
)LJXUH7KHPRPHQWRILQHUWLDPXVWQRUPDOO\EHGHILQHGZKHQWKHGLVWDQFH
LVOHVVWKDQWKHORDGGLPHQVLRQ
387
ORDGGDWD
%DVH:DUH
'DWDW\SH
L\
LQHUWLD\Data type: QXP

The inertial moment of the load around the y-axis, expressed in kgm2.
Formore information, see L[.
L]
LQHUWLD]Data type: QXP

The inertial moment of the load around the z-axis, expressed in kgm2.
Formore information, see L[.
([DPSOHV
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in Figure 7 is described using the following values:
- Weight kg.
- The centre of gravity is x = , y = and z = mm in the tool coordinate system.
- The payload is a point mass.
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, SLHFH, specified at the same time as the robot grips
the load SLHFH.
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a payload.
/LPLWDWLRQV
The payload should only be defined as a persistent variable (PERS) and not within a
routine. Current values are then saved when storing the program on diskette and are
retrieved on loading.
Arguments of the type load data in the *ULS/RDG instruction should only be an entire
persistent (not array element or record component).
388
ORDGGDWD
'DWDW\SH
%DVH:DUH
3UHGHILQHGGDWD
The load ORDG defines a payload, the weight of which is equal to 0 kg, i.e. no load at
all. This load is used as the argument in the instruction *ULS/RDG to disconnect a payload.
The load ORDG can always be accessed from the program, but cannot be changed (it is
stored in the system module %$6().
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0 ,0 ];
6WUXFWXUH
< dataobjectof ORDGGDWD >
< PDVV of QXP >
< FRJ of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< DRP of RULHQW >
< T of QXP >
< T of QXP >
< T of QXP >
< T of QXP >
< L[ of QXP >
< L\ of QXP >
< L]of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
Coordinate systems

QDWH 6\VWHPV
Definition of tool loads
Data Types - WRROGDWD
Activation of payload
Instructions -*ULS/RDG
389
ORDGGDWD
%DVH:DUH
390
'DWDW\SH
ORDGLGQXP
'DWDW\SH
%DVH:DUH
ORDGLGQXP7\SHRIORDGLGHQWLILFDWLRQ
/RDGLGQXPis used to represent an integer with a symbolic constant.
'HVFULSWLRQ
A ORDGLGQXPconstant is intended to be used for load identification of tool or payload
as arguments in instruction /RDG,G. See example below.
([DPSOH
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, gun1;
Load identification of tool JXQ with identification of mass with movements of
robot axis 3 with use of predefined constant 0$66B:,7+B$; of data type
ORDGLGQXP.
3UHGHILQHGGDWD
The following symbolic constants of the data type ORDGLGQXPare predefined and can
be used as arguments in instruction /RDG,G.
Symbolic constant
Value
Comment
MASS_KNOWN
Known mass in tool or payload respectively.
MASS_WITH_AX3
Unknown mass in tool or payload.

Identification of mass will be done with
movements of axis 3
&KDUDFWHULVWLFV
/RDGLGQXPis an alias data type for QXP and consequently inherits its characteristics.
391
ORDGLGQXP
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
392
Valid robot type

complete example
ORDGVHVVLRQ
'DWDW\SH
%DVH:DUH
ORDGVHVVLRQ3URJUDPORDGVHVVLRQ
/RDGVHVVLRQis used to define different load sessions of RAPID program modules.
'HVFULSWLRQ
Data of the type ORDGVHVVLRQ is used in the instructions 6WDUW/RDG and :DLW/RDG, to
identify the load session. /RDGVHVVLRQ only contains a reference to the load session.
&KDUDFWHULVWLFV
/RDGVHVVLRQ is a QRQYDOXH data type and cannot be used in value-oriented operations.
5HODWHGLQIRUPDWLRQ
Described in:
Loading program modules during execution
Instructions - 6WDUW/RDG:DLW/RDG
393
ORDGVHVVLRQ
%DVH:DUH
394
'DWDW\SH
PHFXQLW
'DWDW\SH
%DVH:DUH
PHFXQLW0HFKDQLFDOXQLW
0HFXQLWis used to define the different mechanical units which can be controlled and
accessed from the program.
The names of the mechanical units are defined in the system parameters and, consequently, must not be defined in the program.
'HVFULSWLRQ
Data of the type PHFXQLW only contains a reference to the mechanical unit.
/LPLWDWLRQV
Data of the type PHFXQLW must not be defined in the program. The data type can, on the
other hand, be used as a parameter when declaring a routine.
3UHGHILQHGGDWD
All the mechanical units defined in the system parameters are predefined in every program task. But only the mechanical units that are controlled by the actual program task
(defined in &RQILJXUDWLRQ&RQWUROOHU7DVN), can be used to do any control operations.
Besides that, the predefined variable ROB_ID of data type PHFXQLW is available in
every program task. If actual program task controls a robot, the alias variable ROB_ID
containing a reference to robot ROB_1, ROB_2, ROB_3 or ROB_4 can be used to do
control operations on the robot. The variable ROB_ID is unvalid, if the actual program
task do not control any robot.
([DPSOH
IF TaskRunRob() THEN
IndReset ROB_ID, 4;
ENDIF
If actual program task control a robot, reset axis 4 for a Picker robot.
&KDUDFWHULVWLFV
0HFXQLW is a QRQYDOXH data type. This means that data of this type does not permit
value-oriented operations.
395
PHFXQLW
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Check if task run some robot
Functions - 7DVN5XQ5RE
Check if task run some mec. unit
Functions - 7DVN5XQ0HF
Get the name of mec. units in the system Functions - *HW1H[W0HFK8QLW

System Parameters
396
PRWVHWGDWD
'DWDW\SH
%DVH:DUH
PRWVHWGDWD0RWLRQVHWWLQJVGDWD
0RWVHWGDWDis used to define a number of motion settings that affect all positioning
instructions in the program:
- Max. velocity and velocity override
- Acceleration data
- Behavior around singular points
- Management of different robot configurations
- Override of path resolution
- Motion supervision
- Limitation of acceleration/deceleration
- Tool reorientation during circle path
This data type does not normally have to be used since these settings can only be set
using the instructions9HO6HW, $FF6HW, 6LQJ$UHD, &RQI-&RQI/,3DWK5HVRO, 0RWLRQ6XS
3DWK$FF/LP&LU3DWK0RGHand :RUOG$FF/LP.
The current values of these motion settings can be accessed using the system variable
&B0276(7.
'HVFULSWLRQ
The current motion settings (stored in the system variable &B0276(7) affect all
movements.
&RPSRQHQWV
YHORULGH
Data type: YHOGDWDQXP
Velocity as a percentage of programmed velocity.

YHOPD[
Data type: YHOGDWDQXP
Maximum velocity in mm/s.

DFFDFF
Data type: DFFGDWDQXP
Acceleration and deceleration as a percentage of the normal values.

DFFUDPS
Data type: DFFGDWDQXP
The rate by which acceleration and deceleration increases as a percentage of the

normal values.
397
PRWVHWGDWD
%DVH:DUH
'DWDW\SH
VLQJZULVW
Data type: VLQJGDWDERRO
The orientation of the tool is allowed to deviate somewhat in order to prevent

wrist singularity.
VLQJDUP
The orientation of the tool is allowed to deviate somewhat in order to prevent arm
singularity (not implemented).
VLQJEDVH
The orientation of the tool is not allowed to deviate.

FRQIMVXS
Data type: FRQIVXSGDWDERRO
Supervision of joint configuration is active during joint movement.

FRQIOVXS
Data type: FRQIVXSGDWDERRO
Supervision of joint configuration is active during linear and circular movement.

FRQID[
Data type: FRQIVXSGDWDQXP
Maximum permitted deviation in degrees for axis 1 (not used in this version).
FRQID[
FRQID[
SDWKUHVRO
Data type:QXP
Current override in percentage of the configured path resolution.

PRWLRQVXS
Data type: ERRO
Mirror RAPID status (TRUE = On and FALSE = Off) of motion supervision

function.
WXQHYDOXH
Data typeQXP
Current RAPID override as a percentage of the configured tunevalue for the

motion supervision function.
DFFOLP
Data typeERRO
Limitation of tool acceleration along the path.

(TRUE = limitation and FALSE = no limitation).
398
PRWVHWGDWD
'DWDW\SH
%DVH:DUH
DFFPD[
Data typeQXP
TCP acceleration limitation in P e V2 .

If DFFOLP is FALSE, the value is always set to -1.
GHFHOOLP
Data typeERRO
Limitation of tool deceleration along the path.

GHFHOPD[
Data typeQXP
TCP deceleration limitation in P e V2 .

If GHFHOOLP is FALSE, the value is always set to -1.
FLUSDWKUHRUL
Data typeQXP
Tool reorientation during circle path:

0 = Standard method with interpolation in path frame
1 = Modified method with interpolation in object frame
2 = Modified method with programmed tool orientaion in &LU3RLQW
ZRUOGDFFOLP
Data typeERRO
Limitation of acceleration in world coordinate

system.
ZRUOGDFFPD[
Data typeQXP
Limitation of acceleration in world coordinate system in P e V2 .

If ZRUOGDFFOLPis FALSE, the value is always set to -1.
/LPLWDWLRQV
One and only one of the components VLQJZULVW, VLQJDUP or VLQJEDVH may have a
value equal to TRUE.
([DPSOH
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF
Different parts of the program are executed depending on the current velocity
override.
399
PRWVHWGDWD
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
&B0276(7describes the current motion settings of the robot and can always be
accessed from the program (installed data). &B0276(7, on the other hand, can only be
changed using a number of instructions, not by assignment.
The following default values for motion parameters are set
- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.
VAR motsetdata C_MOTSET := [
[ 100, 500 ],
[ 100, 100 ],
[ FALSE, FALSE, TRUE ],
[ TRUE, TRUE, 30, 45, 90],
100 ,
TRUE,
100,
FALSE,
-1,
FALSE,
-1,
0,
FALSE,
-1];
400
-> veldata
-> accdata
-> singdata
-> confsupdata
-> path resolution
-> motionsup
-> tunevalue
-> acclim
-> accmax
-> decellim
-> decelmax
-> cirpathreori
-> worldacclim
-> worldaccmax
PRWVHWGDWD
'DWDW\SH
%DVH:DUH
6WUXFWXUH
<dataobject of PRWVHWGDWD>
<YHO ofYHOGDWD>
< RULGH of QXP >
< PD[ of QXP >
<DFFofDFFGDWD>
< DFF of QXP >
< UDPS of QXP >
<VLQJ ofVLQJGDWD >
< ZULVW of ERRO>
< DUP of ERRO >
< EDVH of ERRO >
<FRQIofFRQIVXSGDWD >
< MVXS of ERRO>
<OVXS of ERRO>
< D[ of QXP >
< D[ of QXP >
< D[ of QXP >
<SDWKUHVROof QXP>
<PRWLRQVXSof ERRO>
<WXQHYDOXHof QXP>
<DFFOLPof ERRO>
<DFFPD[of QXP>
<GHFHOOLPof ERRO>
<GHFHOPD[of QXP>
<FLUSDWKUHRULof QXP>
<ZRUOGDFFOLPof ERRO>
<ZRUOGDFFPD[of QXP>
-> Affected by instruction VelSet

-> Affected by instruction AccSet
-> Affected by instruction SingArea
-> Affected by instructions ConfJ and ConfL
-> Affected by instruction PathResol

-> Affected by instruction MotionSup
-> Affected by instruction MotionSup
-> Affected by instruction PathAccLim
-> Affected by instruction CirPathMode
-> Affected by instruction WorldAccLim
-> Affected by instruction WorldAccLim
5HODWHGLQIRUPDWLRQ
Described in:
Instructions for setting motion parameters
RAPID Summary - 0RWLRQ6HWWLQJV
401
PRWVHWGDWD
%DVH:DUH
402
'DWDW\SH
QXP
'DWDW\SH
%DVH:DUH
QXP1XPHULFYDOXHVUHJLVWHUV
1XP is used for numeric values; e.g. counters.
'HVFULSWLRQ
The value of the QXP data type may be
- an integer; e.g. -5,
- a decimal number; e.g. 3.45.
It may also be written exponentially; e.g.2E3 (= 2*103 = 2000), 2.5E-2 (= 0.025).
Integers between -8388607 and +8388608 are always stored as exact integers.
Decimal numbers are only approximate numbers and should not, therefore, be used in
LVHTXDOWRor LVQRWHTXDOWRcomparisons. In the case of divisions, and operations using
decimal numbers, the result will also be a decimal number; i.e. not an exact integer.
E.g.
a := 10;
b := 5;
IF a/b=2 THEN
...
As the result of a/b is not an integer,

this condition is not necessarily
satisfied.
([DPSOH
VAR num reg1;
.
reg1 := 3;
UHJ is assigned the value.
a := 10 DIV 3;
b := 10 MOD 3;
Integerdivision where D is assigned an integer (=3) andE is assigned the
remainder (=1).
403
QXP
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
The constant pi S is already defined in the system module %$6(.
CONST num pi := 3.1415926;
The constants EOF_BIN and EOF_NUM are already defined in the system.
CONST num EOF_BIN := -1;
CONST num EOF_NUM := 9.998E36;
5HODWHGLQIRUPDWLRQ
Described in:
404
Numeric expressions
Operations using numeric values
RSQXP
'DWDW\SH
%DVH:DUH
RSQXP&RPSDULVRQRSHUDWRU
RSQXP is used to represent an operator for comparisons in arguments to RAPID functions or instructions.
'HVFULSWLRQ
An RSQXP constant is intended to be used to define the type of comparison, when
checking values in generic instructions.
([DPSOH
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
3UHGHILQHGGDWD
The following symbolic constants of the data type RSQXP are predefined and can be
used to define the type of comparaison used for instance in instruction 7ULJJ&KHFN,2.
Value
Symbolic constant
Comment
LT
Less than
LTEQ
Less than or equal to
EQ
Equal to
NOTEQ
Not equal to
GTEQ
Greater than or equal to
GT
Greather than
&KDUDFWHULVWLFV
RSQXP is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
405
RSQXP
%DVH:DUH
406
'DWDW\SH
RULHQW
'DWDW\SH
%DVH:DUH
RULHQW2ULHQWDWLRQ
2ULHQW is used for orientations (such as the orientation of a tool) and rotations (such as
the rotation of a coordinate system).
'HVFULSWLRQ
The orientation is described in the form of a quaternion which consists of four elements: T, T, T and T. For more information on how to calculate these, see below.
&RPSRQHQWV
T
Data type: QXP

Quaternion 1.
T
Data type: QXP

Quaternion 2.
T
Data type: QXP

Quaternion 3.
T
Data type: QXP

Quaternion 4.
([DPSOH
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];
The RULHQW orientation is assigned the value q1=1, q2-q4=0; this corresponds to
no rotation.
/LPLWDWLRQV
The orientation must be normalised; i.e. the sum of the squares must equal 1:
T12 + T22 + T32 + T 42 = 1
407
RULHQW
%DVH:DUH
'DWDW\SH
:KDWLVD4XDWHUQLRQ"
The orientation of a coordinate system (such as that of a tool) can be described by a
rotational matrix that describes the direction of the axes of the coordinate system in
relation to a reference system (see Figure 10).
z
z
x
Reference
coordinate
system
Rotated
coordinate
system
y
)LJXUH7KHURWDWLRQRIDFRRUGLQDWHV\VWHPLVGHVFULEHGE\DTXDWHU
QLRQ
The rotated coordinate systems axes ([, \, ]) are vectors which can be expressed in the
reference coordinate system as follows:
[ = (x1, x2, x3)
\ = (y1, y2, y3)
] = (z1, z2, z3)
This means that the x-component of the x-vector in the reference coordinate system
will be x1, the y-component will be x2, etc.
These three vectors can be put together in a matrix, a rotational matrix, where each of
the vectors form one of the columns:
[1 \1
[2 \2
]1
]2
[3 \3 ]3
A quaternion is just a more concise way to describe this rotational matrix; the quater-
408
RULHQW
'DWDW\SH
%DVH:DUH
nions are calculated based on the elements of the rotational matrix:
[1 + \2 + ]3 + 1
q1 = ----------------------------------------2
[1 \2 ]3 + 1
q2 = ---------------------------------------2
sign q2 = sign (\3-]2)
\2 [1 ]3 + 1
q3 = ---------------------------------------2
sign q3 = sign (]1-[3)
]3 [1 \2 + 1
q4 = ---------------------------------------2
sign q4 = sign ([2-\1)
([DPSOH
A tool is orientated so that its Z-axis points straight ahead (in the same direction as the
X-axis of the base coordinate system). The Y-axis of the tool corresponds to the Yaxis of the base coordinate system (see Figure 11). How is the orientation of the tool
defined in the position data (robtarget)?
The orientation of the tool in a programmed position is normally related to the coordinate system of the work object used. In this example, no work object is used and the
base coordinate system is equal to the world coordinate system. Thus, the orientation
is related to the base coordinate system.
Z
X
Z
X
)LJXUH7KHGLUHFWLRQRIDWRROLQDFFRUGDQFHZLWKH[DPSOH
The axes will then be related as follows:
[ = -] = (0, 0, -1)
\ = \ = (0, 1, 0)
] = [ = (1, 0, 0)
Which corresponds to the following rotational matrix:
0 0 1
0 1 0
1 0 0
409
RULHQW
%DVH:DUH
'DWDW\SH
The rotational matrix provides a corresponding quaternion:
2
0+1+0+1
q1 = ----------------------------------- = ------- = 0,707
2
2
010+1
q2 = ---------------------------------- = 0
2
2
100+1
q3 = ---------------------------------- = ------- = 0,707
2
2
sign q3 = sign (1+1) = +
001+1
q4 = ---------------------------------- = 0
2
([DPSOH
The direction of the tool is rotated 30o about the X- and Z-axes in relation to the wrist
coordinate system (see Figure 11). How is the orientation of the tool defined in the tool
data?
Z
Z
X
X
)LJXUH7KHGLUHFWLRQRIWKHWRROLQDFFRUGDQFHZLWKH[DPSOH
The axes will then be related as follows:
[ = (cos30o, 0, -sin30o)
[ = (0, 1, 0)
[ = (sin30o, 0, cos30o)
Which corresponds to the following rotational matrix:
cos 30 q 0 sin 30 q
0
1
0
sin 30 q 0 cos 30 q
The rotational matrix provides a corresponding quaternion:

cos 30 q + 1 + cos 30q + 1
q1 = ---------------------------------------------------------------- = 0,965926
2
cos 30q 1 cos 30q + 1
q2 = ---------------------------------------------------------------- = 0
2
1 cos 30q cos 30q + 1
q3 = ---------------------------------------------------------------- = 0,258819
2
sign q3 = sign (sin30o+sin30o) = +
cos 30q cos 30q 1 + 1

q4 = ---------------------------------------------------------------- = 0
2
410
RULHQW
'DWDW\SH
%DVH:DUH
6WUXFWXUH
<dataobject of RULHQW>
<T of QXP>
<T of QXP>
<T of QXP>
<T of QXP>
5HODWHGLQIRUPDWLRQ
Described in:
Operations on orientations
411
RULHQW
%DVH:DUH
412
'DWDW\SH
SDULGQXP
'DWDW\SH
%DVH:DUH
SDULGQXP7\SHRISDUDPHWHULGHQWLILFDWLRQ
3DULGQXPis used to represent an integer with a symbolic constant.
'HVFULSWLRQ
A SDULGQXPconstant is intended to be used for parameter identification such as load
identification of tool or payload. See example below.
([DPSOH
TEST ParIdRobValid (TOOL_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of tool in actual robot type
...
! Only possible to do load identification of tool with
! IRB 6400FHD if actual load < 200 kg
...
! Not possible to do load identification of tool in actual robot type
...
ENDTEST
Use of predefined constant 722/B/2$'B,' of data type SDULGQXP.
413
SDULGQXP
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
The following symbolic constants of the data type SDULGQXPare predefined and can be
used as arguments in the following instructions, 3DU,G5RE9DOLG, 3DU,G3RV9DOLG, /RD
G,G and 0DQ/RDG,G3URF.
Value
Symbolic constant
Comment
TOOL_LOAD_ID
Identify tool load
PAY_LOAD_ID
IRBP_K
IRBP_L
IRBP_C
IRBP_C_INDEX
IRBP_T
IRBP_R
IRBP_A
IRBP_B
IRBP_D

&KDUDFWHULVWLFV
3DULGQXPis an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
414
Valid robot type

complete example
Load identification of
external manipulators
Instructions - 0DQ/RDG,G3URF
SDULGYDOLGQXP
'DWDW\SH
%DVH:DUH
SDULGYDOLGQXP5HVXOWRI3DU,G5RE9DOLG
3DULGYDOLGQXPis used to represent an integer with a symbolic constant.
'HVFULSWLRQ
A SDULGYDOLGQXPconstant is intended to be used for parameter identification, such as
load identification of tool or payload, when checking the return value from function
3DU,G5RE9DOLG. See example below.
([DPSOH
TEST ParIdRobValid (PAY_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of payload in actual robot type
...
! Only possible to do load identification of payload
! with IRB 6400FHD if actual load < 200 kg
...
! Not possible to do load identification of payload
! in actual robot type
...
ENDTEST
Use of predefined constants 52%B/2$'B9$/52%B/0B/2$'B9$/and
52%B127B/2$'B9$/of data type SDULGYDOLGQXP.
3UHGHILQHGGDWD
The following symbolic constants of the data type SDULGYDOLGQXPare predefined and
can be used for checking the return value from function 3DU,G5RE9DOLG.
Value
Symbolic constant
Comment
10
ROB_LOAD_VAL
Valid robot type for the current parameter identification
11
ROB_NOT_LOAD_VAL
Not valid robot type for the current parameter

identification
12
ROB_LM1_LOAD_VAL
Valid robot type IRB 6400FHD for the current

parameter identification if actual load < 200kg
415
SDULGYDOLGQXP
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
3DULGYDOLGQXPis an alias data type for QXP and inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
416
Valid robot type

complete example
SDWKUHFLG
'DWDW\SH
%DVH:DUH
SDWKUHFLG3DWKUHFRUGHULGHQWLILHU
SDWKUHFLG is used to identify a breakpoint for the path recorder.
'HVFULSWLRQ
The path recorder is a system function for recording the robots executed path. Data of
the type SDWKUHFLG can be linked to a specific path location by means of the instruction
3DWK5HF6WDUW. The user can then order the recorder to perform a movement back to the
path identifier by using the instruction 3DWK5HF0RYH%ZG.
([DPSOHV
VAR pathrecid start_id;
3DWK5HF6WDUWVWDUWBLG
0RYH/SYPD[]WRRO
IF(PathRecValidBwd (\ID := start_id)) THEN
StorePath;
PathRecMoveBwd \ID:=start_id;
PathRecStop;
RestoPath;
ENDIF
MoveL
VWDUWBLG
S
MoveL
S
MoveL
S
PathRecMoveBwd \ID:=start_id
The example above will start the path recorder and the starting point will be
tagged with the path identifier VWDUWBLG. Thereafter, the robot will move forward
with traditional move instructions and then move back to the start position again
using the recorded path. To be able to run PathRecorder move instructions the
path level has to be changed with StorePath.
&KDUDFWHULVWLFV
SDWKUHFLG is an non-value datatype.
417
SDWKUHFLG
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
418
Instructions - 3DWK5HF6WDUW3DWK5HF6WRS
Check for valid recorded path
Functions - 3DWK5HF9DOLG%ZG3DWK
5HF9DOLG)ZG
Basic characteristics - 'DWDW\SHV
SRV
'DWDW\SH
SRV3RVLWLRQVRQO\;<DQG=
3RV is used for positions (only X, Y and Z).
The UREWDUJHW data type is used for the robots position including the orientation of the
tool and the configuration of the axes.
'HVFULSWLRQ
Data of the type SRV describes the coordinates of a position: X, Y and Z.
&RPSRQHQWV
[
Data type: QXP

The X-value of the position.
Data type: QXP

The Y-value of the position.
Data type: QXP

The Z-value of the position.
([DPSOHV
VAR pos pos1;
.
pos1 := [500, 0, 940];
The SRV position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.
pos1.x := pos1.x + 50;
The SRV position is shifted mm in the X-direction.
6WUXFWXUH
<dataobject of SRV>
<[ of QXP>
<\ of QXP>
<] of QXP>
419
SRV
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
420
Operations on positions
Robot position including orientation
Data Types- UREWDUJHW
SRVH
'DWDW\SH
%DVH:DUH
SRVH&RRUGLQDWHWUDQVIRUPDWLRQV
3RVH is used to change from one coordinate system to another.
'HVFULSWLRQ
Data of the type SRVHdescribes how a coordinate system is displaced and rotated
around another coordinate system. The data can, for example, describe how the tool
coordinate system is located and oriented in relation to the wrist coordinate system.
&RPSRQHQWV
WUDQV
WUDQVODWLRQ
Data type: SRV
The displacement in position (x, y and z) of the coordinate system.

URW
URWDWLRQ
Data type: RULHQW
The rotation of the coordinate system.
([DPSOH
VAR pose frame1;
.
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The IUDPH coordinate transformation is assigned a value that corresponds to a
displacement in position, where X= mm, Y= mm, Z= mm; there is, however, no rotation.
6WUXFWXUH
<dataobject of SRVH>
<WUDQV of SRV>
<URW of RULHQW>
5HODWHGLQIRUPDWLRQ
Described in:
What is a Quaternion?
Data Types - RULHQW
421
SRVH
%DVH:DUH
422
'DWDW\SH
SURJGLVS
'DWDW\SH
%DVH:DUH
SURJGLVS3URJUDPGLVSODFHPHQW
3URJGLVSis used to store the current program displacement of the robot and the external axes.
This data type does not normally have to be used since the data is set using the instructions 3'LVS6HW3'LVS2Q3'LVS2II(2IIV6HW(2IIV2Qand(2IIV2II. It is only used
to temporarily store the current value for later use.
'HVFULSWLRQ
The current values for program displacement can be accessed using the system variable
&B352*',63.
For more information, see the instructions 3'LVS6HW3'LVS2Q(2IIV6HWand(2IIV2Q.
&RPSRQHQWV
SGLVS
SURJUDPGLVSODFHPHQWData type: SRVH

The program displacement for the robot, expressed using a translation and an orientation. The translation is expressed in mm.
HRIIV
H[WHUQDORIIVHWData type: H[WMRLQW

The offset for each of the external axes. If the axis is linear, the value is expressed
in mm; if it is rotating, the value is expressed in degrees.
([DPSOH
VAR progdisp progdisp1;
.
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
.
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
.
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
First, a program displacement is activated from a searched position. Then, it is
temporarily deactivated by storing the value in the variable SURJGLVS and, later
on, re-activated using the instructions 3'LVS6HW and (2IIV6HW.
423
SURJGLVS
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
The system variable&B352*',63 describes the current program displacement of the
robot and external axes, and can always be accessed from the program (installed data).
&B352*',63, on the other hand, can only be changed using a number of instructions,
not by assignment.
The following default values for program displacement are set
- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.
VAR progdisp C_PROGDISP := [
[[ 0, 0, 0], [1, 0, 0, 0]],
[ 0, 0, 0, 0, 0, 0],
-> posedata
-> extjointdata
6WUXFWXUH
< dataobject ofSURJGLVS>
<SGLVSof SRVH>
< WUDQV of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< URW of RULHQW >
< T of QXP >
< T of QXP >
< Tof QXP >
< T of QXP >
< HRIIVof H[WMRLQW >
< HD[BD of QXP >
< HD[BE of QXP >
< HD[BF of QXP >
< HD[BG of QXP >
< HD[BH of QXP >
< HD[BI of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
Instructions for defining program displacement RAPID Summary - 0RWLRQ6HWWLQJV
Coordinate systems
424

QDWH6\VWHPV
UDZE\WHV
'DWDW\SH
UDZE\WHV5DZGDWD
UDZE\WHV is used as a general data container. It can be used for communication with
I/O devices.
'HVFULSWLRQ
Raw data can be filled with any type of data - QXPE\WHVWULQJ- by means of support
instructions/functions. In any variable of UDZE\WHV, the system also store the current
length of valid bytes.
([DPSOH
VAR rawbytes raw_data;
VAR num integer := 8;
VAR num float := 13.4;
ClearRawBytes raw_data;
PackRawBytes integer, raw_data, 1 \IntX := INT;
PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;
In this example the variable UDZBGDWD of type UDZE\WHV is first cleared, i.e. all
bytes set to 0 (same as default at declaration). Then in the first 2 bytes the value
ofLQWHJHU is placed and in the next 4 bytes the value of IORDW.
/LPLWDWLRQV
A UDZE\WHV variable may contain 0 to 1024 bytes.
6WUXFWXUH
UDZE\WHV is a non-value data type.
At declaration of UDZE\WHV variable, all bytes in UDZE\WHV are set to 0 and the current
length of valid bytes in the variable is set to 0.
425
UDZE\WHV
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
426
Get the length of UDZE\WHV data
Functions - 5DZ%\WHV/HQ
Clear the contents of UDZE\WHV data
Instructions - &OHDU5DZ%\WHV
Copy the contents of UDZE\WHV data
Instructions - &RS\5DZ%\WHV
Pack DeviceNet header into UDZE\WHV data
Instructions - 3DFN'1+HDGHU
Pack data into UDZE\WHV data
Instructions - 3DFN5DZ%\WHV
Write UDZE\WHV data
Instructions - :ULWH5DZ%\WHV
Read UDZE\WHV data
Instructions - 5HDG5DZ%\WHV
Unpack data from UDZE\WHV data
Instructions - 8QSDFN5DZ%\WHV
UHVWDUWGDWD
'DWDW\SH
%DVH:DUH
UHVWDUWGDWD5HVWDUWGDWDIRUWULJJVLJQDOV
UHVWDUWGDWDmirrors the pre- and postvalues of specified I/O signals (process signals) at
the stop sequence of the robot movements.
The I/O signals to supervise are specified in the instruction 7ULJJ6WRS3URF.
7ULJJ6WRS3URF and UHVWDUWGDWD are intended to be used for restart after program stop
(STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID
(NOSTEPIN routines).
'HILQLWLRQ
7DEOH'HILQLWLRQRIWKHWLPHSRLQWIRUUHDGLQJWKHSUHDQGSRVWYDOXHVIRUWKH
,2VLJQDOV
Type of stop
Read time for I/O signal prevalue
Read time for I/O signal postvalue
STOP on path
When all robot axes are standing still
About 400 ms after the pretime
QSTOP off path
As soon as possible
About 400 ms after the pretime
'HVFULSWLRQ
UHVWDUWGDWDmirrors the following data after program execution is stopped:
- valid restart data
- robot stopped on path or not
- prevalue of the I/O signals
- postvalue of the I/O signals
- number of flanks between pretime and posttime of the shadow signal
for the ongoing process
&RPSRQHQWV
UHVWDUWVWRS
TRUE
FALSE
VWRSRQSDWK
TRUE
FALSE
YDOLGUHVWDUWGDWDDIWHUVWRS Data type: ERRO

= Mirror last STOP or QSTOP
= Invalid restart data. All I/O signals values are set to -1.
VWRSRQSDWK
Data type: ERRO
= The robot is stopped on the path (STOP)

= The robot is stopped but not on the path (QSTOP)
427
UHVWDUWGDWD
%DVH:DUH
'DWDW\SH
SUHGRYDO
SUHGRYDOXH
Data type: GLRQXP
The prevalue of the digital signal do1 specified in the argument '2 in instruction 7ULJJ6WRS3URF.
SRVWGRYDO
SRVWGRYDOXH
Data type: GLRQXP
The postvalue of the digital signal do1 specified in the argument '2 in
instruction 7ULJJ6WRS3URF.
SUHJRYDO
SUHJRYDOXH
Data type: QXP
The prevalue of the digital group signal go1 specified in the argument *2 in
SRVWJRYDO
SRVWJRYDOXH
Data type: QXP
The postvalue of the digital group signal go1 specified in the argument *2 in
SUHJRYDO
SUHJRYDOXH
Data type: QXP
SRVWJRYDO
SRVWJRYDOXH
Data type: QXP
SUHJRYDO
SUHJRYDOXH
Data type: QXP
SRVWJRYDO
SRVWJRYDOXH
Data type: QXP
SUHJRYDO
SUHJRYDOXH
Data type: QXP
SRVWJRYDO
SRVWJRYDOXH
Data type: QXP
SUHVKDGRZYDO
SUHVKDGRZYDOXH
Data type: GLRQXP
The prevalue of the digital signal shadow specified in the argument

6KDGRZ'2in instruction 7ULJJ6WRS3URF.
428
UHVWDUWGDWD
'DWDW\SH
%DVH:DUH
VKDGRZIODQNV
QXPEHURIVKDGRZIODQNV
Data type: QXP
The number of value transitions (flanks) of the digital signal shadow between
the pretime and the posttime.
The signal shadow is specified in the argument 6KDGRZ'2in instruction
7ULJJ6WRS3URF
SRVWVKDGRZYDO
SRVWVKDGRZYDOXH
Data type: GLRQXP
The postvalue of the digital signal shadow specified in the argument

6KDGRZ'2in instruction 7ULJJ6WRS3URF.
6WUXFWXUH
< dataobject ofUHVWDUWGDWD>
< UHVWDUWVWRSof ERRO>
< VWRSRQSDWKof ERRO>
< SUHGRYDOof GLRQXP>
< SRVWGRYDOof GLRQXP>
< SUHJRYDOof QXP>
< SRVWJRYDOof QXP>
< SUHJRYDOof QXP>
< SRVWJRYDOof QXP>
< SUHJRYDOof QXP>
< SRVWJRYDOof QXP>
< SUHJRYDOof QXP>
< SRVWJRYDOof QXP>
< SUHVKDGRZYDOof GLRQXP>
< VKDGRZIODQNVof GLRQXP>
< SRVWVKDGRZYDOof GLRQXP>
5HODWHGLQIRUPDWLRQ
Described in:
Predefined process instructions
Instructions - 7ULJJ/7ULJJ&
Setup mirror of restart data
Instructions - 7ULJJ6WRS3URF
Move backwards on path
Instructions - 6WHS%ZG3DWK
429
UHVWDUWGDWD
%DVH:DUH
430
'DWDW\SH
UREMRLQW
'DWDW\SH
%DVH:DUH
UREMRLQW-RLQWSRVLWLRQRIURERWD[HV
5REMRLQW is used to define the axis position in degrees of the robot axes.
'HVFULSWLRQ
Data of the type UREMRLQW is used to store axis positions in degrees of the robot axes 1
to 6. Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.
&RPSRQHQWV
UD[B
URERWD[LV
Data type: QXP
The position of robot axis 1 in degrees from the calibration position.

UD[B
URERWD[LV
Data type: QXP
The position of robot axis 6 in degrees from the calibration position.
6WUXFWXUH
< dataobject ofUREMRLQW>
< UD[Bof QXP >
< UD[Bof QXP >
< UD[Bof QXP >
< UD[Bof QXP >
< UD[Bof QXP >
< UD[Bof QXP >
5HODWHGLQIRUPDWLRQ
Described in:
Joint position data
Move to joint position
Instructions - 0RYH$EV-
431
UREMRLQW
%DVH:DUH
432
'DWDW\SH
UREWDUJHW
'DWDW\SH
%DVH:DUH
UREWDUJHW3RVLWLRQGDWD
5REWDUJHW(URERWWDUJHW) is used to define the position of the robot and external axes.
'HVFULSWLRQ
Position data is used to define the position in the positioning instructions to which the
robot and external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis configuration is also specified. This defines the axis values if these are in any way ambiguous, for example:
- if the robot is in a forward or backward position,
- if axis 4 points downwards or upwards,
- if axis 6 has a negative or positive revolution.
7KHSRVLWLRQLVGHILQHGEDVHGRQWKHFRRUGLQDWHV\VWHPRIWKHZRUNREMHFWLQFOXG
LQJDQ\SURJUDPGLVSODFHPHQW,IWKHSRVLWLRQLVSURJUDPPHGZLWKVRPHRWKHU
ZRUNREMHFWWKDQWKHRQHXVHGLQWKHLQVWUXFWLRQWKHURERWZLOOQRWPRYHLQWKH
H[SHFWHGZD\0DNHVXUHWKDW\RXXVHWKHVDPHZRUNREMHFWDVWKHRQHXVHGZKHQ
SURJUDPPLQJSRVLWLRQLQJLQVWUXFWLRQV,QFRUUHFWXVHFDQLQMXUHVRPHRQHRUGDP
DJHWKHURERWRURWKHUHTXLSPHQW
&RPSRQHQWV
WUDQV
WUDQVODWLRQ
Data type: SRV
The position (x, y and z) of the tool centre point expressed in mm.
The position is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
URW
URWDWLRQ
Data type: RULHQW
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).
The orientation is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
433
UREWDUJHW
%DVH:DUH
'DWDW\SH
UREFRQI
URERWFRQILJXUDWLRQ
Data type: FRQIGDWD
The axis configuration of the robot (cf1, cf4, cf6 and cfx). This is defined in the
form of the current quarter revolution of axis 1, axis 4 and axis 6. The first positive quarter revolution 0 to 90 o is defined as 0. The component cfx is only used
for the robot model IRB5400.
For more information, see data type FRQIGDWD.
H[WD[
H[WHUQDOD[HV
Data type: H[WMRLQW
The position of the external axes.

The position is defined as follows for each individual axis (HD[BD, HD[BE ...
HD[BI):
- For rotating axes, the position is defined as the rotation in degrees from the calibration position.
- For linear axes, the position is defined as the distance in mm from the calibration position.
External axes HD[BDare logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program execution, the following applies:
- If the position is not defined in the position data (value 9E9), the value will be
ignored, if the axis is connected and not activated. But if the axis is activated, it
will result in an error.
- If the position is defined in the position data although the axis is not connected,
the value is ignored.
No movement is performed but no error is generated for an axis with valid position data, if the axis isnt activated.
([DPSOHV
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0],
434
UREWDUJHW
'DWDW\SH
%DVH:DUH
[ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];

A position S is defined as follows:
- The position of the robot: [ = , \ = and ] = mm in the object coordinate system.
- The orientation of the tool in the same direction as the object coordinate system.
- The axis configuration of the robot: axes 1 and 4 in position 90-180o, axis 6 in
position 0-90o.
- The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
VAR robtarget p20;
. . .
p20 := CRobT();
p20 := Offs(p20,10,0,0);
The position Sis set to the same position as the current position of the robot by calling the function&5RE7. The position is then moved mm in the x-direction.
6WUXFWXUH
< dataobject ofUREWDUJHW>
< WUDQV of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< URW of RULHQW >
< T of QXP >
< T of QXP >
< Tof QXP >
< T of QXP >
< UREFRQIof FRQIGDWD >
< FIof QXP >
< FI of QXP >
< FI of QXP >
< FIx of QXP >
< H[WD[ of H[WMRLQW >
< HD[Ba of QXP >
< HD[Bb of QXP >
< HD[Bc of QXP >
< HD[Bd of QXP >
< HD[Be of QXP >
< HD[Bf of QXP >
435
UREWDUJHW
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
436
Coordinate systems
Motion and I/O Principles - &RRUGLQDWH 6\VWHPV
Handling configuration data
Motion and I/O Principles - 5RERW&RQILJXUDWLRQ
System Parameters
What is a quaternion?
Data Types - 2ULHQW
VKDSHGDWD
'DWDW\SH
%DVH:DUH
VKDSHGDWD:RUOG]RQHVKDSHGDWD
VKDSHGDWDis used to describe the geometry of a world zone.
'HVFULSWLRQ
World zones can be defined in 4different geometrical shapes:
- a straight box, with all sides parallel to the world coordinate system and defined
by a :=%R['HI instruction
- a sphere, defined by a :=6SK'HI instruction
- a cylinder, parallel to the z axis of the world coordinate system and defined by
a :=&\O'HI instruction
- a joint space area for robot and/or external axes, defined by the instruction
:=+RPH-RLQW'HI or :=/LP-RLQW'HI
The geometry of a world zone is defined by one of the previous instructions and the
action of a world zone is defined by the instruction :=/LP6XS or :='26HW.
([DPSOH
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC
A FRQYH\RU is defined as a box and the supervision for this area is activated. A
SROHis defined as a cylinder and the supervision of this zone is also activated. If
the robot reaches one of these areas, the motion is stopped.
&KDUDFWHULVWLFV
VKDSHGDWD is a non-value data type.
437
VKDSHGDWD
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
438
World Zones
Motion and I/O Principles - :RUOG=RQHV
World zone shape
Data Types - VKDSHGDWD
Define box-shaped world zone
Instructions - :=%R['HI
Define sphere-shaped world zone
Instructions - :=6SK'HI
Define cylinder-shaped world zone
Instructions - :=&\O'HI
Define a world zone for home joints
Instruction - :=+RPH-RLQW'HI
Define a world zone for limit joints
Instruction - :=/LP-RLQW'HI
Activate world zone limit supervision
Instructions - :=/LP6XS
Activate world zone digital output set
Instructions - :='26HW
VLJQDO[[
'DWDW\SH
%DVH:DUH
VLJQDO[['LJLWDODQGDQDORJVLJQDOV
Data types within VLJQDO[[ are used for digital and analog input and output signals.
The names of the signals are defined in the system parameters and are consequently
not to be defined in the program.
'HVFULSWLRQ
Data type
Used for
VLJQDODL
analog input signals
VLJQDODR
analog output signals
VLJQDOGL
digital input signals
VLJQDOGR
digital output signals
VLJQDOJL
groups of digital input signals
VLJQDOJR
groups of digital output signals
Variables of the type VLJQDO[R only contain a reference to the signal. The value is set
using an instruction, e.g. '2XWSXW.
Variables of the type VLJQDO[L contain a reference to a signal as well as the possibility
to retrieve the value directly in the program, if used in value context.
The value of an input signal can be read directly in the program, e.g. :
! Digital input
IF di1 = 1 THEN ...
! Digital group input
IF gi1 = 5 THEN ...
! Analog input
IF ai1 > 5.2 THEN ...
It can also be used in assignments, e.g. :
VAR num current_value;
! Digital input
current_value := di1;
! Digital group input
current_value := gi1;
! Analog input
current_value := ai1;
439
VLJQDO[[
%DVH:DUH
'DWDW\SH
/LPLWDWLRQV
Data of the data type VLJQDO[[ must not be defined in the program. However, if this is
in fact done, an error message will be displayed as soon as an instruction or function
that refers to this signal is executed. The data type can, on the other hand, be used as a
parameter when declaring a routine.
3UHGHILQHGGDWD
The signals defined in the system parameters can always be accessed from the program
by using the predefined signal variables (installed data). It should however be noted
that if other data with the same name is defined, these signals cannot be used.
&KDUDFWHULVWLFV
6LJQDO[R is a QRQYDOXH data type. Thus, data of this type does not permit value-
oriented operations.
6LJQDO[LLVDVHPLYDOXH data type.
(UURUKDQGOLQJ
ERR_NORUNUNIT
5HODWHGLQIRUPDWLRQ
Described in:
Summary input/output instructions
System Parameters
440
VRFNHWGHY
'DWDW\SH
6RFNHW0HVVDJLQJ
VRFNHWGHY6RFNHWGHYLFH
VRFNHWGHY(VRFNHWGHYLFH) is used to communicate with other computers on a network.
'HVFULSWLRQ
The socket device is a handle to a communication link to another computer on a
network.
([DPSOHV
The variable VRFNHW is defined and can be used in a socket command,
e.g. 6RFNHW&UHDWH.
/LPLWDWLRQV
Any number of sockets can be declared but it is only possible to use 8 sockets at the
same time.
&KDUDFWHULVWLFV
VRFNHWGHY is a non-value data type.
5HODWHGLQIRUPDWLRQ
Described in:
Application manual 5RERWFRPPXQLFDWLRQDQG,2FRQWURO
Create a new socket
Instructions - 6RFNHW&UHDWH
441
VRFNHWGHY
6RFNHW0HVVDJLQJ
442
'DWDW\SH
VRFNHWVWDWXV
'DWDW\SH
6RFNHW0HVVDJLQJ
VRFNHWVWDWXV6RFNHWFRPPXQLFDWLRQVWDWXV
VRFNHWVWDWXVis used for representing status of the socket communication.
'HVFULSWLRQ
Socket status is fetched with the function 6RFNHW*HW6WDWXV and can be used for program
flow control or debugging purposes.
([DPSOHV
VAR socketstatus state;
...
SocketCreate socket1;
state := SocketGetStatus( socket1 );
The socket status SOCKET_CREATED will be stored in the variable VWDWH.
3UHGHILQHGGDWD
Following constants of type VRFNHWVWDWXV are predefined:
RAPID constant
The socket is ...
SOCKET_CREATED
Created
SOCKET_CONNECTED
Client connected to a remote host
SOCKET_BOUND
Server bounded to a local address and port
SOCKET_LISTENING
Server listening for incoming connections
SOCKET_CLOSED
Closed
&KDUDFWHULVWLFV
VRFNHWVWDWXVis an alias data type for QXP and consequently inherits its characteristics.
443
VRFNHWVWDWXV
6RFNHW0HVVDJLQJ
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Application manual 5RERWFRPPXQLFDWLRQDQG,2FRQWURO
444
Get socket status
Functions - 6RFNHW*HW6WDWXV
VSFGDWD
'DWDW\SH
6WDWLVWLFDOSURFHVVFRQWURO
VSFGDWD6WDWLVWLFDOSURFHVVFRQWUROGDWD
6SFGDWD6WDWLVWLFDO3URFHVV&RQWURO'DWDdescribes the statistical process control
mean values and limits. It also informs whether the latest measured subgroup has
exceeded the limits or not.
'HVFULSWLRQ
The statistical process controller detects lack of control through the use of a control
chart. The control chart is made up of two plots, showing the average values within
consecutive subgroups, and standard deviation within the subgroups, respectively. A
subgroup is a collection of measurement values for an arbitrary parameter which number is defined by the instruction 6SF&RQ.
Before the parameter supervision starts, some limits have to be calculated. The calculation is based on subgroups (the number is defined by the instruction 6SF&RQ) that are
registred before the start of supervision.
For each control chart a corresponding mean value is calculated, one of the subgroup
average values and one of the subgroup standard deviations.
When the supervision starts both the subgroup average values and standard deviations
are supervised. For the subgroup average values, following conditions must be met for
lack of control to be indicated:
- One subgroup average value exceeds the +/-3 sigma (standard deviation) limit
around the mean value of the subgroup average values.
- Two consecutive subgroup average values exceeds the +/-1.5 sigma (standard
deviation) limit around the subgroup average values.
Corresponding limits are computed for the standard deviation.
Subgroup
average value
Error detected
ucl_value
mean_value
x x
Subgroup
standard deviation
ucl_sigma
lcl_value
mean_sigma
s
s
s
s
lcl_sigma
Subgroup sample
Subgroup sample
)LJXUH&RQWUROFKDUWIRUDYHUDJHYDOXHDQGVWDQGDUGGHYLDWLRQ
445
VSFGDWD
'DWDW\SH
&RPSRQHQWV
PHDQBYDOXH
Data type: QXP
Mean value of the subgroup average values.

PHDQBVLJPD
Data type: QXP
Mean value of the subgroup standard deviations.

XFOBYDOXH
Data type: QXP
Upper control limit for a subgroup average value (+3 sigma).

OFOBYDOXH
Data type: QXP
Lower control limit for a subgroup average value (-3 sigma).

XFOBVLJPD
Data type: QXP
Upper control limit for a subgroup standard deviation (+3 sigma).

OFOBVLJPD
Data type: QXP
Lower control limit for a subgroup standard deviation (-3 sigma).

PHDQBYDOXHBRN
Data type: ERRO
Verifies that the latest measured subgroup average value are within the allowed
limits.
PHDQBVLJPDBRN
Data type: ERRO
Verifies that the latest measured subgroup standard deviation are within the
allowed limits.
RN
Data type: ERRO

Both PHDQBYDOXHBRN and PHDQBVLJPDBRN are OK.
446
VSFGDWD
'DWDW\SH
([DPSOH
VAR spcdescr id;
VAR spcstat status;
VAR spcdata data;
CorrCon spcid, status;
CorrRead spcid, data;
IF data.ok = TRUE THEN
! Continue program
...
ENDIF
The instruction &RUU5HDG returns the statistical process data in the variable GDWD. The
value are evaluated and proper actions are taken.
6WUXFWXUH
<data object of VSFGDWD>
<mean_value of QXP>
<mean_sigma ofQXP>
<ucl_value ofQXP>
<lcl_value of QXP>
<ucl_sigma of QXP>
<lcl_sigma of QXP>
<mean_value_ok of ERRO>
<mean_sigma_ok of ERRO>
<ok of ERRO>
447
VSFGDWD
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
448
Connects to a statistical process

controller
Instructions - FKDSWHU6SF&RQ&RQQHFWVWRDVWD
WLVWLFDOSURFHVVFRQWUROOHU
Disconnects from a statistical

process controller
Instructions - FKDSWHU6SF'LVFRQ'LVFRQQHFWV
IURPDVWDWLVWLFDOSURFHVVFRQWUROOHU
Writes to a statistical process

controller
Instructions - FKDSWHU6SF:ULWH:ULWHVWRDVWDWLVWL
FDOSURFHVVFRQWUROOHU
Reads the current process status
Instructions - FKDSWHU6SF5HDG5HDGVWKHFXUUHQW
SURFHVVVWDWXV
Dumps the process information

on a file or a serial channel
Instructions - FKDSWHU6SF'XPS'XPSVWDWLVWLFDO
SURFHVVFRQWUROLQIRUPDWLRQ
Statistical process controller

descriptor
Data types - FKDSWHUVSFGHVFU6WDWLVWLFDOSURFHVV

FRQWUROOHUGHVFULSWRU
Statistical process control status
Data types - FKDSWHUVSFVWDW6WDWLVWLFDOSURFHVV

FRQWUROVWDWXV
VSFGHVFU
'DWDW\SH
VSFGHVFU6WDWLVWLFDOSURFHVVFRQWUROOHUGHVFULSWRU
6SFGHVFU6WDWLVWLFDOSURFHVVFRQWUROOHUGHVFULSWRUis a descriptor to an entry for statistical process control of an arbitrary parameter.
'HVFULSWLRQ
Data of the type VSFGHVFU contains a reference to an SPC entry.
An entry is allocated by the instruction 6SF&RQand deallocated by the instruction 6SF
'LVFRQ.
Other instructions using VSFGHVFU are:
- 6SF:ULWH, measured parameter values are written to the statistical process controller.
- 6SF5HDG, process status will be received.
- 6SF'XPS, process status and control chart will be written to a file or a serial
channel.
([DPSOH
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
CorrCon id, status;
CorrWrite id, value, status;
...
The statistical process controller is reserving one entry and is then delivering the measured parameter value within the variable YDOXHto the same entry.
&KDUDFWHULVWLFV
6SFGHVFU is a non-value data type.
449
VSFGHVFU
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
controller
Instructions - FKDSWHU6SF&RQ&RQQHFWVWRDVWDWLV
WLFDOSURFHVVFRQWUROOHU
Disconnects from a statistical pro- Instructions - FKDSWHU6SF'LVFRQ'LVFRQQHFWVIURP

cess controller
DVWDWLVWLFDOSURFHVVFRQWUROOHU
450
Writes to a statistical process controller
Instructions - FKDSWHU6SF:ULWH:ULWHVWRDVWDWLVWL
FDOSURFHVVFRQWUROOHU
SURFHVVVWDWXV

Statistical process control data
Data types - FKDSWHUVSFGDWD6WDWLVWLFDOSURFHVV

FRQWUROGDWD
Statistical process control status
Data types - FKDSWHUVSFVWDW6WDWLVWLFDOSURFHVV

FRQWUROVWDWXV
Characteristics of non-value data

types
5$3,'2YHUYLHZ0DQXDO%DVLF&KDUDFWHULVWLFV
'DWD7\SHV1RQYDOXHGDWDW\SHV
VSFVWDW
'DWDW\SH
VSFVWDW6WDWLVWLFDOSURFHVVFRQWUROVWDWXV
6SFVWDW6WDWLVWLFDOSURFHVVFRQWUROVWDWXVis used to the describe the status of a parameter in a supervised process.
'HVFULSWLRQ
Data of the type VSFVWDWis used in the instructions 6SF&RQ and 6SF:ULWH. When these
instructions are executed, VSFVWDW will be assigned different values depending on the
status. The values can be used for evaluation and depending on the result, proper
actions can be taken.
([DPSOH
VAR spcdescr id;
VAR spcstat status;
VAR num value;
...
SpcCon id, status;
SpcWrite id, value, status;
IF status = VALUE_OK THEN
! Continue program
...
ENDIF
The instruction 6SF:ULWH returns the statistical process status in the variable VWDWXV. The
value is evaluated and proper actions are taken.
451
VSFVWDW
'DWDW\SH
3UHGHILQHGGDWD
Data of the type VSFVWDW are assigned different predefined values in the instructions 6SF
&RQ and 6SF:ULWH. The values are:
Name
Explanation
VALUE_OK
The current subgroup in not finished. Returned by6SF:ULWH.
GROUP_OK
The current subgroup is finished. Returned by6SF:ULWH.
OUT_OF_CONTROL
The latest subgroup is out of control (the supervision limits have

been exceeded). Returned by6SF:ULWH.
BAD_OLD_GROUPS
One ore more subgroups are out of control during supervision

data calculation. Returned by6SF:ULWH.
CHART_TOO_SHORT
The number of subgroups set up for supervision data calculation

exceeds the control chart size. Returned by procedure 6SF&RQ.
GRP_TOO_SMALL
The number of values in each subgroup are too few for supervision data calculation. Returned by procedure 6SF&RQ.
GRP_TOO_LARGE
The number of values in each subgroup too many for supervision data calculation. Returned by procedure 6SF&RQ.
&KDUDFWHULVWLFV
6SFVWDWis an alias data type for QXP and consequently inherits its characteristics.
452
VSFVWDW
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
controller
Instructions - FKDSWHU6SF&RQ&RQQHFWVWRDVWD
WLVWLFDOSURFHVVFRQWUROOHU
Disconnects from a statistical process controller
Instructions - FKDSWHU6SF'LVFRQ'LVFRQQHFWV
IURPDVWDWLVWLFDOSURFHVVFRQWUROOHU
Writes to a statistical process con- Instructions - FKDSWHU6SF:ULWH:ULWHVWRDVWDWLV

troller
WLFDOSURFHVVFRQWUROOHU
SURFHVVVWDWXV

Statistical process controller

descriptor
Data types - FKDSWHUVSFGDWD6WDWLVWLFDOSURFHVV

FRQWUROGDWD
Statistical process control data
Data types - FKDSWHUVSFGHVFU6WDWLVWLFDOSURFHVV

FRQWUROOHUGHVFULSWRU
Data types in general, alias data

types
5$3,'2YHUYLHZ0DQXDO%DVLF&KDUDFWHULVWLFV
'DWD7\SHV1RQYDOXHGDWDW\SHV
453
VSFVWDW
454
'DWDW\SH
VSHHGGDWD
'DWDW\SH
%DVH:DUH
VSHHGGDWD6SHHGGDWD
6SHHGGDWD is used to specify the velocity at which both the robot and the external axes
move.
'HVFULSWLRQ
Speed data defines the velocity:
- at which the tool centre point moves,
- of the reorientation of the tool,
- at which linear or rotating external axes move.
When several different types of movement are combined, one of the velocities often
limits all movements. The velocity of the other movements will be reduced in such a
way that all movements will finish executing at the same time.
The velocity is also restricted by the performance of the robot. This differs, depending
on the type of robot and the path of movement.
&RPSRQHQWV
YBWFS
YHORFLW\WFS
Data type:QXP
The velocity of the tool centre point (TCP) in mm/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.
YBRUL
YHORFLW\RULHQWDWLRQ
Data type: QXP
The velocity of reorientation about the TCP expressed in degrees/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.
YBOHD[
YHORFLW\OLQHDUH[WHUQDOD[HVData type: QXP
The velocity of linear external axes in mm/s.

YBUHD[
YHORFLW\URWDWLRQDOH[WHUQDOD[HVData type: QXP
The velocity of rotating external axes in degrees/s.
455
VSHHGGDWD
%DVH:DUH
'DWDW\SH
([DPSOH
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];
The speed data YPHGLXP is defined with the following velocities:
- mm/s for the TCP.
- degrees/s for reorientation of the tool.
- mm/s for linear external axes.
- degrees/s for rotating external axes.
vmedium.v_tcp := 900;
The velocity of the TCP is changed to mm/s.
456
VSHHGGDWD
'DWDW\SH
%DVH:DUH
3UHGHILQHGGDWD
A number of speed data are already defined in the system module %$6(.
Name
TCP speed
Orientation Linear ext. axis Rotating ext. axis
Y
5 mm/s
500o/s
5000 mm/s
1000o/s
Y
10 mm/s
500o/s
5000 mm/s
1000o/s
Y
20 mm/s
500o/s
5000 mm/s
1000o/s
Y
30 mm/s
500o/s
5000 mm/s
1000o/s
Y
40 mm/s
500o/s
5000 mm/s
1000o/s
Y
50 mm/s
500o/s
5000 mm/s
1000o/s
Y
60 mm/s
500o/s
5000 mm/s
1000o/s
Y
80 mm/s
500o/s
5000 mm/s
1000o/s
Y
100 mm/s
500o/s
5000 mm/s
1000o/s
Y
150 mm/s
500o/s
5000 mm/s
1000o/s
Y
200 mm/s
500o/s
5000 mm/s
1000o/s
Y
300 mm/s
500o/s
5000 mm/s
1000o/s
Y
400 mm/s
500o/s
5000 mm/s
1000o/s
Y
500 mm/s
500o/s
5000 mm/s
1000o/s
Y
600 mm/s
500o/s
5000 mm/s
1000o/s
Y
800 mm/s
500o/s
5000 mm/s
1000o/s
Y
1000 mm/s
500o/s
5000 mm/s
1000o/s
Y
1500 mm/s
500o/s
5000 mm/s
1000o/s
Y
2000 mm/s
500o/s
5000 mm/s
1000o/s
Y
2500 mm/s
500o/s
5000 mm/s
1000o/s
Y
3000 mm/s
500o/s
5000 mm/s
1000o/s
Y
4000 mm/s
500o/s
5000 mm/s
1000o/s
Y
5000 mm/s
500o/s
5000 mm/s
1000o/s
Y
6000 mm/s
500o/s
5000 mm/s
1000o/s
Y
7000 mm/s
500o/s
5000 mm/s
1000o/s
YPD[
*)
500o/s
5000 mm/s
1000o/s
YURW
0 mm/s
0o/s
0 mm/s
1o/s
YURW
0 mm/s
0o/s
0 mm/s
2o/s
YURW
0 mm/s
0o/s
0 mm/s
5o/s
YURW
0 mm/s
0o/s
0 mm/s
10o/s
YURW
0 mm/s
0o/s
0 mm/s
20o/s
YURW
0 mm/s
0o/s
0 mm/s
50o/s
457
VSHHGGDWD
%DVH:DUH
'DWDW\SH
YURW
0 mm/s
0o/s
0 mm/s
100o/s
YOLQ
0 mm/s
0o/s
10 mm/s
0o/s
YOLQ
0 mm/s
0o/s
20 mm/s
0o/s
YOLQ
0 mm/s
0o/s
50 mm/s
0o/s
YOLQ
0 mm/s
0o/s
100 mm/s
0o/s
YOLQ
0 mm/s
0o/s
200 mm/s
0o/s
YOLQ
0 mm/s
0o/s
500 mm/s
0o/s
YOLQ
0 mm/s
0o/s
1000 mm/s
0o/s
*) Max. TCP speed for the used robot type and normal pratical TCP values.
The RAPID function 0D[5RE6SHHG returns the same value.
If use of extreme big TCP values in tool frame, create own speeddata with
bigger TCP speed than returned by 0D[5RE6SHHG.
6WUXFWXUH
< dataobject ofVSHHGGDWD>
< YBWFS of QXP >
< YBRUL of QXP >
< YBOHD[ of QXP >
< YBUHD[ of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
458
Motion/Speed in general
Motion and I/O Principles - 3RVLWLRQLQJGXULQJ

3URJUDP([HFXWLRQ
Defining maximum velocity
Max. TCP speed for this robot
Function - 0D[5RE6SHHG
System Parameters
Motion performance
Product Specification
VWRSSRLQWGDWD
'DWDW\SH
%DVH:DUH
VWRSSRLQWGDWD6WRSSRLQWGDWD
6WRSSRLQWGDWD is used to specify how a position is to be terminated, i.e. how close to
the programmed position the axes must be before moving towards the next position.
'HVFULSWLRQ
A position can be terminated either in the form of a fly-by point or a stop point.
A fly-by point means that the programmed position is never reached. A zone is specified in the instruction for the movement, defining a corner path. Instead of heading for
the programmed position, the direction of the motion is formed into the corner path
before the position is reached. See data type ]RQHGDWD.
A stop point means that the robot and external axes must reach the specified position
before the robot/external axes continues with the next movement. The robot is considered to have reached a stop point when the convergence criteria of the point are satisfied. The convergence criteria are speed and position. It is also possible to specify
timing criteria. For stop point ILQH, see also data type ]RQHGDWD.
Three types of stop points can be defined by the VWRSSRLQWGDWD.
- The LQSRVLWLRQ type of stop point is defined as a percentage of the convergence
criteria (position and speed) for the predefined stop pointILQH. The in-position
type also uses a minimum and a maximum time. The robot waits for at least the
minimum time, and at most the maximum time for the position and speed criteria to be satisfied.
- The VWRSWLPH type of stop point always waits in the stop point for the given
time.
- The IROORZWLPH type of stop point is a special type of stop point used to coordinate the robot movement with a conveyor.
The VWRSSRLQWGDWD also determines how the movement shall be synchronized with the
RAPID execution. If the movement is synchronized, the RAPID execution waits for a
in pos event when the robot is in position. If the movement is not synchronized, the
RAPID execution gets a prefetch event almost a half second before the physical
robot reach the programmed position. When the program executer gets an in pos or
a prefetch event it continues with the next instruction. When the prefetch event
arrives, the robot still have a long way to move. When the in pos event arrives the
robot is close to the programmed position. Note that for the type VWRSWLPH and IROORZ
WLPH, the next instruction starts its execution at the same time as the stop time and follow time, respectively, start to count down. But for the type LQSRVLWLRQ, the next
instruction is started when the convergence criteria is fulfilled.
If use of move instructions with argument ?&RQF, no synchronization at all is done, so
the actual move instruction will be ready at once.
459
VWRSSRLQWGDWD
%DVH:DUH
'DWDW\SH
)LJXUH7HUPLQDWLRQRIDVWRSSRLQW
Robot speed
Speed
In pos
Reference speed
Time
Constant lag
Min/max time
Stop time
Follow time
In the figure above, the termination of the stop points is described. The robots speed
does not decrease linear. The robot servo is always ahead the physical robot. It is shown
as the constant lag in the figure above. The constant lag is about 0.1 seconds. The timing elements of VWRSSRLQWGDWD use the reference speed as trigger. When the reference
speed is zero the time measurement starts. Therefore the time in the timing elements
always include the constant lag. Consequently there is no sense in using values less
than the constant lag.
&RPSRQHQWV
W\SH
W\SHRIVWRSSRLQWData type: VWRSSRLQW

Defines the type of stoppoint.
460
LQSRV
The movement terminates as an in-position type of stop point.

Enables the LQSRV element in VWRSSRLQWGDWD.
The zone data in the instruction is not used, use ILQH or ].
VWRSWLPH
The movement terminates as a stop-time type of stop point.

Enables the VWRSWLPH element in VWRSSRLQWGDWD.
The zone data in the instruction is not used, use ILQHor ].
IROORZWLPH
The movement terminates as a conveyor follow-time type of

fine point. The zone data in the instruction is used when the
robot leaves the conveyor.
Enables the IROORZWLPH element in VWRSSRLQWGDWD.
VWRSSRLQWGDWD
'DWDW\SH
%DVH:DUH
Data type VWRSSRLQWis an alias data type for num. It is used to choose the type of stop
point and which data elements to use in the VWRSSRLQWGDWD. Predefined constants are:
Value
Symbolic constant
Comment
inpos
In position type number
stoptime
Stop time type number
fllwtime
Follow time type number
SURJV\QFK
SURJUDPV\QFKURQLVDWLRQData type: ERRO
Synchronisation with RAPID program execution.

-
758( !The movement is synchronized with RAPID execution.

The program do not start to execute the next instruction until the
stop point has been reached.
)$/6( -> The movement is QRW synchronized with RAPID execution. The
program starts the execution of the next instruction before the stop
point has been reached.
If use of move instructions with argument ?&RQF, no synchronization at all is

done independent of the data in SURJV\QFK, so the actual move instruction will
always be ready at once.
LQSRVSRVLWLRQ
SRVLWLRQFRQGLWLRQIRU7&3Data type: QXP
The position condition (the radius) for the TCP in percent of a normal ILQH stop
point.
LQSRVVSHHG
VSHHGFRQGLWLRQIRU7&3
Data type: QXP
The speed condition for the TCP in percent of a normal ILQH stop point.
LQSRVPLQWLPH
PLQLPXPZDLWWLPH
Data type: QXP
The minimum wait time in seconds before in position. Used to make the robot
wait at least the specified time in the point. Maximum value is 20.0 seconds.
LQSRVPD[WLPH
PD[LPXPZDLWWLPH
Data type: QXP
The maximum wait time in seconds for convergence criteria to be satisfied. Used
to assure that the robot does not get stuck in the point, if the speed and position
conditions are set too tight. Maximum value is 20.0 seconds.
VWRSWLPH
VWRSWLPH
Data type:QXP
The time in seconds, the TCP stands still in position before starting the next
movement. Valid range 0 - 20 s, resolution 0.001 s.
461
VWRSSRLQWGDWD
%DVH:DUH
IROORZWLPH
'DWDW\SH
IROORZWLPH
Data type:QXP
The time in seconds the TCP follows the conveyor. Valid range 0 - 20 s, resolution 0.001 s.
VLJQDO
Data type: VWULQJ
Reserved for future use.

UHODWLRQ
Data type:RSQXP

FKHFNYDOXH
Data type: QXP
([DPSOHV
,QSRV
VAR stoppointdata my_inpos := [ inpos, TRUE, [ 25, 40, 0.1, 5], 0, 0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point data P\BLQSRV is defined by means of the following characteristics:
- The type of stop point is in-position type, LQSRV.
- The stop point will be synchronized with the RAPID program execution, 758(.
- The stop point distance criteria is 25% of the distance defined for the stop point
ILQH, .
- The stop point speed criteria is 40% of the speed defined for the stop point ILQH,
.
- The minimum time to wait before convergence is 0,1 s, .
- The maximum time to wait on convergence is 5 s, .
The robot move towards the programmed position until one of the criteria position or speed is satisfied.
my_inpos.inpos.position := 40;
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point distance criteria is adjusted to %.
462
VWRSSRLQWGDWD
'DWDW\SH
%DVH:DUH
6WRSWLPH
VAR stoppointdata my_stoptime := [ stoptime, FALSE, [ 0, 0, 0, 0], 1.45, 0, , 0, 0];
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point data P\BVWRSWLPH is defined by means of the following characteristics:
- The type of stop point is stop-time type, VWRSWLPH.
- The stop point will not be synchronized with the RAPID program execution,
)$/6(.
- The wait time in position is s.
The robot moves towards the programmed position until the prefetch event
arrives. The next RAPID instruction executes. If it is a move-instruction, the
robot stops for seconds before the next movement starts.
my_stoptime.stoptime := 6.66;
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point stop time is adjusted to seconds If the next RAPID instruction is a move-instruction, the robot stops for s.
)ROORZWLPH
VAR stoppointdata my_followtime := [ fllwtime, TRUE, [ 0, 0, 0, 0], 0, 0.5, , 0, 0];
MoveL *, v1000, z10 \Inpos:=my_followtime, grip6;
The stop point data P\BIROORZWLPH is defined by means of the following characteristics:
- The type of stop point is follow-time type, IOOZWLPH.
- The stop point will be synchronized with the RAPID program execution,
758(.
- The stop point follow time is 0.5 s, .
The robot will follow the conveyor for 0.5 s before leaving it with the zone 10
mm, ].
my_followtime.followtime := 0.4;
The stop point follow time is adjusted to s.
463
VWRSSRLQWGDWD
%DVH:DUH
'DWDW\SH
3UHGHILQHGGDWD
A number of stop point data are already defined in the system module %$6(.
,QSRVLWLRQVWRSSRLQWV
Name
time
Progsynch Position Speed Mintime Maxtime Stoptime Follow-
LQSRV
TRUE
20%
20% 0 s
20 s
LQSRV
TRUE
50%
50% 0 s
20 s
LQSRV
TRUE
100%
100% 0 s
20 s
(LQSRV has same convergence criteria as stop point ILQH)
6WRSWLPHVWRSSRLQWV
Name
time
VWRSWLPHB
VWRSWLPHB
VWRSWLPHB
FALSE
FALSE
FALSE
0.5 s
1.0 s
1.5 s
)ROORZWLPHVWRSSRLQWV
Name
time
IOOZWLPHB
IOOZWLPHB
IOOZWLPHB
TRUE
TRUE
TRUE
0.5 s
1.0 s
1.5 s
6WUXFWXUH
< data object ofVWRSSRLQWGDWD>
< W\SH of VWRSSRLQW>
< SURJV\QFKof ERRO >
< LQSRV of LQSRVGDWD >
< SRVLWLRQ of QXP >
< VSHHG of QXP >
< PLQWLPH of QXP >
< PD[WLPH of QXP >
< VWRSWLPH of QXP >
< IROORZWLPHof QXP >
< VLJQDOof VWULQJ>
< UHODWLRQof RSQXP >
< FKHFNYDOXHof QXP >
464
VWRSSRLQWGDWD
'DWDW\SH
%DVH:DUH
5HODWHGLQIRUPDWLRQ
Described in:
Movements/Paths in general

3URJUDP([HFXWLRQ
System Parameters
Fly-by points
Data Types - ]RQHGDWD
465
VWRSSRLQWGDWD
%DVH:DUH
466
'DWDW\SH
VWULQJ
'DWDW\SH
VWULQJ6WULQJV
6WULQJis used for character strings.
'HVFULSWLRQ
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks (),
e.g.
This is a character string.
If the quotation marks are to be included in the string, they must be written twice,
e.g.
This string contains a character.
If the back slash are to be included in the string, it must be written twice,
e.g.
This string contains a \\ character.
([DPSOH
VAR string text;
.
text := start welding pipe 1;
TPWrite text;
The textVWDUWZHOGLQJSLSH is written on the FlexPendant.
/LPLWDWLRQV
A string may have from 0 to 80 characters; inclusive of extra quotation marks or back
slash.
A string may contain any of the characters specified by ISO 8859-1 as well as control
characters (non-ISO 8859-1 characters with a numeric code between 0-255).
467
VWULQJ
'DWDW\SH
3UHGHILQHGGDWD
A number of predefined string constants are available in the system and can be used
together with string functions.
Name
Character set
STR_DIGIT
<digit> ::=
0|1|2|3|4|5|6|7|8|9
STR_UPPER
<upper case letter> ::=

A | B | C | D | E | F | G | H | I | J
| K | L | M | N | O | P | Q | R | S | T
| U | V | W | X | Y | Z | | | |
| | | | | | | | | |
| | | 1) | | | | | | |
| | | | | 2) | 3)
STR_LOWER
<lower case letter> ::=

a | b | c | d | e | f | g | h | i | j
| k | l | m | n | o | p | q | r | s | t
| u | v | w | x | y | z | | | |
| | | | | | | | | |
| | | 1) | | | | | | |
| | | | | 2) | 3) | |
STR_WHITE
<blank character> ::=
1) Icelandic letter eth.

2) Letter Y with acute accent.
3) Icelandic letter thorn.
The following constants are already defined in the system module %$6(:
CONST string diskhome := HOME:;
! For old programs from S4C system
CONST string ram1disk := HOME:;
CONST string disktemp := TEMP:;
CONST string flp1 := flp1:;
CONST string stEmpty := ;
5HODWHGLQIRUPDWLRQ
Described in:
468
Operations using strings
String values

V\PQXP
'DWDW\SH
%DVH:DUH
V\PQXP6\PEROLFQXPEHU
6\PQXP is used to represent an integer with a symbolic constant.
'HVFULSWLRQ
A V\PQXP constant is intended to be used when checking the return value from the
functions 2S0RGH and 5XQ0RGH. See example below.
([DPSOH
IF RunMode() = RUN_CONT_CYCLE THEN
..
ELSE
..
ENDIF
3UHGHILQHGGDWD
The following symbolic constants of the data type V\PQXP are predefined and can be
used when checking return values from the functions 2S0RGH and 5XQ0RGH.
Value
Symbolic constant
Comment
RUN_UNDEF
Undefined running mode
RUN_CONT_CYCLE
Continuous or cycle running mode
RUN_INSTR_FWD
Instruction forward running mode
RUN_INSTR_BWD
Instruction backward running mode
RUN_SIM
Simulated running mode
Value
Symbolic constant
OP_UNDEF
Undefined operating mode
OP_AUTO
Automatic operating mode
OP_MAN_PROG
Manual operating mode max. 250 mm/s
OP_MAN_TEST
Manual operating mode full speed, 100%
Comment
469
V\PQXP
%DVH:DUH
'DWDW\SH
&KDUDFWHULVWLFV
6\PQXP is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
470
V\QFLGHQW
'DWDW\SH
%DVH:DUH
V\QFLGHQW,GHQWLW\IRUV\QFKURQL]DWLRQSRLQW
V\QFLGHQW is used to specify the name of a synchronization point.
The name of the synchronization point will be the name (identity) of the declared data
of type V\QFLGHQW.
'HVFULSWLRQ
V\QFLGHQW is used to identify a point in the program, where the actual program task will
wait for cooperate program tasks to reach the same synchronization point.
The data name (identity) of the type V\QFLGHQW must be the same in all cooperate program tasks.
Data type V\QFLGHQW is used in the instructions :DLW6\QF7DVN, 6\QF0RYH2Q and
6\QF0RYH2II
([DPSOHV
3URJUDPH[DPSOHLQSURJUDPWDVN52%
PERS tasks task_list{3} := [ [STN1], [ROB1], [ROB2] ];
At execution of instruction :DLW6\QF7DVN in the program task 52%, the
execution in that program task will wait until all the other program task 671 and
52% have reached its corresponding :DLW6\QF7DVN with the same synchronization (meeting) point V\QF.
6WUXFWXUH
V\QFLGHQWis a non-value data type.
5HODWHGLQIRUPDWLRQ
Described in:
Specify cooperated program tasks
Data Types- WDVNV
Wait for synchronization point

with other tasks
Instruction - :DLW6\QF7DVN
471
V\QFLGHQW
%DVH:DUH
472
'DWDW\SH
6\VWHP'DWD
'DWDW\SH
6\VWHP'DWD,QWHUQDOGDWDRIWKHURERWDFFHVVHGDQGUHDGE\
WKHSURJUDP
System data is the internal data of the robot that can be accessed and read by the program. It can be used to read the current status, e.g. the current maximum velocity.
7DEOH7KHIROORZLQJWDEOHFRQWDLQVDOLVWRIDOOV\VWHPGDWD
Data
Type
Name
Description
Changed by
See also
C_MOTSET
Current motion settings, i.e.:

- max. velocity and velocity
override
- max. acceleration
- movement about singular
points
- monitoring the axis configuration
- path resolution
- motion supervision with
tunevalue
-reduction of TCP acceleration/
deceleration along the movement path
-modification of the tool orientation during circle interpolation
motsetdata
Instructions
- VelSet
- AccSet
- SingArea
ConfL,Conf
J
- PathResol
- MotionSup
-PathAccLim
Data Types - PRWVHW

GDWD
Instructions - $FF6HW
Instructions - 6LQJ$UHD
Instructions - &RQI/,
&RQIInstructions - 3DWK
5HVRO
Instructions - 0RWLRQ
6XS
Instructions - 3DWK$F
F/LP
Instructions - &LU3DWK
5HRUL
C_PROGDIS
P
Current program displacement

for robot and external axes.
progdis
p
Instructions
- PDispSet
- PDispOn
- PDispOff
- EOffsSet
- EOffsOn
- EOffsOff
Data Types - SURJGLVS

Instructions - 3'LVS2II
Instructions - (2IIV6HW
Instructions - (2IIV2II
ERRNO
The latest error that occurred
errnum
The robot
Data Types - HUUQXP

RAPID Summary (UURU5HFRYHU\
INTNO
The latest interrupt that

occurred
intnum
The robot
Data Types - LQWQXP

RAPID Summary ,QWHUUXSWV
ROB_ID
Reference to the robot (if any)

in actual program task. Always
check before use with
TaskRunRob()
mecunit
The robot
- CirPathReori
473
6\VWHP'DWD
474
'DWDW\SH
WDVNLG
'DWDW\SH
WDVNLG7DVNLGHQWLILFDWLRQ
7DVNLGis used to identify available program tasks in the system.
The names of the program tasks are defined in the system parameters and, consequently, must not be defined in the program.
'HVFULSWLRQ
Data of the type WDVNLG only contains a reference to the program task.
/LPLWDWLRQV
Data of the type WDVNLG must not be defined in the program. The data type can, on the
other hand, be used as a parameter when declaring a routine.
3UHGHILQHGGDWD
The program tasks defined in the system parameters can always be accessed from the
program (installed data).
For all program tasks in the system, predefined variables of the data type WDVNLG will be
available. The variable identity will be "taskname"+"Id", e.g. for T_ROB1 task the
variable identity will be T_ROB1Id, T_ROB2 - T_ROB2Id etc.
&KDUDFWHULVWLFV
7DVNLG is a QRQYDOXH data type. This means that data of this type does not permit valueoriented operations.
5HODWHGLQIRUPDWLRQ
Described in:
Saving program modules
Instruction - 6DYH
Configuration of program tasks
System Parameters
475
WDVNLG
476
'DWDW\SH
WDVNV
'DWDW\SH
%DVH:DUH
WDVNV5$3,'SURJUDPWDVNV
Data typeWDVNVis used to specify several RAPID program tasks.
'HVFULSWLRQ
To specify several RAPID program tasks, the name of each task can be given as a
string. An array of data type WDVNV can then hold all the task names.
This task list can then be used in the instructions :DLW6\QF7DVN and 6\QF0RYH2Q
Note that these instructions demand that the data is defined as system global PERS
variable available in all the cooperated tasks.
&RPSRQHQWV
WDVNQDPH
Data type: VWULQJ
The name of a RAPID program task, specified in a string.
([DPSOHV
3URJUDPH[DPSOHLQSURJUDPWDVN7B52%
PERS tasks task_list{3} := [ [T_STN1], [T_ROB1], [T_ROB2] ];
At execution of instruction :DLW6\QF7DVN in the program task T_ROB1, the execution in that program task will wait until all the other program task T_STN1 and
T_ROB2 have reached its corresponding :DLW6\QF7DVN with the same synchronization (meeting) point V\QF.
6WUXFWXUH
<dataobject of WDVNV>
<WDVNQDPH of VWULQJ>
477
WDVNV
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Identity for synchronization point
Data Types- V\QFLGHQW
Wait for synchronization point

with other tasks
Instruction - :DLW6\QF7DVN
Start coordinated synchronized movements Instruction - 6\QF0RYH2Q

End coordinated synchronized movements Instruction - 6\QF0RYH2II
478
WHVWVLJQDO
'DWDW\SH
%DVH:DUH
WHVWVLJQDO7HVWVLJQDO
The data type WHVWVLJQDOis used when a test of the robot motion system is performed.
'HVFULSWLRQ
A number of predefined test signals are available in the robot system. The WHVWVLJQDO
data type is available in order to simplify programming of instruction 7HVW6LJQ'HILQH.
([DPSOHV
TestSignDefine 2, speed, Orbit, 2, 0;
VSHHG is a constant of the WHVWVLJQDO data type.
3UHGHILQHGGDWD
The following test signals for external manipulator axes are predefined in the system.
All data is in SI units and measured on the motor side of the axis.
CONST testsignal speed
CONST testsignal torque_ref
CONST testsignal resolver_angle
CONST testsignal speed_ref
CONST testsignal dig_input1
CONST testsignal dig_input2
:= 6;
:= 9;
:= 1;
:= 4;
:= 102;
:= 103;
! rad/s
! Nm
! rad
! rad/s
! 0 or 1
! 0 or 1
&KDUDFWHULVWLFV
7HVWVLJQDOis an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
Define test signal
Instructions - 7HVW6LJQ'HILQH
Read test signal
Functions - 7HVW6LJQ5HDG
Reset test signals
Instructions - 7HVW6LJQ5HVHW
479
WHVWVLJQDO
%DVH:DUH
480
'DWDW\SH
WRROGDWD
'DWDW\SH
%DVH:DUH
WRROGDWD7RROGDWD
7RROGDWD is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.
If the tool is fixed in space (a stationary tool), common tool data is defined for this tool
and the gripper holding the work object.
'HVFULSWLRQ
Tool data affects robot movements in the following ways:
- The tool centre point (TCP) refers to a point that will satisfy the specified path
and velocity performance. If the tool is reorientated or if coordinated external
axes are used, only this point will follow the desired path at the programmed
velocity.
- If a stationary tool is used, the programmed speed and path will relate to the
work object.
- Programmed positions refer to the position of the current TCP and the orientation in relation to the tool coordinate system. This means that if, for example,
a tool is replaced because it is damaged, the old program can still be used if the
tool coordinate system is redefined.
Tool data is also used when jogging the robot to:
- Define the TCP that is not to move when the tool is reorientated.
- Define the tool coordinate system in order to facilitate moving in or rotating
about the tool directions.
,WLVLPSRUWDQWWRDOZD\VGHILQHWKHDFWXDOWRROORDGDQGZKHQXVHGWKHSD\ORDG
RIWKHURERWWRR,QFRUUHFWGHILQLWLRQVRIORDGGDWDFDQUHVXOWLQRYHUORDGLQJRIWKH
URERWPHFKDQLFDOVWUXFWXUH
When incorrect tool load data is specified, it can often lead to the following consequences:
- If the value in the specified load is greater than that of the value of the true load;
-> The robot will not be used to its maximum capacity
- If the value in the specified load is less than the value of the true load;
481
WRROGDWD
%DVH:DUH
'DWDW\SH
&RPSRQHQWV
UREKROG
URERWKROG
Data type: ERRO
Defines whether or not the robot is holding the tool:

- 758(
!The robot is holding the tool.
- )$/6( ! The robot is not holding the tool, i.e. a stationary tool.
WIUDPH
WRROIUDPH
Data type: SRVH
The tool coordinate system, i.e.:

- The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate
system (See figure 1).
- The orientation of the tool coordinate system, expressed in the wrist coordinate
system as a quaternion (q1, q2, q3 and q4) (See figure 1).
If a stationary tool is used, the definition is defined in relation to the world coordinate system.
If the direction of the tool is not specified, the tool coordinate system and the
wrist coordinate system will coincide.
The control hole

<
=
The tool coordinate system
;
<
TCP
;
=
)LJXUH'HILQLWLRQRIWKHWRROFRRUGLQDWHV\VWHP
482
WRROGDWD
'DWDW\SH
%DVH:DUH
WORDG
WRROORDG
Data type: ORDGGDWD
The load of the tool, i.e.:

- The weight of the tool in kg.
- The centre of gravity of the tool (x, y and z) in mm, expressed in the wrist coordinate system
- The orientation of the tool load coordinate system expressed in the wrist coordinate system, defining the inertial axes of the tool.
The orientation of the tool load coordinate system must coincide with the orientation of the wrist coordinate system. 7KLVPXVWDOZD\VEHVHWWR.
- The moments of inertia of the tool relative to its centre of mass around the
tool load coordinate axes in kgm2.
If all inertial components are defined as being 0 kgm2, the tool is handled as a
point mass.

,<
<
Tool load coordinate system Inertial axes of tool load
=
,=
,;
<
TCP
Tool coordinate systeem
=
)LJXUH7RROORDGSDUDPHWHUGHILQLWLRQV
For more information (such as coordinate system for stationary tool or restrictions), see the data type ORDGGDWD.
If a stationary tool is used, the load of the gripper holding the work object must
be defined.
Note that only the load of the tool is to be specified. The payload handled by a
gripper is connected and disconnected by means of the instruction *ULS/RDG.
483
WRROGDWD
%DVH:DUH
'DWDW\SH
([DPSOHV
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]],
[5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool in Figure 3 is described using the following values:
- The robot is holding the tool.
- The TCP is located at a point mm straight out from axis 6 and mm
along the X-axis of the wrist coordinate system.
- The X and Z directions of the tool are rotated 45o in relation to the wrist coordinate system.
- The tool weighs 5 kg.
- The centre of gravity is located at a point mm straight out from axis 6 and
mm along the X-axis of the wrist coordinate system.
- The load can be considered a point mass, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
TheTCP of the tool, JULSSHU, is adjusted to in the z-direction.
/LPLWDWLRQV
The tool data should be defined as a persistent variable 3(56and should not be
defined within a routine. The current values are then saved when the program is stored
on diskette and are retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent (not array element or record component).
3UHGHILQHGGDWD
The tool WRROdefines the wrist coordinate system, with the origin being the centre of
the mounting flange. 7RRO can always be accessed from the program, but can never be
changed (it is stored in system module %$6().
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
484
WRROGDWD
'DWDW\SH
%DVH:DUH
6WUXFWXUH
< dataobject ofWRROGDWD>
< UREKROG of ERRO >
< WIUDPHof SRVH >
< WUDQV of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< URW of RULHQW >
< T of QXP >
< T of QXP >
< Tof QXP >
< T of QXP >
< WORDGof ORDGGDWD >
< PDVV of QXP >
< FRJ of SRV >
< [ of QXP >
< \ ofQXP >
< ] of QXP >
< DRP of RULHQW >
< T of QXP >
< T ofQXP >
< T of QXP >
< T of QXP >
< L[ of QXP >
< L\ of QXP >
< L]of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
Coordinate systems

QDWH6\VWHPV
Definition of payload
Instructions - *ULSORDG
Definition of load
Data types - /RDGGDWD
485
WRROGDWD
%DVH:DUH
486
'DWDW\SH
WSQXP
'DWDW\SH
%DVH:DUH
WSQXP)OH[3HQGDQWZLQGRZQXPEHU
WSQXP is used to represent the FlexPendant Window number with a symbolic constant.
'HVFULSWLRQ
A WSQXP constant is intended to be used in instruction 736KRZ. See example below.
([DPSOH
TPShow TP_PROGRAM;
The 3URGXFWLRQ:LQGRZ will be active if the system is in $872 mode and the
3URJUDP:LQGRZ will be active if the system is in 0$1 mode, after execution of
this instruction.
3UHGHILQHGGDWD
The following symbolic constants of the data type WSQXP are predefined and can be
used in instruction 736KRZ:
Value
Symbolic constant
Comment
TP_PROGRAM
AUTO: Production Window

MAN: Program Window
TP_LATEST
Latest used FlexPendant Window
TP_SCREENVIEWER
Screen Viewer window, if this option is active
&KDUDFWHULVWLFV
WSQXP is an alias data type for QXP and consequently inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
Communicating using the FlexPendant
Switch window on the FlexPendant
Instructions - 736KRZ
487
WSQXP
%DVH:DUH
488
'DWDW\SH
WUDSGDWD
'DWDW\SH
%DVH:DUH
WUDSGDWD,QWHUUXSWGDWDIRUFXUUHQW75$3
WUDSGDWDWUDSGDWDis used to contain the interrupt data that caused the current TRAP
routine to be executed.
To be used in TRAP routines generated by instruction ,(UURU before use of the instruction 5HDG(UU'DWD.
'HVFULSWLRQ
Data of the type WUDSGDWDrepresents internal information related to the interrupt that
caused the current trap routine to be executed.
Its content depends on the type of interrupt.
([DPSOH
VAR num err_number;
.
TRAP trap_err
ENDTRAP
number, and the error type are saved into appropriate non-value variables of type
WUDSGDWD.
&KDUDFWHULVWLFV
WUDSGDWD is a non-value data type.
489
WUDSGDWD
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
490
Summary of interrupts
RAPID Summary - ,QWHUUXSWV
More information on interrupt management
Basic Characteristics - ,QWHUUXSWV
Non value data types
Orders an interrupt on errors
Get interrupt data for current TRAP
Instructions- *HW7UDS'DWD
Gets information about an error
Instructions - 5HDG(UU'DWD
WULJJGDWD
'DWDW\SH
%DVH:DUH
WULJJGDWD3RVLWLRQLQJHYHQWVWULJJ
7ULJJGDWDis used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
'HVFULSWLRQ
To define the conditions for the respective measures at a positioning event, variables
of the type WULJJGDWD are used. The data contents of the variable are formed in the program using one of the instructions 7ULJJ,2 or 7ULJJ,QW, and are used by one of the
instructions 7ULJJ/, 7ULJJ& or 7ULJJ-.
([DPSOH
VAR triggdata gunoff;
TriggIO gunoff, 5 \DOp:=gun, off;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal JXQis set to the value RIIwhen the TCP is at a position
mm before the point S.
&KDUDFWHULVWLFV
7ULJJGDWDis a non-value data type.
5HODWHGLQIRUPDWLRQ
Described in:
Definition of triggs
Instructions - 7ULJJ,2, 7ULJJ,QW
Use of triggs
Instructions - 7ULJJ/, 7ULJJ&, 7ULJJ-
Characteristics of non-value data types Basic Characteristics- 'DWD7\SHV
491
WULJJGDWD
%DVH:DUH
492
'DWDW\SH
WXQHW\SH
'DWDW\SH
%DVH:DUH
WXQHW\SH6HUYRWXQHW\SH
7XQHW\SH is used to represent an integer with a symbolic constant.
'HVFULSWLRQ
A WXQHW\SHconstant is intended to be used as an argument to the instruction 7XQH6HUYR.
See example below.
([DPSOH
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
3UHGHILQHGGDWD
The following symbolic constants of the data type WXQHW\SHare predefined and can be
used as argument for the instruction 7XQH6HUYR
Value
Symbolic constant
Comment
TUNE_DF
Reduces overshoots
TUNE_KP
Affects position control gain
TUNE_KV
Affects speed control gain
TUNE_TI
Affects speed control integration time
TUNE_FRIC_LEV
Affects friction compensation level
TUNE_FRIC_RAMP
Affects friction compensation ramp
TUNE_DG
Reduces overshoots
TUNE_DH
Reduces vibrations with heavy loads
TUNE_DI
Reduces path errors
TUNE_DK
Only for ABB internal use
10
TUNE_DL
Only for ABB internal use
&KDUDFWHULVWLFV
7XQHW\SHis an alias data type for QXP and consequently inherits its characteristics.
493
WXQHW\SH
%DVH:DUH
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
494
Use of data type tunetype
Instructions - 7XQH6HUYR
ZREMGDWD
'DWDW\SH
%DVH:DUH
ZREMGDWD:RUNREMHFWGDWD
:REMGDWDis used to describe the work object that the robot welds, processes, moves
within, etc.
'HVFULSWLRQ
If work objects are defined in a positioning instruction, the position will be based on
the coordinates of the work object. The advantages of this are as follows:
- If position data is entered manually, such as in off-line programming, the values
can often be taken from a drawing.
- Programs can be reused quickly following changes in the robot installation. If,
for example, the fixture is moved, only the user coordinate system has to be
redefined.
- Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.
If a stationary tool or coordinated external axes are used the work object must be
defined, since the path and velocity would then be related to the work object instead of
the TCP.
Work object data can also be used for jogging:
- The robot can be jogged in the directions of the work object.
- The current position displayed is based on the coordinate system of the work
object.
&RPSRQHQWV
UREKROG
URERWKROG
Data type: ERRO
Defines whether or not the robot in the actual program task is holding the work
object:
- 758(
> The robot is holding the work object, i.e. using a stationary tool.
- )$/6( > The robot is not holding the work object, i.e. the robot is holding
the tool.
XISURJ
XVHUIUDPHSURJUDPPHG
Data type: ERRO
Defines whether or not a fixed user coordinate system is used:

- 758(
-> Fixed user coordinate system.
- )$/6(
> Movable user coordinate system, i.e. coordinated external axes

are used.
495
ZREMGDWD
%DVH:DUH
'DWDW\SH
XIPHF
XVHUIUDPHPHFKDQLFDOXQLW Data type: VWULQJ
The mechanical unit with which the robot movements are coordinated. Only
specified in the case of movable user coordinate systems (XISURJ is)$/6().
Specified with the name that is defined in the system parameters, e.g. "orbit_a".
XIUDPH
XVHUIUDPH
Data type: SRVH
The user coordinate system, i.e. the position of the current work surface or fixture
(see Figure 5):
- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).
If the robot is holding the tool, the user coordinate system is defined in the world
coordinate system (in the wrist coordinate system if a stationary tool is used).
When coordinated external axes are used (XISURJ is)$/6(), the user coordinate
system is defined in the system parameters.
RIUDPH
REMHFWIUDPH
Data type: SRVH
The object coordinate system, i.e. the position of the current work object (see Figure 5):
- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).
The object coordinate system is defined in the user coordinate system.
7RROFRRUGLQDWHV
Y
TCP
Z
Z
Y
Z
%DVHFRRUGLQDWHV
:RUOGFRRUGLQDWHV
8VHUFRRUGLQDWHV
Z
2EMHFWFRRUGLQDWHV
Y
X
Y
)LJXUH7KHYDULRXVFRRUGLQDWHV\VWHPVRIWKHURERWZKHQWKHURERWLV
KROGLQJWKHWRRO
496
ZREMGDWD
'DWDW\SH
%DVH:DUH
([DPSOH
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0, 0 ,0] ],
[ [0, 200, 30], [1, 0, 0 ,0] ] ];
The work object in Figure 5 is described using the following values:
- The robot is not holding the work object.
- The fixed user coordinate system is used.
- The user coordinate system is not rotated and the coordinates of its origin are
x= , y = and z = mm in the world coordinate system.
- The object coordinate system is not rotated and the coordinates of its origin are
x= , y= and z= mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;
- The position of the work objectZREM is adjusted to mm in the z-direction.
/LPLWDWLRQV
The work object data should be defined as a persistent variable (3(56and should not
be defined within a routine. The current values are then saved when the program is
stored on diskette and are retrieved on loading.
Arguments of the type work object data in any motion instruction should only be an
entire persistent (not array element or record component).
3UHGHILQHGGDWD
The work object dataZREMis defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.
:REM can always be accessed from the program, but can never be changed (it is stored
in system module %$6().
PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ],
[ [0, 0, 0], [1, 0, 0 ,0] ] ];
497
ZREMGDWD
%DVH:DUH
'DWDW\SH
6WUXFWXUH
< dataobject ofZREMGDWD>
< UREKROG of ERRO >
< XISURJ of ERRO>
< XIPHFof VWULQJ >
< XIUDPHof SRVH >
< WUDQV of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< URW of RULHQW >
< T of QXP >
< T of QXP >
< Tof QXP >
< T of QXP >
< RIUDPHof SRVH >
< WUDQV of SRV >
< [ of QXP >
< \ of QXP >
< ] of QXP >
< URW of RULHQW >
< T of QXP >
< T of QXP >
< Tof QXP >
< T of QXP >
5HODWHGLQIRUPDWLRQ
Described in:
498
Coordinate systems

WHPV
Coordinated external axes

WHPV
Z]VWDWLRQDU\
'DWDW\SH
%DVH:DUH
Z]VWDWLRQDU\6WDWLRQDU\ZRUOG]RQHGDWD
Z]VWDWLRQDU\ZRUOG]RQHVWDWLRQDU\is used to identify a stationary world zone and
can only be used in an event routine connected to the event POWER ON.
A world zone is supervised during robot movements both during program execution
and jogging. If the robots TCP reaches the world zone or if the robot/external axes
reaches the world zone in joints , the movement is stopped or a digital output signal is
set or reset.
'HVFULSWLRQ
A Z]VWDWLRQDU\world zone is defined and activated by a :=/LP6XS or a :='26HW
instruction.
:=/LP6XS or :='26HW gives the variable or the persistent of data type VWDWLRQDU\a
numeric value. The value identifies the world zone.
A stationary world zone is DOZD\VDFWLYH in 0RWRU2Q6WDWH and is only erased by a
warm start (switch power off then on, or change system parameters). It is not possible
to deactivate, activate or erase a stationary world zone via RAPID instructions.
Stationary world zones should be active from power on and should be defined in a
POWER ON event routine or a semistatic task.
([DPSOH
VAR wzstationary conveyor;
...
PROC ...
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC
A FRQYH\RU is defined as a straight box (the volume below the belt). If the robot
reaches this volume, the movement is stopped.
499
Z]VWDWLRQDU\
%DVH:DUH
'DWDW\SH
/LPLWDWLRQV
A Z]VWDWLRQDU\data can be defined as a variable (VAR) or as a persistent (PERS).
It can be global in task or local within module, but not local within a routine.
Arguments of the type Z]VWDWLRQDU\ should only be entire data (not array element or
record component).
An init value for data of the type Z]VWDWLRQDU\is not used by the control system. When
there is a need to use a persistent variable in a multi-tasking system, set the init value
to 0 in both tasks,
e.g. PERS wzstationary share_workarea := [0];
([DPSOH
For a complete example see instruction :=/LP6XS.
&KDUDFWHULVWLFV
Z]VWDWLRQDU\ is an alias data type of Z]WHPSRUDU\ and inherits its characteristics.
5HODWHGLQIRUPDWLRQ
Described in:
500
World Zones
Motion and I/O Principles -

:RUOG=RQHV
World zone shape
Temporary world zone
Data Types - Z]WHPSRUDU\
Z]WHPSRUDU\
'DWDW\SH
%DVH:DUH
Z]WHPSRUDU\7HPSRUDU\ZRUOG]RQHGDWD
Z]WHPSRUDU\ZRUOG]RQHWHPSRUDU\is used to identify a temporary world zone and
can be used anywhere in the RAPID program for the MAIN task.
A world zone is supervised during robot movements both during program execution
and jogging. If the robots TCP reaches the world zone or if the robot/external axes
reaches the world zone in joints, the movement is stopped or a digital output signal is
set or reset.
'HVFULSWLRQ
A Z]WHPSRUDU\world zone is defined and activated by a :=/LP6XS or a :='26HW
instruction.
:=/LP6XS or :='26HW gives the variable or the persistent of data type Z]WHPSRUDU\
a numeric value. The value identifies the world zone.
Once defined and activated, a temporary world zone can be deactivated by
:='LVDEOH, activated again by :=(QDEOH, and erased by :=)UHH.
All temporary world zones in the MAIN task are automatically erased and all data
objects of type Z]WHPSRUDU\ in the MAIN task are set to 0:
- when a new program is loaded in the MAIN task
- when starting program execution from the beginning in the MAIN task
([DPSOH
VAR wztemporary roll;
...
PROC ...
CONST pos t_center := [1000, 1000, 1000];
...
WZCylDef \Inside, volume, t_center, 400, 1000;
WZLimSup \Temp, roll, volume;
ENDPROC
A wztemporary variable, UROO, is defined as a cylinder. If the robot reaches this
volume, the movement is stopped.
501
Z]WHPSRUDU\
%DVH:DUH
'DWDW\SH
/LPLWDWLRQV
A Z]WHPSRUDU\ data can be defined as a variable (VAR) or as a persistent (PERS).
It can be global in a task or local within a module, but not local within a routine.
Arguments of the type Z]WHPSRUDU\ must only be entire data, not an array element or
record component.
A temporary world zone must only be defined (:=/LP6XS or :='26HW) and free
(:=)UHH) in the MAIN task. Definitions of temporary world zones in the background
would affect the program execution in the MAIN task. The instructions :='LVDEOHand
:=(QDEOHcan be used in the background task. When there is a need to use a persistent
variable in a multi-tasking system, set the init value to 0 in both tasks,
e.g. PERS wztemporary share_workarea := [0];
([DPSOH
For a complete example see instruction :='26HW.
6WUXFWXUH
<dataobject of Z]WHPSRUDU\>
<Z] of QXP>
5HODWHGLQIRUPDWLRQ
Described in:
502
World Zones
Motion and I/O Principles -

:RUOG=RQHV
World zone shape
Stationary world zone
Data Types - Z]VWDWLRQDU\
Deactivate world zone
Instructions - :='LVDEOH
Activate world zone
Instructions - :=(QDEOH
Erase world zone
Instructions - :=)UHH
]RQHGDWD
'DWDW\SH
]RQHGDWD=RQHGDWD
=RQHGDWD is used to specify how a position is to be terminated, i.e. how close to the
programmed position the axes must be before moving towards the next position.
'HVFULSWLRQ
A position can be terminated either in the form of a stop point or a fly-by point.
A stop point means that the robot and external axes must reach the specified position
(stand still) before program execution continues with the next instruction. It is also possible to define stop points other than the predefined ILQHThe stop criteria, that tells if
the robot is considered to have reached the point, can be manipulated using the VWRS
SRLQWGDWD.
A fly-by point means that the programmed position is never attained.
Instead, the direction of motion is changed before the position is reached.
Two different zones (ranges) can be defined for each position:
- The zone for the TCP path.
- The extended zone for reorientation of the tool and for external axes.
The zone for

the TCP path
Programmed
position
Start of reorientation
towards next position
Start of TCP corner path
The extended zone
)LJXUH7KH]RQHVIRUDIO\E\SRLQW
Zones function in the same way during joint movement, but the zone size may differ
somewhat from the one programmed.
The zone size cannot be larger than half the distance to the closest position (forwards
or backwards). If a larger zone is specified, the robot automatically reduces it.
503
]RQHGDWD
'DWDW\SH
7KH]RQHIRUWKH7&3SDWK
A corner path (parabola) is generated as soon as the edge of the zone is reached
(see Figure 6).
7KH]RQHIRUUHRULHQWDWLRQRIWKHWRRO
Reorientation starts as soon as the TCP reaches the extended zone. The tool is
reoriented in such a way that the orientation is the same leaving the zone as it
would have been in the same position if stop points had been programmed.
Reorientation will be smoother if the zone size is increased, and there is less of a
risk of having to reduce the velocity to carry out the reorientation.
)LJXUHD7KUHHSRVLWLRQVDUHSURJUDPPHGWKHODVWZLWKGLIIHUHQWWRRORUL
HQWDWLRQ
)LJXUHE,IDOOSRVLWLRQVZHUHVWRSSRLQWVSURJUDPH[HFXWLRQZRXOGORRN
OLNHWKLV
Zone size
)LJXUHF,IWKHPLGGOHSRVLWLRQZDVDIO\E\SRLQWSURJUDPH[HFXWLRQ
ZRXOGORRNOLNHWKLV
7KH]RQHIRUH[WHUQDOD[HV
External axes start to move towards the next position as soon as the TCP reaches
the extended zone. In this way, a slow axis can start accelerating at an earlier
stage and thus execute more evenly.
5HGXFHG]RQH
With large reorientations of the tool or with large movements of the external axes,
the extended zone and even the TCP zone can be reduced by the robot. The zone
will be defined as the smallest relative size of the zone based upon the zone components (see next page) and the programmed motion.
504
]RQHGDWD
'DWDW\SH
90 mm
MoveL with 200 mm movements pzone_ori
of the tool, 25o reorientation of
P1 the tool and with zone z60
The relative sizes of the zone are
pzone_tcp
________________________
= 60/200 = 30%
length of movement P1 - P2
pzone_ori
________________________
= 90/200 = 45%
zone_ori
________________________
= 9o/25o = 36%
angle of reorientation P1 - P2
60 mm
pzone_tcp
P2
9o
zone_ori
)LJXUH([DPSOHRIUHGXFHG]RQHIRUUHRULHQWDWLRQRIWKHWRROWRRI
WKHPRWLRQGXHWR]RQHBRUL
90 mm
MoveL with 200 mm movements
60 mm
pzone_ori pzone_tcp
9o
of the tool, 60o reorientation of
zone_ori
the tool and with zone z60
P2
P1
The relative sizes of the zone are
pzone_tcp
________________________
= 60/200 = 30%
zone_ori
________________________
= 9o/60o = 15%
angle of reorientation P1 - P2
)LJXUH([DPSOHRIUHGXFHG]RQHIRUUHRULHQWDWLRQRIWKHWRRODQG7&3
SDWKWRRIWKHPRWLRQGXHWR]RQHBRUL
When external axes are active they affect the relative sizes of the zone according to
these formulas:
pzone_eax
________________________
zone_leax
________________________
length of max linear ext. axis movement P1 - P2
zone_reax
________________________
angle of max reorientation of rotating ext. axis P1 - P2
NOTE: If the TCP zone is reduced because of zone_ori, zone_leax or zone_reax the
path planner enters a mode that can handle the case of no TCP movement. If there is a
TCP movement when in this mode the speed is not compensated for the curvature of
the path in a corner zone. For instance, this will cause a 30% speed reduction in a 90
degree corner. If this is a problem, increase the limiting zone component.
505
]RQHGDWD
'DWDW\SH
&RPSRQHQWV
ILQHS
ILQHSRLQWData type: ERRO

Defines whether the movement is to terminate as a stop point (fine point) or as a
fly-by point.
-
758( > The movement terminates as a stop point.

The remaining components in the zone data are not used.
)$/6( -> The movement terminates as a fly-by point.
S]RQHBWFS
SDWK]RQH7&3Data type: QXP
The size (the radius) of the TCP zone in mm.

7KHH[WHQGHG]RQHZLOOEHGHILQHGDVWKHVPDOOHVWUHODWLYHVL]HRIWKH]RQHEDVHG
XSRQWKHIROORZLQJFRPSRQHQWVDQGWKHSURJUDPPHGPRWLRQ
S]RQHBRUL
SDWK]RQHRULHQWDWLRQ
Data type: QXP
The zone size (the radius) for the tool reorientation. The size is defined as the distance of the TCP from the programmed point in mm.
The size must be larger than the corresponding value for S]RQHBWFS.
If a lower value is specified, the size is automatically increased to make it the
same as S]RQHBWFS.
S]RQHBHD[
SDWK]RQHH[WHUQDOD[HV
Data type:QXP
The zone size (the radius) for external axes. The size is defined as the distance of
the TCP from the programmed point in mm.
The size must be larger than the corresponding value for S]RQHBWFS.
If a lower value is specified, the size is automatically increased to make it the
same as S]RQHBWFS.
]RQHBRUL
]RQHRULHQWDWLRQ
Data type: QXP
The zone size for the tool reorientation in degrees. If the robot is holding the work
object, this means an angle of rotation for the work object.
]RQHBOHD[
]RQHOLQHDUH[WHUQDOD[HV Data type:QXP
The zone size for linear external axes in mm.

]RQHBUHD[
]RQHURWDWLRQDOH[WHUQDOD[HVData type: QXP
The zone size for rotating external axes in degrees.
506
]RQHGDWD
'DWDW\SH
([DPSOHV
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];
The zone data SDWK is defined by means of the following characteristics:
- The zone size for the TCP path is mm.
- The zone size for the tool reorientation is mm (TCP movement).
- The zone size for external axes is mm (TCP movement).
If the TCP is standing still, or there is a large reorientation, or there is a large
external axis movement, with respect to the zone, the following apply instead:
- The zone size for the tool reorientation is degrees.
- The zone size for linear external axes is mm.
- The zone size for rotating external axes is degrees.
path.pzone_tcp := 40;
The zone size for the TCP path is adjusted to mm.
507
]RQHGDWD
'DWDW\SH
3UHGHILQHGGDWD
A number of zone data are already defined in the system module %$6(.
6WRSSRLQWV
Name
ILQH
0 mm
)O\E\SRLQWV
TCP movementTool reorientation
Name
TCP path Orientation Ext. axis Orientation Linear axisRotating axis
]
]
]
]
]
]
]
]
]
]
]
]
]
]
0.3 mm
1 mm
5 mm
10 mm
15 mm
20 mm
30 mm
40 mm
50 mm
60 mm
80 mm
100 mm
150 mm
200 mm
0.3 mm
1 mm
8 mm
15 mm
23 mm
30 mm
45 mm
60 mm
75 mm
90 mm
120 mm
150 mm
225 mm
300 mm
0.3 mm
1 mm
8 mm
15 mm
23 mm
30 mm
45 mm
60 mm
75 mm
90 mm
120 mm
150 mm
225 mm
300 mm
0.03 o
0.1 o
0.8 o
1.5 o
2.3 o
3.0 o
4.5 o
6.0 o
7.5 o
9.0 o
12 o
15 o
23 o
30 o
0.3 mm
1 mm
8 mm
15 mm
23 mm
30 mm
45 mm
60 mm
75 mm
90 mm
120 mm
150 mm
225 mm
300 mm
0.03 o
0.1 o
0.8 o
1.5 o
2.3 o
3.0 o
4.5 o
6.0 o
7.5 o
9.0 o
12 o
15 o
23 o
30 o
6WUXFWXUH
< data object of]RQHGDWD>
< ILQHS of ERRO >
< S]RQHBWFSof QXP >
< S]RQHBRUL of QXP >
< S]RQHBHD[ of QXP >
< ]RQHBRULof QXP >
< ]RQHBOHD[ of QXP >
< ]RQHBUHD[ of QXP>
508
]RQHGDWD
'DWDW\SH
5HODWHGLQIRUPDWLRQ
Described in:
Movements/Paths in general

3URJUDP([HFXWLRQ
System Parameters
Other Stop points
Data Types - VWRSSRLQWGDWD
509
]RQHGDWD
510
'DWDW\SH
,QGH[
$
'
Abs 1
absolute value 1
ACos 3
AND 17
AOutput 5
ArcL 219
arcus cosine 3
arcus sine 11
arcus tangent 13, 15
ArgName 7
array
get size 89
ASin 11
ATan 13
ATan2 15
datapos 351
DefDFrame 81
DefFrame 49, 85
Dim 89
dionum 353
dir 355
displacement
tool direction 221
displacement frame 81, 85
DotProd 93, 151, 325
%
BAD_OLD_GROUPS 452
bit manipulation 337
BitAnd 17
BitCheck 19
BitLSh 21
BitNeg 23
BitOr 25
BitRSh 27
BitXOr 29
bool 329
byte 19, 337
byte data 29
&
C_MOTSET 473
C_PROGDISP 473
CalcRotAxFrameZ 43
CHART_TOO_SHORT 452
CJointT 35, 55
clock 339
confdata 341
corner path 459, 503
Cos 61
CPos 63
CRobT 39, 65
CTool 71
CWobj 73
(
errdomain 357
ERRNO 473
errnum 359, 479
errstr 365
errtype 367
EulerZYX 97
Exp 99
exponential value 31, 99, 187
extjoint 369
)
file
unload 91
file system 109
File System Size 109
FileSize 101
fine 459, 503
fly-by point 459, 503
frame 85
FSSize 109
*
GetDataVal 351
GetNextSym 113
GetSysInfo 115
GROUP_OK 452
GRP_TOO_LARGE 452
GRP_TOO_SMALL 452
,
IndInpos 125
IndSpeed 127
interrupt
511
identity 375
INTNO 473
intnum 375
IO unit
state 129
iodev 327, 377
iounit_state 333, 379
IOUnitState 129
IsFile 131
IsPers 137
IsSysId 141
IsVar 143
joint movement 171, 175
/
LEFT SHIFT 21
loaddata 385
loadidnum 391
loadsession 393
logical value 329
0
MaxRobSpeed 145
mechanical unit 395
MechUnitLoad 475
mecunit 395
MirPos 147
mirroring 147
motsetdata 397
MoveJ 171, 175
movement
joint 171, 175
1
NEGATION 23
num 403
numeric value 403
NumToStr 153
2
object coordinate system 495
operating mode
read 157
OpMode 157
512
opnum 405
Or 25
orient 407
OrientZYX 159
ORobT 161
OUT_OF_CONTROL 452
3
paridnum 413
paridvalidnum 415
payload 385
PFRestart 179
pos 419
pose 383, 421
PoseInv 181
PoseMult 183
Pow 187
ProgMemFree 191
program displacement
remove from position 161
4
quaternion 408
5
read
current joint angles 35, 55
current robot position 39, 65
current tool data 71
current work object 73
function key 287, 293, 295, 303, 311, 317
ReadMotor 203
RelTool 15, 85, 157, 187, 221, 227
RIGHT SHIFT 27
RobOS 223
robot position 433
robtarget 433
Round 225
RunMode 227
running mode
read 227
6
SetDataSearch 113
SetDataVa 351
shapedata 437
signalai 439
,QGH[
signalao 439
signaldi 439
signaldo 439
signalgi 439
signalgo 439
Sin 229
spcdata 445
components 446
description 445
example 447
lcl_sigma 446
lcl_value 446
mean_sigma 446
mean_sigma_ok 446
mean_value 446
mean_value_ok 446
ok 446
structure 447
ucl_sigma 446
ucl_value 446
spcdescr 449
characteristics 449
description 449
example 449
spcstat 451
characteristics 452
description 451
example 451
predefined data 452
speeddata 455
Sqrt 233
square root 233
stop point 459, 503
stopwatch 339
StrFind 243
string 467
StrLen 245
StrMap 247
StrMatch 249
StrMemb 251
StrOrder 253
StrPart 255
StrToByte 257
StrToVal 261
symnum 331, 335, 371, 469
system data 473
7
Tan 263
template 231, 265, 267, 441, 443
text string 467
TextGet 279
TextTabFreeToUse 117, 281
TextTabGet 283
tooldata 481
tpnum 487
TPReadFK 287, 293, 295, 303, 311, 317
trapdata 489
triggdata 491
Trunc 285
tunetype 493
8
UnLoad 91
user coordinate system 495
9
ValToStr 323
VALUE_OK 452
velocity 455
:
wobjdata 495
work object 495
wzstationary 499
wztemporary 501
;
XOR 29
=
zonedata 459, 503
513
514
3HAC16581-1, Revision B , En
ABB Automation Technologies AB
Robotics
SE-721 68 Vsters
SWEDEN
Telephone: +46 (0) 21-34 40 00
Telefax:
+46 (0) 21-13 25 92

IRC5-Rapid Reference Part2 3HAC16581-1 RevB en Part2 Library

Diunggah oleh

Informasi Dokumen

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

IRC5-Rapid Reference Part2 3HAC16581-1 RevB en Part2 Library

Diunggah oleh

Hak Cipta:

Format Tersedia

RAPID reference manual

RAPID reference manual - part2, Functions and Data types A-Z

Copyright 2004 ABB All right reserved.

Data type: QXP

The absolute value, i.e. a positive numeric value.

Data type: QXP

The input value.

RAPID Summary - 0DWKHPDWLFV

Data type: QXP

The arc cosine value, expressed in degrees, range [0, 180].

Data type: QXP

The argument value, range [-1, 1].

RAPID Summary - 0DWKHPDWLFV

Data type: VLJQDODR

The name of the analog output to be read.

if there is no contact with the unit

RAPID Summary - ,QSXWDQG2XWSXW6LJQDOV

Input/Output functionality in general Motion and I/O Principles - ,23ULQFLSOHV

Data type: VWULQJ

The original data object name.

Data type: DQ\W\SH

RAPID Summary - 6WULQJ)XQFWLRQV

Data Types - VWULQJ

Data type: QXP

The arc sine value, expressed in degrees, range [-90, 90].

Data type: QXP

The argument value, range [-1, 1].

RAPID Summary - 0DWKHPDWLFV

Data type: QXP

The arc tangent value, expressed in degrees, range [-90, 90].

Data type: QXP

The argument value.

RAPID Summary - 0DWKHPDWLFV

Arc tangent with a return value in the

Data type: QXP

The arc tangent value, expressed in degrees, range [-180, 180].

Data type: QXP

Data type: QXP

Mathematical instructions and functions

RAPID Summary - 0DWKHPDWLFV

Arc tangent with only one argument

Data type: E\WH

The result of the logical bitwise $1' - operation in decimal representation.

Data type: E\WH

The bit data 1, in decimal representation.

Data type: E\WH

The bit data 2, in decimal representation.

Logical bitwise XOR - operation on byte data Functions - %LW;2U

Logical bitwise NEGATION - operation on

Other bit functions

RAPID Summary - %LW)XQFWLRQV

Bit position 8 has value 1.

Data type: ERRO

Data type: E\WH

The bit data, in decimal representation, to be checked.

Data type: QXP

The bit position (1-8) in the %LW'DWD to be checked.

Set a specified bit in a byte data

Clear a specified bit in a byte data

Other bit functions

RAPID Summary - %LW)XQFWLRQV

Data type: E\WH

The result of the logical bitwise /()76+,)7- operation in decimal representation.

Data type: E\WH

Input/Output functionality in general Motion and I/O Principles - ,23ULQFLSOHV