S4C-RAPID Reference Manual 3.2 (3HAC 5783-1)

3HAC 5774-1
For BaseWare OS 3.2
Table of Contents
Introduction
RAPID Overview
RAPID Summary
Basic Characteristics
Motion and I/O Principles
Programming Off-line
Predefined Data and Programs
Index, Glossary
The information in this document is subject to change without notice and should not be construed as a commitment
by ABB Robotics AB. ABB Robotics AB assumes no responsibility for any errors that may appear in this document.
In no event shall ABB Robotics AB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.
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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 document may be obtained from ABB Robotics AB at its then current charge.
ABB Robotics AB
Article number: 3HAC 5774-1
Issue: For BaseWare OS 3.2
ABB Robotics AB
S-721 68 Vsters
Sweden
RAPID Overview
CONTENTS
Page
1 Table of Contents ......................................................................................... 1-1

2 Introduction ................................................................................................. 2-1
1 Introduction ..................................................................................................................... 2-1
1.1 Other Manuals ........................................................................................................ 2-1
1.2 How to Read this Manual ....................................................................................... 2-1
3 RAPID Summary......................................................................................... 3-1

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

5.3 Searching ................................................................................................................ 3-14
5.4 Activating outputs or interrupts at specific positions ............................................. 3-14
5.5 Motion control if an error/interrupt takes place ..................................................... 3-15
5.6 Controlling external axes........................................................................................ 3-15
5.7 Independent axes .................................................................................................... 3-15
5.8 Path Correction....................................................................................................... 3-16
5.9 Conveyor tracking .................................................................................................. 3-17
5.10 Load identification and Collision detection ......................................................... 3-17
5.11 Position functions ................................................................................................. 3-17
5.12 Motion data........................................................................................................... 3-18
5.13 Basic data for movements .................................................................................... 3-18
Input and Output Signals ............................................................................................... 3-19
6.2 Changing the value of a signal ............................................................................... 3-19
6.3 Reading the value of an input signal ...................................................................... 3-19
6.4 Testing input on output signals............................................................................... 3-20
6.5 Disabling and enabling I/O modules ...................................................................... 3-20
6.6 Defining input and output signals .......................................................................... 3-20
Communication ............................................................................................................... 3-21
7.2 Communicating using the teach pendant................................................................ 3-21
7.3 Reading from or writing to a character-based serial channel/file........................... 3-22
7.4 Communicating using binary serial channels/files................................................. 3-22
7.5 Data for serial channels .......................................................................................... 3-22
Interrupts......................................................................................................................... 3-23
8.2 Connecting interrupts to trap routines .................................................................... 3-23
8.3 Ordering interrupts ................................................................................................. 3-24
8.4 Cancelling interrupts .............................................................................................. 3-24
8.5 Enabling/disabling interrupts ................................................................................. 3-24
8.6 Data type of interrupts ............................................................................................ 3-24
Error Recovery................................................................................................................ 3-25
9.2 Creating an error situation from within the program ............................................. 3-25
9.3 Restarting/returning from the error handler ........................................................... 3-26
9.4 Data for error handling ........................................................................................... 3-26
1-2
RAPID Overview
RAPID Overview
10 System & Time .............................................................................................................. 3-27
10.1 Programming principles ....................................................................................... 3-27
10.2 Using a clock to time an event.............................................................................. 3-27
10.3 Reading current time and date .............................................................................. 3-27
10.4 Retrieve time information from file...................................................................... 3-28
11 Mathematics................................................................................................................... 3-29
11.1 Programming principles........................................................................................ 3-29
11.2 Simple calculations on numeric data .................................................................... 3-29
11.3 More advanced calculations ................................................................................. 3-29
11.4 Arithmetic functions ............................................................................................. 3-30
12 Spot Welding.................................................................................................................. 3-32
12.1 Spot welding features ........................................................................................... 3-32
12.2 Principles of SpotWare ......................................................................................... 3-33
12.4 Spot welding instructions ..................................................................................... 3-34
12.5 Spot welding data ................................................................................................. 3-34
13 Arc Welding ................................................................................................................... 3-35
13.2 Arc welding instructions....................................................................................... 3-35
13.3 Arc welding plus instructions ............................................................................... 3-36
13.4 Arc welding data................................................................................................... 3-36
13.5 Arc welding plus data ........................................................................................... 3-36
14 GlueWare ....................................................................................................................... 3-37
14.1 Glueing features.................................................................................................... 3-37
14.3 Glue instructions................................................................................................... 3-37
14.4 Glue data............................................................................................................... 3-38
14.5 DispenseWare data................................................................................................ 3-38
15 External Computer Communication........................................................................... 3-39
15.2 Sending a program-controlled message from the robot to a computer................. 3-39
16 RAPID Support Instructions ....................................................................................... 3-41
16.1 Get system data..................................................................................................... 3-41
17 Service Instructions....................................................................................................... 3-43
17.1 Directing a value to the robots test signal ........................................................... 3-43
18 String Functions ............................................................................................................ 3-45
18.1 Basic Operations................................................................................................... 3-45
18.2 Comparison and Searching................................................................................... 3-45
RAPID Overview
1-3
RAPID Overview
18.3 Conversion............................................................................................................ 3-46
19 Multitasking................................................................................................................... 3-47
19.1 Basics.................................................................................................................... 3-47
19.2 Resource access Protection .................................................................................. 3-47
20 Syntax Summary ........................................................................................................... 3-49
20.1 Instructions ........................................................................................................... 3-49
20.2 Functions .............................................................................................................. 3-55
4 Basic Characteristics ...................................................................................4-1

1 Basic Elements................................................................................................................. 4-1
1.1 Identifiers................................................................................................................ 4-1
1.2 Spaces and new-line characters .............................................................................. 4-2
1.3 Numeric values....................................................................................................... 4-2
1.4 Logical values......................................................................................................... 4-2
1.5 String values ........................................................................................................... 4-2
1.6 Comments............................................................................................................... 4-3
1.7 Placeholders............................................................................................................ 4-3
1.8 File header .............................................................................................................. 4-3
1.9 Syntax..................................................................................................................... 4-4
2 Modules ............................................................................................................................ 4-7
2.1 Program modules.................................................................................................... 4-7
2.2 System modules...................................................................................................... 4-8
2.3 Module declarations ............................................................................................... 4-8
2.4 Syntax..................................................................................................................... 4-8
3 Routines ........................................................................................................................... 4-11
3.1 Routine scope ......................................................................................................... 4-11
3.2 Parameters .............................................................................................................. 4-12
3.3 Routine termination................................................................................................ 4-13
3.4 Routine declarations ............................................................................................... 4-13
3.5 Procedure call ......................................................................................................... 4-14
3.6 Syntax..................................................................................................................... 4-15
4 Data Types ....................................................................................................................... 4-19
4.1 Non-value data types .............................................................................................. 4-19
4.2 Equal (alias) data types........................................................................................... 4-19
4.3 Syntax..................................................................................................................... 4-20
5 Data .................................................................................................................................. 4-21
5.1 Data scope .............................................................................................................. 4-21
5.2 Variable declaration ................................................................................................ 4-22
5.3 Persistent declaration.............................................................................................. 4-23
1-4
RAPID Overview
RAPID Overview
5.4 Constant declaration ............................................................................................... 4-23
5.5 Initiating data.......................................................................................................... 4-24
5.6 Storage Class .......................................................................................................... 4-24
5.7 Syntax ..................................................................................................................... 4-25
6 Instructions ...................................................................................................................... 4-27
6.1 Syntax ..................................................................................................................... 4-27
7 Expressions ...................................................................................................................... 4-29
7.1 Arithmetic expressions ........................................................................................... 4-29
7.2 Logical expressions ................................................................................................ 4-30
7.3 String expressions................................................................................................... 4-30
7.4 Using data in expressions ....................................................................................... 4-31
7.5 Using aggregates in expressions............................................................................. 4-32
7.6 Using function calls in expressions ........................................................................ 4-32
7.7 Priority between operators...................................................................................... 4-33
7.8 Syntax ..................................................................................................................... 4-34
8 Error Recovery................................................................................................................ 4-37
8.1 Error handlers ......................................................................................................... 4-37
9 Interrupts ......................................................................................................................... 4-39
9.1 Interrupt manipulation ............................................................................................ 4-39
9.2 Trap routines ........................................................................................................... 4-40
10 Backward execution ...................................................................................................... 4-41
10.1 Backward handlers ............................................................................................... 4-41
10.2 Limitation of move instructions in the backward handler.................................... 4-42
11 Multitasking ................................................................................................................... 4-43
11.1 Synchronising the tasks ........................................................................................ 4-44
11.2 Intertask communication ...................................................................................... 4-45
11.3 Type of task........................................................................................................... 4-46
11.4 Priorities................................................................................................................ 4-47
11.5 Trust Level ............................................................................................................ 4-48
11.6 Task sizes .............................................................................................................. 4-48
11.7 Something to think about...................................................................................... 4-48
11.8 Programming scheme ........................................................................................... 4-49
5 Motion and I/O Principles .......................................................................... 5-1

1 Coordinate Systems......................................................................................................... 5-1
1.1 The robots tool centre point (TCP)........................................................................ 5-1
1.2 Coordinate systems used to determine the position of the TCP ............................. 5-1
1.3 Coordinate systems used to determine the direction of the tool............................. 5-6
RAPID Overview
1-5
RAPID Overview
4
5
1.4 Related information ................................................................................................ 5-10

Positioning during Program Execution......................................................................... 5-11
2.1 General ................................................................................................................... 5-11
2.2 Interpolation of the position and orientation of the tool......................................... 5-11
2.3 Interpolation of corner paths .................................................................................. 5-14
2.4 Independent axes .................................................................................................... 5-20
2.5 Soft Servo ............................................................................................................... 5-23
2.6 Stop and restart ....................................................................................................... 5-23
Synchronisation with logical instructions ..................................................................... 5-25
3.1 Sequential program execution at stop points.......................................................... 5-25
3.2 Sequential program execution at fly-by points....................................................... 5-25
3.3 Concurrent program execution ............................................................................... 5-26
3.4 Path synchronisation............................................................................................... 5-29
Robot Configuration ....................................................................................................... 5-31
Robot kinematic models ................................................................................................. 5-35
5.1 Robot kinematics .................................................................................................... 5-35
5.2 General kinematics ................................................................................................. 5-37
Motion Supervision/Collision Detection ....................................................................... 5-41
6.1 Introduction ............................................................................................................ 5-41
6.2 Tuning of Collision Detection levels...................................................................... 5-41
6.3 Motion supervision dialogue box ........................................................................... 5-41
6.4 Digital outputs ........................................................................................................ 5-43
6.5 Limitations.............................................................................................................. 5-43
Singularities ..................................................................................................................... 5-45
7.1 Singularity points/IRB 6400C ................................................................................ 5-46
7.2 Program execution through singularities................................................................ 5-46
7.3 Jogging through singularities ................................................................................. 5-46
World Zones .................................................................................................................... 5-47
8.1 Using global zones ................................................................................................. 5-47
8.2 Using World Zones................................................................................................. 5-47
8.3 Definition of World Zones in the world coordinate system ................................... 5-47
8.4 Supervision of the Robot TCP................................................................................ 5-48
1-6
RAPID Overview
RAPID Overview
8.5 Actions.................................................................................................................... 5-49
8.6 Minimum size of World Zones. .............................................................................. 5-50
8.7 Maximum number of World Zones ........................................................................ 5-50
8.8 Power failure, restart, and run on ........................................................................... 5-50
9 I/O Principles................................................................................................................... 5-53
9.1 Signal characteristics .............................................................................................. 5-53
9.2 Signals connected to interrupt ................................................................................ 5-54
9.3 System signals ........................................................................................................ 5-54
9.4 Cross connections ................................................................................................... 5-55
9.5 Limitations.............................................................................................................. 5-55
6 Programming Off-line................................................................................. 6-1

1 Programming Off-line .................................................................................................... 6-1
1.1 File format .............................................................................................................. 6-1
1.2 Editing .................................................................................................................... 6-1
1.3 Syntax check........................................................................................................... 6-1
1.4 Examples ................................................................................................................ 6-2
1.5 Making your own instructions................................................................................ 6-2
7 Predined Data and Programs ..................................................................... 7-1

1 System Module User ....................................................................................................... 7-1
1.1 Contents .................................................................................................................. 7-1
1.2 Creating new data in this module ........................................................................... 7-1
1.3 Deleting this data .................................................................................................... 7-2
8 Index, Glossary ............................................................................................ 8-1

Glossary.............................................................................................................................. 8-3
RAPID Overview
1-7
RAPID Overview
1-8
RAPID Overview
Introduction
1 Introduction
This is a reference manual containing a detailed explanation of the programming
language as well as all data types, instructions and functions. If you are programming off-line, this manual will be particularly useful in this respect.
When you start to program the robot it is normally better to start with the Users
Guide until you are familiar with the system.
1.1 Other Manuals

Before using the robot for the first time, you should read Basic Operation. This will
provide you with the basics of operating the robot.
The Users Guide provides step-by-step instructions on how to perform various
tasks, such as how to move the robot manually, how to program, or how to start a
program when running production.
The Product Manual describes how to install the robot, as well as maintenance procedures and troubleshooting. This manual also contains a Product Specification
which provides an overview of the characteristics and performance of the robot.
1.2 How to Read this Manual

To answer the questions Which instruction should I use? or What does this instruction mean?, see RAPID Overview Chapter 3: RAPID Summary. This chapter briefly
describes all instructions, functions and data types grouped in accordance with the
instruction pick-lists you use when programming. It also includes a summary of the
syntax, which is particularly useful when programming off-line.
RAPID Overview Chapter 4: Basic Characteristics explains the inner details of the
language. You would not normally read this chapter unless you are an experienced
programmer.
RAPID Overview Chapter 5: Motion and I/O Principles describes the various coordinate systems of the robot, its velocity and other motion characteristics during different types of execution.
System DataTypes and Routines Chapters 1-3 describe all data types, instructions
and functions. They are described in alphabetical order for your convenience.
This manual describes all the data and programs provided with the robot on delivery. In addition to these, there are a number of predefined data and programs supplied with the robot, either on diskette or, or sometimes already loaded.
RAPID Overview Chapter 7: Predefined Data and Programs describes what happens when these are loaded into the robot.
If you program off-line, you will find some tips in RAPID Overview Chapter 6: Programming off-line.
RAPID Overview
2-1
Introduction
To make things easier to locate and understand, RAPID Overview chapter 8 contains an Index, Glossary and System DataTypes and Routines Chapter 4 contains an
index.
Typographic conventions
The commands located under any of the five menu keys at the top of the teach pendant display are written in the form of Menu: Command. For example, to activate
the Print command in the File menu, you choose File: Print.
The names on the function keys and in the entry fields are specified in bold italic
typeface, e.g. Modpos.
Words belonging to the actual programming language, such as instruction names,
are written in italics, e.g. MoveL.
Examples of programs are always displayed in the same way as they are output to a
diskette or printer. This differs from what is displayed on the teach pendant in the
following ways:
- Certain control words that are masked in the teach pendant display are
printed, e.g. words indicating the start and end of a routine.
- Data and routine declarations are printed in the formal form,
e.g. VAR num reg1;.
Syntax rules
Instructions and functions are described using both simplified syntax and formal
syntax. If you use the teach pendant to program, you generally only need to know
the simplified syntax, since the robot automatically makes sure that the correct syntax is used.
Simplified syntax
Example:
TPWrite
Instruction
String [\Num] | [\Bool] | [\Pos] | [\Orient]

Compulsory
argument
Optional
argument
Mutually
exclusive
arguments
- Optional arguments are enclosed in square brackets [ ]. These arguments can

be omitted.
- Arguments that are mutually exclusive, i.e. cannot exist in the instruction at
the same time, are separated by a vertical bar |.
- Arguments that can be repeated an arbitrary number of times are enclosed in
braces { }.
2-2
RAPID Overview
Introduction
Formal syntax
Example:
TPWrite
[String:=] <expression (IN) of string>
[\Num:= <expression (IN) of num> ] |
[\Bool:= <expression (IN) of bool> ] |
[\Pos:= <expression (IN) of pos> ] |
[\Orient:= <expression (IN) of orient> ];
- The text within the square brackets [ ] may be omitted.

- Arguments that are mutually exclusive, i.e. cannot exist in the instruction at the
same time, are separated by a vertical bar |.
- Arguments that can be repeated an arbitrary number of times are enclosed in
braces { }.
- Symbols that are written in order to obtain the correct syntax are enclosed in
single quotation marks (apostrophes) .
- The data type of the argument (italics) and other characteristics are enclosed in
angle brackets < >. See the description of the parameters of a routine for more
detailed information.
The basic elements of the language and certain instructions are written using a special
syntax, EBNF. This is based on the same rules, but with some additions.
Example:
GOTO <identifier>;
<identifier> ::= <ident>
| <ID>
<ident> ::= <letter> {<letter> | <digit> | _}
- The symbol ::= means is defined as.

- Text enclosed in angle brackets < > is defined in a separate line.
RAPID Overview
2-3
Introduction
2-4
RAPID Overview
RAPID Summary
The Structure of the Language
1 The Structure of the Language

The program consists of a number of instructions which describe the work of the robot.
Thus, there are specific instructions for the various commands, such as one to move the
robot, one to set an output, etc.
The instructions generally have a number of associated arguments which define what
is to take place in a specific instruction. For example, the instruction for resetting an
output contains an argument which defines which output is to be reset; e.g. Reset do5.
These arguments can be specified in one of the following ways:
- as a numeric value, e.g. 5 or 4.6
- as a reference to data, e.g. reg1
- as an expression, e.g. 5+reg1*2
- as a function call, e.g. Abs(reg1)
- as a string value, e.g. "Producing part A"
There are three types of routines procedures, functions and trap routines.
- A procedure is used as a subprogram.
- A function returns a value of a specific type and is used as an argument of an
instruction.
- Trap routines provide a means of responding to interrupts. A trap routine can
be associated with a specific interrupt; e.g. when an input is set, it is automatically executed if that particular interrupt occurs.
Information can also be stored in data, e.g. tool data (which contains all information on
a tool, such as its TCP and weight) and numerical data (which can be used, for example,
to count the number of parts to be processed). Data is grouped into different data types
which describe different types of information, such as tools, positions and loads. As
this data can be created and assigned arbitrary names, there is no limit (except that
imposed by memory) on the number of data. These data can exist either globally in the
program or locally within a routine.
There are three kinds of data constants, variables and persistents.
- A constant represents a static value and can only be assigned a new value manually.
- A variable can also be assigned a new value during program execution.
- A persistent can be described as a persistent variable. When a program is
saved the initialization value reflects the current value of the persistent.
Other features in the language are:
- Routine parameters
- Arithmetic and logical expressions
- Automatic error handling
- Modular programs
- Multi tasking
RAPID Overview
3-1
The Structure of the Language
3-2
RAPID Summary
RAPID Overview
RAPID Summary
Controlling the Program Flow
2 Controlling the Program Flow

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

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

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

Instruction
Used to:
Compact IF
Execute one instruction only if a condition is satisfied
IF
Execute a sequence of different instructions depending on

whether or not a condition is satisfied
FOR
Repeat a section of the program a number of times
WHILE
Repeat a sequence of different instructions as long as a given

condition is satisfied
TEST
Execute different instructions depending on the value of an

expression
GOTO
Jump to a label
label
Specify a label (line name)
RAPID Overview
3-3
Controlling the Program Flow
RAPID Summary
2.4 Stopping program execution

Instruction
Used to:
Stop
Stop program execution
EXIT
Stop program execution when a program restart is not allowed
Break
Stop program execution temporarily for debugging purposes
2.5 Stop current cycle
3-4
Instruction
Used to:
Exit cycle
Stop the current cycle and move the program pointer to the first
instruction in the main routine. When the execution mode
CONT is selected, execution will continue with the next
program cycle.
RAPID Overview
RAPID Summary
Various Instructions
3 Various Instructions
Various instructions are used to
- assign values to data
- wait a given amount of time or wait until a condition is satisfied
- insert a comment into the program
- load program modules.
3.1 Assigning a value to data

Data can be assigned an arbitrary value. It can, for example, be initialised with a constant value, e.g. 5, or updated with an arithmetic expression, e.g. reg1+5*reg3.
Instruction
Used to:
:=
Assign a value to data
3.2 Wait
The robot can be programmed to wait a given amount of time, or to wait until an arbitrary condition is satisfied; for example, to wait until an input is set.
Instruction
Used to:
WaitTime
Wait a given amount of time or to wait until the robot stops

moving
WaitUntil
Wait until a condition is satisfied
WaitDI
Wait until a digital input is set
WaitDO
Wait until a digital output is set
3.3 Comments
Comments are only inserted into the program to increase its readability. Program execution is not affected by a comment.
Instruction
Used to:
comment
Comment on the program
RAPID Overview
3-5
RAPID Summary
3.4 Loading program modules

Program modules can be loaded from mass memory or erased from the program memory. In this way large programs can be handled with only a small memory.
Instruction
Used to:
Load
Load a program module into the program memory
UnLoad
Unload a program module from the program memory
Start Load
Load a program module into the program memory during

execution
Wait Load
Connect the module, if loaded with StartLoad, to the

program task
Save
Save a program module
Data type
Used to:
loadsession
Program a load session
3.5 Various functions

Function
Used to:
OpMode
Read the current operating mode of the robot
RunMode
Read the current program execution mode of the robot
Dim
Obtain the dimensions of an array
Present
Find out whether an optional parameter was present when a

routine call was made
IsPers
Check whether a parameter is a persistent
IsVar
Check whether a parameter is a variable
3.6 Basic data
3-6
Data type
Used to define:
bool
Logical data (with the values true or false)
num
Numeric values (decimal or integer)
symnum
Numeric data with symbolic value
string
Character strings
switch
Routine parameters without value
RAPID Overview
RAPID Summary
3.7 Conversion function

Function
Used to:
StrToByte
Convert a byte to a string data with a defined byte data format.
ByteToStr
Convert a string with a defined byte data format to a byte data.
RAPID Overview
3-7
3-8
RAPID Summary
RAPID Overview
RAPID Summary
Motion Settings
4 Motion Settings
Some of the motion characteristics of the robot are determined using logical
instructions that apply to all movements:
- Maximum velocity and velocity override
- Acceleration
- Management of different robot configurations
- Payload
- Behaviour close to singular points
- Program displacement
- Soft servo
- Tuning values

The basic characteristics of the robot motion are determined by data specified for each
positioning instruction. Some data, however, is specified in separate instructions which
apply to all movements until that data changes.
The general motion settings are specified using a number of instructions, but can also
be read using the system variable C_MOTSET or C_PROGDISP.
Default values are automatically set (by executing the routine SYS_RESET in system
module BASE)
- at a cold start-up,
- when a new program is loaded,
- when the program is started from the beginning.
4.2 Defining velocity

The absolute velocity is programmed as an argument in the positioning instruction. In
addition to this, the maximum velocity and velocity override (a percentage of the
programmed velocity) can be defined.
Instruction
Used to define:
VelSet
The maximum velocity and velocity override
RAPID Overview
3-9
Motion Settings
RAPID Summary
4.3 Defining acceleration

When fragile parts, for example, are handled, the acceleration can be reduced for part
of the program.
Instruction
Used to define:
AccSet
The maximum acceleration
4.4 Defining configuration management

The robots configuration is normally checked during motion. If joint (axis-by-axis)
motion is used, the correct configuration will be achieved. If linear or circular motion
are used, the robot will always move towards the closest configuration, but a check is
performed to see if it is the same as the programmed one. It is possible to change this,
however.
Instruction
Used to define:
ConfJ
Configuration control on/off during joint motion
ConfL
Configuration check on/off during linear motion
4.5 Defining the payload

To achieve the best robot performance, the correct payload must be defined.
Instruction
Used to define:
GripLoad
The payload of the gripper
4.6 Defining the behaviour near singular points

The robot can be programmed to avoid singular points by changing the tool orientation
automatically.
3-10
Instruction
Used to define:
SingArea
The interpolation method through singular points
RAPID Overview
RAPID Summary
Motion Settings
4.7 Displacing a program

When part of the program must be displaced, e.g. following a search, a program
displacement can be added.
Instruction
Used to:
PDispOn
Activate program displacement
PDispSet
Activate program displacement by specifying a value
PDispOff
Deactivate program displacement
EOffsOn
Activate an external axis offset
EOffsSet
Activate an external axis offset by specifying a value
EOffsOff
Deactivate an external axis offset
Function
Used to:
DefDFrame
Calculate a program displacement from three positions
DefFrame
Calculate a program displacement from six positions
ORobT
Remove program displacement from a position
4.8 Soft servo

One or more of the robot axes can be made soft. When using this function, the robot
will be compliant and can replace, for example, a spring tool.
Instruction
Used to:
SoftAct
Activate the soft servo for one or more axes
SoftDeact
Deactivate the soft servo
4.9 Adjust the robot tuning values

In general, the performance of the robot is self-optimising; however, in certain extreme
cases, overrunning, for example, can occur. You can adjust the robot tuning values to
obtain the required performance.
Instruction
Used to:
TuneServo1
Adjust the robot tuning values
TuneReset
Reset tuning to normal
PathResol
Adjust the geometric path resolution
Data type
Used to:
tunetype
Represent the tuning type as a symbolic constant
1. Only when the robot is equipped with the option Advanced Motion
RAPID Overview
3-11
Motion Settings
RAPID Summary
4.10 World Zones

Up to 10 different volumes can be defined within the working area of the robot. These
can be used for:
- Indicating that the robots TCP is a definite part of the working area.
- Delimiting the working area for the robot and preventing a collision with the
tool.
- Creating a working area common to two robots. The working area is then
available only to one robot at a time.
Instruction
Used to:
WZBoxDef
Define a box-shaped global zone
WZCylDef
Define a cylindrical global zone
WZSphDef
Define a spherical global zone
WZLimSup1
Activate limit supervision for a global zone
WZDOSet1
Activate global zone to set digital outputs
WZDisable1
Deactivate supervision of a temporary global zone
WZEnable1
Activate supervision of a temporary global zone
WZFree1
Erase supervision of a temporary global zone
Data type
Used to:
wztemporary
Identify a temporary global zone
wzstationary
Identify a stationary global zone
shapedata
Describe the geometry of a global zone
4.11 Data for motion settings

Data type
Used to define:
motsetdata
Motion settings except program displacement
progdisp
Program displacement
1. Only when the robot is equipped with the option Advanced functions
3-12
RAPID Overview
RAPID Summary
Motion
5 Motion
The robot movements are programmed as pose-to-pose movements, i.e. move from
the current position to a new position. The path between these two positions is then
automatically calculated by the robot.

The basic motion characteristics, such as the type of path, are specified by choosing
the appropriate positioning instruction.
The remaining motion characteristics are specified by defining data which are arguments of the instruction:
- Position data (end position for robot and external axes)
- Speed data (desired speed)
- Zone data (position accuracy)
- Tool data (e.g. the position of the TCP)
- Work-object data (e.g. the current coordinate system)
Some of the motion characteristics of the robot are determined using logical instructions which apply to all movements (See Motion Settings on page 9):
- Maximum velocity and velocity override
- Acceleration
- Payload
- Behaviour close to singular points
- Program displacement
- Soft servo
- Tuning values
Both the robot and the external axes are positioned using the same instructions. The
external axes are moved at a constant velocity, arriving at the end position at the same
time as the robot.
RAPID Overview
3-13
Motion
RAPID Summary
5.2 Positioning instructions

Instruction
Type of movement:
MoveC
TCP moves along a circular path
MoveJ
Joint movement
MoveL
TCP moves along a linear path
MoveAbsJ
Absolute joint movement
MoveCDO
Moves the robot circularly and sets a digital output

in the middle of the corner path.
MoveJDO
Moves the robot by joint movement and sets a digital output

MoveLDO
Moves the robot linearly and sets a digital output

MoveCSync1
MoveJSync
MoveLSync1
Moves the robot circularly and executes a RAPID procedure

Moves the robot by joint movement and executes a RAPID
procedure
Moves the robot linearly and executes a RAPID procedure
1. Only if the robot is equipped with the option Advanced Functions.
5.3 Searching
During the movement, the robot can search for the position of a work object, for example. The searched position (indicated by a sensor signal) is stored and can be used later
to position the robot or to calculate a program displacement.
Instruction
Type of movement:
SearchC
TCP along a circular path
SearchL
TCP along a linear path
5.4 Activating outputs or interrupts at specific positions

Normally, logical instructions are executed in the transition from one positioning
instruction to another. If, however, special motion instructions are used, these can be
executed instead when the robot is at a specific position.
Instruction
Used to:
TriggIO1
Define a trigg condition to set an output at a given position
Define a trigg condition to execute a trap routine at a given

position
TriggInt
1. Only if the robot is equipped with the option Advanced functions
3-14
RAPID Overview
RAPID Summary
Motion
TriggEquip1
Define a trigg condition to set an output at a given position

with the possibility to include time compensation for the lag
in the external equipment
TriggC1
Run the robot (TCP) circularly with an activated trigg

condition
TriggJ1
Run the robot axis-by-axis with an activated trigg condition
TriggL1
Run the robot (TCP) linearly with an activated trigg condition
Data type
Used to define:
triggdata1
Trigg conditions
aoitrigg
Analogue I/O trigger condition
1.Only if the robot is equipped with the option Advanced Functions.
5.5 Motion control if an error/interrupt takes place

In order to rectify an error or an interrupt, motion can be stopped temporarily and then
restarted again.
Instruction
Used to:
StopMove
Stop the robot movements
StartMove
Restart the robot movements
StorePath1
Store the last path generated
RestoPath1
Regenerate a path stored earlier
1. Only if the robot is equipped with the option Advanced Functions.
5.6 Controlling external axes

The robot and external axes are usually positioned using the same instructions. Some
instructions, however, only affect the external axis movements.
Instruction
Used to:
DeactUnit
Deactivate an external mechanical unit
ActUnit
Activate an external mechanical unit
MechUnit Load
Defines a payload for a mechanical unit
5.7 Independent axes

The robot axis 6 (and 4 on IRB 2400 /4400) or an external axis can be moved independently of other movements. The working area of an axis can also be reset, which
will reduce the cycle times.
RAPID Overview
3-15
Motion
RAPID Summary
Function
Used to:
2
IndAMove
Change an axis to independent mode and move the axis to an

absolute position
IndCMove2
Change an axis to independent mode and start the axis moving

continuously
IndDMove2
Change an axis to independent mode and move the axis a

delta distance
IndRMove2
Change an axis to independent mode and move the axis to a

relative position (within the axis revolution)
IndReset2
Change an axis to dependent mode or/and reset the working

area
IndInpos2
Check whether an independent axis is in position
IndSpeed
Check whether an independent axis has reached programmed

speed
Instruction
Used to:
HollowWristReset2
Reset the position of the wrist joints on hollow wrist

manipulators, such as IRB 5402 and IRB 5403.
2. Only if the robot is equipped with the option Advanced Motion.

(The Instruction HollowWristReset can only be used on Robot IRB 5402 AND IRB 5403.)
5.8 Path Correction

Instruction
Used to:
CorrCon2
Connect to a correction generator
CorrWrite2
Write offsets in the path coordinate system to a correction

generator
CorrDiscon2
Disconnect from a previously connected correction generator
CorrClear2
Remove all connected correction generators
Function
Used to:
CorrRead2
Read the total corrections delivered by all connected correction

generators
Data type
Used to:
Corrdescr2
Add geometric offsets in the path coordinate system
2. Only if the robot is equipped with the option Advanced Motion.

(The Instruction HollowWristReset can only be used on Robots IRB 5402 and IRB 5403.)
3-16
RAPID Overview
RAPID Summary
Motion
5.9 Conveyor tracking

Instruction
Used to:
WaitWObj3
Wait for work object on conveyor
DropWObj3
Drop work object on conveyor
3. Only if the robot is equipped with the option Conveyor tracking.
5.10 Load identification and Collision detection

Instruction
Used to:
MotionSup
Deactivates/activates motion supervision
ParIdPosValid
Valid robot position for parameter identification
ParIdRobValid
Valid robot type for parameter identification
LoadId
Load identification of tool or payload
5.11 Position functions

Function
Used to:
Offs
Add an offset to a robot position, expressed in relation to the

work object
RelTool
Add an offset, expressed in the tool coordinate system
CalcRobT
Calculates robtarget from jointtarget
CPos
Read the current position (only x, y, z of the robot)
CRobT
Read the current position (the complete robtarget)
CJointT
Read the current joint angles
ReadMotor
Read the current motor angles
CTool
Read the current tooldata value
CWObj
Read the current wobjdata value
ORobT
Remove a program displacement from a position
MirPos
Mirror a position
CalcJointT
Calculates joint angles from robtarget
Distance
The distance between two positions
RAPID Overview
3-17
Motion
RAPID Summary
5.12 Motion data

Motion data is used as an argument in the positioning instructions.
Data type
Used to define:
robtarget
The end position
jointtarget
The end position for a MoveAbsJ instruction
speeddata
The speed
zonedata
The accuracy of the position (stop point or fly-by point)
tooldata
The tool coordinate system and the load of the tool
wobjdata
The work object coordinate system
5.13 Basic data for movements
3-18
Data type
Used to define:
pos
A position (x, y, z)
orient
An orientation
pose
A coordinate system (position + orientation)
confdata
The configuration of the robot axes
extjoint
The position of the external axes
robjoint
The position of the robot axes
o_robtarget
Original robot position when Limit ModPos is used
o_jointtarget
Original robot position when Limit ModPos is used for

MoveAbsJ
loaddata
A load
mecunit
An external mechanical unit
RAPID Overview
RAPID Summary
Input and Output Signals
6 Input and Output Signals

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

The signal names are defined in the system parameters. These names are always available in the program for reading or setting I/O operations.
The value of an analog signal or a group of digital signals is specified as a numeric
value.
6.2 Changing the value of a signal

Instruction
Used to:
InvertDO
Invert the value of a digital output signal
PulseDO
Generate a pulse on a digital output signal
Reset
Reset a digital output signal (to 0)
Set
Set a digital output signal (to 1)
SetAO
Change the value of an analog output signal
SetDO
Change the value of a digital output signal (symbolic value;

e.g. high/low)
SetGO
Change the value of a group of digital output signals
6.3 Reading the value of an input signal

The value of an input signal can be read directly 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 ...
RAPID Overview
3-19
Input and Output Signals
RAPID Summary
6.4 Testing input on output signals

Instruction
Used to:
WaitDI
Wait until a digital input is set or reset
WaitDO
Wait until a digital output is set on reset
Function
Used to:
TestDI
Test whether a digital input is set
6.5 Disabling and enabling I/O modules

I/O modules are automatically enabled at start-up, but they can be disabled during program execution and re-enabled later.
Instruction
Used to:
IODisable
Disable an I/O module
IOEnable
Enable an I/O module
6.6 Defining input and output signals

Data type
Used to define:
dionum
The symbolic value of a digital signal
signalai
The name of an analog input signal *
signalao
The name of an analog output signal *
signaldi
The name of a digital input signal *
signaldo
The name of a digital output signal *
signalgi
The name of a group of digital input signals *
signalgo
The name of a group of digital output signals *
Instruction
Used to:
AliasIO1
Define a signal with an alias name
* Only to be defined using system parameters.
1. Only if the robot is equipped with the option Developers Functions
3-20
RAPID Overview
RAPID Summary
Communication
7 Communication
There are four possible ways to communicate via serial channels:
- Messages can be output to the teach pendant display and the user can answer
questions, such as about the number of parts to be processed.
- Character-based information can be written to or read from text files in mass
memory. In this way, for example, production statistics can be stored and processed later in a PC. Information can also be printed directly on a printer connected to the robot.
- Binary information can be transferred between the robot and a sensor, for example.
- Binary information can be transferred between the robot and another computer,
for example, with a link protocol.

The decision whether to use character-based or binary information depends on how the
equipment with which the robot communicates handles that information. A file, for
example, can have data that is stored in character-based or binary form.
If communication is required in both directions simultaneously, binary transmission is
necessary.
Each serial channel or file used must first be opened. On doing this, the channel/file
receives a descriptor that is then used as a reference when reading/writing. The teach
pendant can be used at all times and does not need to be opened.
Both text and the value of certain types of data can be printed.
7.2 Communicating using the teach pendant

Instruction
Used to:
TPErase
Clear the teach pendant operator display
TPWrite
Write text on the teach pendant operator display
ErrWrite
Write text on the teach pendant display and simultaneously

store that message in the progams error log.
TPReadFK
Label the function keys and to read which key is pressed
TPReadNum
Read a numeric value from the teach pendant
TPShow
Choose a window on the teach pendant from RAPID
RAPID Overview
3-21
Communication
RAPID Summary
7.3 Reading from or writing to a character-based serial channel/file

Instruction
Used to:
Open1
Open a channel/file for reading or writing
Write text to the channel/file
Close the channel/file
Write
Close
Function
Used to:
1
ReadNum
Read a numeric value
ReadStr1
Read a text string
7.4 Communicating using binary serial channels/files

Instruction
Used to:
Open1
Open a serial channel/file for binary transfer of data
WriteBin1
Write to a binary serial channel/file
WriteAnyBin1
Write to any binary serial channel/file
WriteStrBin1
Write a string to a binary serial channel/file
Rewind1
Set the file position to the beginning of the file
Close1
Close the channel/file
ClearIOBuff1
Clear input buffer of a serial channel
Function
Used to:
ReadBin1
Read from a binary serial channel

1
ReadAnyBin
Read from any binary serial channel
7.5 Data for serial channels

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

reading and writing
3-22
RAPID Overview
RAPID Summary
Interrupts
8 Interrupts
Interrupts are used by the program to enable it to deal directly with an event, regardless
of which instruction is being run at the time.
The program is interrupted, for example, when a specific input is set to one. When this
occurs, the ordinary program is interrupted and a special trap routine is executed.
When this has been fully executed, program execution resumes from where it was
interrupted.

Each interrupt is assigned an interrupt identity. It obtains its identity by creating a variable (of data type intnum) and connecting this to a trap routine.
The interrupt identity (variable) is then used to order an interrupt, i.e. to specify the reason for the interrupt. This may be one of the following events:
- An input or output is set to one or to zero.
- A given amount of time elapses after an interrupt is ordered.
- A specific position is reached.
When an interrupt is ordered, it is also automatically enabled, but can be temporarily
disabled. This can take place in two ways:
- All interrupts can be disabled. Any interrupts occurring during this time are
placed in a queue and then automatically generated when interrupts are enabled
again.
- Individual interrupts can be deactivated. Any interrupts occurring during this
time are disregarded.
8.2 Connecting interrupts to trap routines

Instruction
Used to:
CONNECT
Connect a variable (interrupt identity) to a trap routine
RAPID Overview
3-23
Interrupts
RAPID Summary
8.3 Ordering interrupts

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

Instruction
Used to:
IDelete
Cancel (delete) an interrupt
8.5 Enabling/disabling interrupts

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

Data type
Used to define:
intnum
The identity of an interrupt
3-24
RAPID Overview
RAPID Summary
Error Recovery
9 Error Recovery
Many of the errors that occur when a program is being executed can be handled in the
program, which means that program execution does not have to be interrupted. These
errors are either of a type detected by the robot, such as division by zero, or of a type
that is detected by the program, such as errors that occur when an incorrect value is
read by a bar code reader.

When an error occurs, the error handler of the routine is called (if there is one). It is
also possible to create an error from within the program and then jump to the error handler.
If the routine does not have an error handler, a call will be made to the error handler in
the routine that called the routine in question. If there is no error handler there either,
a call will be made to the error handler in the routine that called that routine, and so on
until the internal error handler of the robot takes over and outputs an error message and
stops program execution.
In the error handler, errors can be handled using ordinary instructions. The system data
ERRNO can be used to determine the type of error that has occurred. A return from the
error handler can then take place in various ways.
In future releases, if the current routine does not have an error handler, the internal
error handler of the robot takes over directly. The internal error handler outputs an error
message and stops program execution with the program pointer at the faulty instruction.
So, a good rule already in this issue is as follows: if you want to call the error handler
of the routine that called the current routine (propagate the error), then:
- Add an error handler in the current routine
- Add the instruction RAISE in this error handler.
9.2 Creating an error situation from within the program

Instruction
Used to:
RAISE
Create an error and call the error handler
RAPID Overview
3-25
Error Recovery
RAPID Summary
9.3 Restarting/returning from the error handler

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

the error
RETURN
Return to the routine that called the current routine
9.4 Data for error handling
3-26
Data type
Used to define:
errnum
The reason for the error
RAPID Overview
RAPID Summary
System & Time
10 System & Time

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

Clock instructions allow the user to use clocks that function as stopwatches. In this way
the robot program can be used to time any desired event.
The current time or date can be retrieved in a string. This string can then be displayed
to the operator on the teach pendant display or used to time and date-stamp log files.
It is also possible to retrieve components of the current system time as a numeric value.
This allows the robot program to perform an action at a certain time or on a certain day
of the week.
10.2 Using a clock to time an event

Instruction
Used to:
ClkReset
Reset a clock used for timing
ClkStart
Start a clock used for timing
ClkStop
Stop a clock used for timing
Function
Used to:
ClkRead
Read a clock used for timing
Data Type
Used for:
clock
Timing stores a time measurement in seconds
10.3 Reading current time and date

Function
Used to:
CDate
Read the Current Date as a string
CTime
Read the Current Time as a string
GetTime
Read the Current Time as a numeric value
RAPID Overview
3-27
System & Time
RAPID Summary
10.4 Retrieve time information from file
3-28
Function
Used to:
FileTime
Retrieve the last time for modification of a file.
ModTime
Retrieve the time of loading a specified module.
RAPID Overview
RAPID Summary
Mathematics
11 Mathematics
Mathematical instructions and functions are used to calculate and change the value of
data.

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

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

Instruction
Used to:
:=
Perform calculations on any type of data
RAPID Overview
3-29
Mathematics
RAPID Summary
11.4 Arithmetic functions
3-30
Function
Used to:
Abs
Calculate the absolute value
Round
Round a numeric value
Trunc
Truncate a numeric value
Sqrt
Calculate the square root
Exp
Calculate the exponential value with the base e
Pow
Calculate the exponential value with an arbitrary base
ACos
Calculate the arc cosine value
ASin
Calculate the arc sine value
ATan
Calculate the arc tangent value in the range [-90,90]
ATan2
Calculate the arc tangent value in the range [-180,180]
Cos
Calculate the cosine value
Sin
Calculate the sine value
Tan
Calculate the tangent value
EulerZYX
Calculate Euler angles from an orientation
OrientZYX
Calculate the orientation from Euler angles
PoseInv
Invert a pose
PoseMult
Multiply a pose
PoseVect
Multiply a pose and a vector
Vectmagn
Calculate the magnitude of a pos vector.
DotProd
Calculate the dot (or scalar) product of two pos vectors.
NOrient
Normalise unnormalised orientation (quarternion)
RAPID Overview
RAPID Summary
RAPID Overview
Mathematics
3-31
Spot Welding
RAPID Summary
12 Spot Welding
The SpotWare package provides support for spot welding applications that are
equipped with a weld timer and on/off weld gun.
The SpotWare application provides fast and accurate positioning combined with gun
manipulation, process start and supervision of an external weld timer.
Communication with the welding equipment is carried out by means of digital inputs
and outputs. Some serial weld timer interfaces are also supported: Bosch PSS5000,
NADEX, ABB Timer. See separate documentation.
It should be noted that SpotWare is a package that can be extensively customised. The
intention is that the user adapts some user data and routines to suit the environmental
situation.
12.1 Spot welding features

The SpotWare package contains the following features:
- Fast and accurate positioning
- Handling of an on/off gun with two strokes
- Dual/single gun
- Gun pre-closing
- User defined supervision of the surrounding equipment before weld start
- User defined supervision of the surrounding equipment after the weld
- User defined open/close gun and supervision
- User defined pressure setting
- User defined preclose time calculation
- Monitoring of the external weld timer
- Weld error recovery with automatic rewelding
- Return to the spot weld position
- Spot counters
- Time or signal dependent motion release after a weld
- Quick start after a weld
- User-defined service routines
- Presetting and checking of gun pressure
- Simulated welding
- Reverse execution with gun control
- Parallel and serial weld timer interfaces
3-32
RAPID Reference Manual
RAPID Summary
Spot Welding
- Supports both program and start triggered weld timers

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

SpotWare is based on a separate handling of motion, spot welding and, if MultiTasking
is installed, continuous supervision. On its way towards the programmed position, the
motion task will trigger actions in the spot-welding tasks.
The triggers are activated by virtual digital signals.
The tasks work with their own internal encapsulated variables and with persistents
which are fully transparent for all tasks.
For well defined entries, calls to user routines offer adaptations to the plant environment. A number of predefined parameters are also available to shape the behaviour of
the SpotL/J instruction.
A program stop will only stop the motion task execution. The process and supervision
carry on their tasks until they come to a well defined process stop. For example, this
will finish the weld and open the gun, although the program has stopped.
The opening and closing of the gun are always executed by RAPID routines, even if
activated manually from the I/O window on the teach-pendant. These gun routines may
be changed from the simple on/off default functionality to a more complex like analog
gun control and they may contain additional gun supervision.
Since the process and supervision tasks are acting on I/O triggers, they will be executed
either by the trig that was sent by the motion (SpotL/J) or by manual activation (teach
pendant or external). This offers the possibility of performing a stand-alone weld anywhere without programming a new position.
It is also possible to define new supervision events and to connect them to digital signal
triggers. By default, a state dependent weld power and water cooling signal control are
implemented.
Supported equipment:
- One weld timer monitoring with standard parallel (some serial) interface. The
weld timer may be of the type, program schedule or start signal triggered.
3-33
Spot Welding
RAPID Summary
- Any type of single/dual gun close and gun gap control.

- Any type of pressure preset.
- Event controlled SpotL/J-independent spot weld equipment such as contactors
etc. (Note: MultiTasking option required).

Both the robots linear movement and the spot weld process control are embedded in
one instruction, SpotL.
Both the robots joint movement and the spot weld process control are embedded in one
instruction, SpotJ.
The spot welding process is specified by:
- Spotdata: spot weld process data
- Gundata: spot weld gun data
- The system modules SWUSRF and SWUSRC: RAPID routines and global data
for customising purposes. See Predefined Data and Programs ProcessWare.
- System parameters: the I/O configuration. See Users Guide - System Parameters
12.4 Spot welding instructions

Instruction
Used to:
SpotL
Control the motion, gun closure/opening, and the welding

process
Move the TCP along a linear path and perform a spot weld at
the end position
SpotJ
Control the motion, gun closure/opening, and the welding

process
Move the TCP along a non-linear path and perform a spot weld
at the end position
SpotML
Spot welding with multiple guns
12.5 Spot welding data
3-34
Data type
Used to define:
spotdata
The spot weld process control
gundata
The spot weld gun
spotmdata
The spot weld process control for multiple guns
gunmdata
Spot weld gundata for multiple guns
RAPID Summary
Arc Welding
13 Arc Welding
The ArcWare package supports most welding functions. Crater-filling and scraping
starts can, for example, be programmed. Using ArcWare, the whole welding process
can be controlled and monitored by the robot via a number of different digital and analog inputs and outputs.

The same instructions are used both to control the robots movements and the actual
welding process. The arc welding instructions indicate which weld data and seam data
are used in the weld in question.
The weld settings for the actual weld phase are defined in weld data. The start and end
phase are defined in seam data.
Any weaving is defined in weave data, which is also identified by the arc welding
instruction.
Certain functions, such as a scraping start, are defined in the system parameters.
The welding process is divided into the following phases:
WELD
START
PREACTION
IGNITION
END
FINISH
HEAT
FILL
POSTACTION
13.2 Arc welding instructions

Instruction
Type of movement:
ArcC
TCP along a circular path
ArcL
TCP along a linear path
RAPID Overview
3-35
Arc Welding
RAPID Summary
13.3 Arc welding plus instructions

Instruction
Type of movement:
ArcRefresh
Refresh ArcWeld data
ArcKill
Kill the ArcWeld process
SpcWrite
Writes to a statistical process controller
SpcStat
Statistical process control status
SpcRead
Reads the current process status
SpcDump
Dumps statistical process control information
SpcDiscon
Disconnects from a statistical process controller
SpcCon
Connects to a statistical process controller
13.4 Arc welding data

Data type
Used to define:
welddata
The weld phase
seamdata
The start and end phase of a weld
weavedata
The weaving characteristics
arcdata
Arc process data
13.5 Arc welding plus data
3-36
Data type
Used to define:
spcdescr
Statistical process control descriptor
spcdata
Statistical process control data
RAPID Overview
RAPID Summary
GlueWare
14 GlueWare
The GlueWare package provides support for gluing applications that are equipped with
one or two gluing guns.
The GlueWare application provides fast and accurate positioning combined with gun
manipulation, process start and stop.
Communication with the glueing equipment is carried out by means of digital and analog outputs.
14.1 Glueing features

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

Both the robots movement and the glue process control are embedded in one instruction, GlueL and GlueC respectively.
The glueing process is specified by:
- Gundata: glue gun data. See Data types - ggundata.
- The system module GLUSER: RAPID routines and global data for customizing
purposes. See Predefined Data and Programs - System Module GLUSER.
- System parameters: the I/O configuration. See System Parameters - Glueing
14.3 Glue instructions

Instruction
Used to:
GlueL
Move the TCP along a linear path and perform gluing with the
given data
GlueC
Move the TCP along a circular path and perform gluing with
the given data
RAPID Overview
3-37
GlueWare
RAPID Summary
14.4 Glue data

Data type
Used to define:
ggundata
The glue gun used
14.5 DispenseWare data
3-38
Data type
Used to define:
beaddata
Dispensing Bead Data
equidata
Dispensing Equipment Data
RAPID Overview
RAPID Summary
External Computer Communication
15 External Computer Communication

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

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

Instruction
Used to:
SCWrite1
Send a message to the superordinate computer
1. Only if the robot is equipped with the option RAP Serial Link.
RAPID Overview
3-39
External Computer Communication
3-40
RAPID Summary
RAPID Overview
RAPID Summary
RAPID Support Instructions
16 RAPID Support Instructions

Various functions for supporting of the RAPID language:
- Get system data
16.1 Get system data

Instruction to fetch the value and (optional) the symbol name for the current system
data of specified type.
Instruction
Used to:
GetSysData
Fetch data for and name of current active Tool or Work Object.
RAPID Overview
3-41
RAPID Support Instructions
3-42
RAPID Summary
RAPID Overview
RAPID Summary
Service Instructions
17 Service Instructions
A number of instructions are available to test the robot system. See the chapter on
Troubleshooting Tools in the Product Manual for more information.
17.1 Directing a value to the robots test signal

A reference signal, such as the speed of a motor, can be directed to an analog output
signal located on the backplane of the robot.
Instruction
Used to:
TestSign
Define and activate a test signal
Data type
Used to define:
testsignal
The type of test signal
RAPID Overview
3-43
Service Instructions
3-44
RAPID Summary
RAPID Overview
RAPID Summary
String Functions
18 String Functions
String functions are used for operations with strings such as copying, concatenation,
comparison, searching, conversion, etc.
18.1 Basic Operations

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

STR_LOWER and STR_WHITE
Instruction/Operator
Used to:
:=
Assign a value (copy of string)
String concatenation
Function
Used to:
StrLen
Find string length
StrPart
Obtain part of a string
18.2 Comparison and Searching

Operator
Used to:
Test if equal to
<>
Test if not equal to
Function
Used to:
StrMemb
Check if character belongs to a set
StrFind
Search for character in a string
StrMatch
Search for pattern in a string
StrOrder
Check if strings are in order
RAPID Overview
3-45
String Functions
RAPID Summary
18.3 Conversion
3-46
Function
Used to:
NumToStr
Convert a numeric value to a string
ValToStr
Convert a value to a string
StrToVal
Convert a string to a value
StrMap
Map a string
StrToByte
Convert a string to a byte
ByteToStr
Convert a byte to string data
RAPID Overview
RAPID Summary
Multitasking
19 Multitasking
Multitasking RAPID is a way to execute programs in (pseudo) parallel with the
normal execution. One parallel program can be placed in the background or foreground
of another program. It can also be on the same level as another program.
(See Basic Characteristics Multitasking.)
19.1 Basics
To use this function the robot must be configured with one extra TASK for each background program.
Up to 10 different tasks can be run in pseudo parallel. Each task consists of a set of
modules, in the same way as the normal program. All the modules are local in each
task.
Variables and constants are local in each task, but persistents are not. A persistent with
the same name and type is reachable in all tasks. If two persistents have the same name,
but their type or size (array dimension) differ, a runtime error will occur.
A task has its own trap handling and the event routines are triggered only on its own
task system states (e.g. Start/Stop/Restart....).
19.2 Resource access Protection

Function
Used to
TestAndSet
Retrieve exclusive right to specific RAPID code areas or

system resources.
RAPID Overview
3-47
Multitasking
3-48
RAPID Summary
RAPID Overview
RAPID Summary
Syntax Summary
20 Syntax Summary
20.1 Instructions
Data := Value
AccSet
Acc Ramp
ActUnit MecUnit
Add
Name AddValue
ArcRefresh
ArcKill
Break
CallBy Var Name Number
Clear
Name
ClkReset
Clock
ClkStart
Clock
ClkStop
Clock
Close
IODevice
! Comment
ConfJ
[\On] | [\Off]
ConfL
[\On] | [\Off]
CONNECT Interrupt WITH Trap routine

CorrClear
CorrCon Descr
CorrDiscon Descr
CorrWrite
CorrWrite Descr Data
RAPID Overview
3-49
Syntax Summary
RAPID Summary
CorrClear
DeactUnit MecUnit
Decr
Name
DropWObj WObj
EOffsSet EAxOffs
ErrWrite [ \W ] Header Reason [ \RL2] [ \RL3] [ \RL4]
Exit
ExitCycle
FOR Loop counter FROM Start value TO End value
[STEP Step value] DO ... ENDFOR
GOTO
Label
GripLoad
Load
GetSysData
IDelete
IF
DestObject [\ ObjectName ]
Interrupt
Condition
...
IF Condition THEN ...

{ELSEIF Condition THEN ...}
[ELSE ...]
ENDIF
Incr
Name
IndAMove MecUnit Axis [ \ToAbsPos ] | [ \ToAbsNum ] Speed

[ \Ramp ]
IndCMove MecUnit Axis Speed [ \Ramp ]
IndDMove MecUnit Axis Delta Speed [ \Ramp ]
IndReset MecUnit Axis [ \RefPos ] | [ \RefNum ] | [ \Short ] | [ \Fwd ] |
[ \Bwd ] | [ \Old ]
IndRMove MecUnit Axis [ \ToRelPos ] | [ \ToRelNum ] | [ \Short ] |
[ \Fwd ] | [ \Bwd ] Speed [ \Ramp ]
3-50
RAPID Overview
RAPID Summary
Syntax Summary
InvertDO
Signal
IODisable
UnitName MaxTime
IOEnable
UnitName MaxTime
ISignalDI
[ \Single ] Signal TriggValue Interrupt
ISignalDO [ \Single ] Signal TriggValue Interrupt

ISleep
Interrupt
ITimer
[ \Single ] Time Interrupt
IVarValue
VarNo Value, Interrupt
IWatch
Interrupt ParIdType LoadIdType Tool [\PayLoad] [\WObj]

[\ConfAngle] [\SlowTest] [\Accuracy]
LoadId
ParIdType LoadIdType Tool [\PayLoad] [\WObj]

[\ConfAngle] [\SlowTest] [\Accuracy]
MechUnitLoad MechUnit AxisNo Load

MoveAbsJ
MoveC
[ \Conc ] ToJointPos Speed [ \V ] | [ \T ] Zone [ \Z]

Tool [ \WObj ]
[ \Conc ] CirPoint ToPoint Speed [ \V ] | [ \T ] Zone [ \Z]

Tool [ \WObj ]
MoveCDO
CirPoint ToPoint Speed [ \T ] Zone Tool [\WObj ]

Signal Value
MoveCSync

ProcName
MoveJ
[ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool

[ \WObj ]
MoveJDO ToPoint Speed [ \T ] Zone Tool

[ \WObj ] Signal Value
MoveJSync
MoveL
RAPID Overview
ToPoint Speed [ \T ] Zone Tool [ \WObj ]

ProcName

[ \WObj ]
3-51
Syntax Summary
RAPID Summary
MoveLDO
ToPoint Speed [ \T ] Zone Tool

MoveLSync ToPoint Speed [ \T ] Zone Tool

[ \WObj ] ProcName
MotionSup
Open
[ \On] | [ \Off]
[\TuneValue]
Object [\File] IODevice [\Read] | [\Write] | [\Append] | [\Bin]
ParIdPosValid ( ParIdType Pos AxValid [\ConfAngle] )

ParIdRobValid
(ParIdType)
PathResol Value
PDispOn [ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ]
PDispSet DispFrame
Procedure
{ Argument }
PulseDO
[ \PLength ] Signal
RAISE
Reset
[ Error no ]
Signal
RETURN
Rewind
Save
[ Return value ]
IODevice
[\Task] ModuleName [\FilePath] [\File]
SearchC [ \Stop ] | [ \PStop ] | [ \Sup ] Signal SearchPoint CirPoint

ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ]
SearchL [ \Stop ] | [ \PStop ] | [ \Sup ] Signal SearchPoint ToPoint
Speed [ \V ] | [ \T ] Tool [ \WObj ]
Set
Signal
SetAO
Signal Value
SetDO
[ \SDelay ] Signal Value
SetGO
Signal Value
SingArea
3-52
[ \Wrist] | [ \Arm] | [ \Off]
RAPID Overview
RAPID Summary
Syntax Summary
SoftAct Axis Softness [\Ramp ]

SpcCon Descr Status [\GrpSize ] [\Teach ] [\Strict ] [\Header ]
[\BackupFile ]
SpcDiscon Descr
SpcDump
SpcRead
SpcStat
SpotJ
SpotL
ToPoint Speed Spot [\InPos] [\NoConc] [\Retract]

Gun Tool [\WObj]
SpotML
Stop
[ \NoRegain ]
TEST Test data {CASE Test value {, Test value} : ...}

[ DEFAULT: ...] ENDTEST
TPReadFK Answer String FK1 FK2 FK3 FK4 FK5 [\MaxTime]
[\DIBreak] [\BreakFlag]
TPReadNum Answer String [\MaxTime] [\DIBreak] [\BreakFlag]
TPShow
Window
TPWrite
TriggC CirPoint ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ]

[ \T4] Zone Tool [ \WObj ]
TriggEqip
TriggInt TriggData Distance [ \Start ] | [ \Time ] Interrupt
TriggIO TriggData Distance [ \Start ] | [ \Time ] [ \DOp ] | [ \GOp ] |
[\AOp ] SetValue [ \DODelay ] | [ \AORamp ]
TriggJ ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ]
RAPID Overview
3-53
Syntax Summary
RAPID Summary
TriggL ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]

Zone Tool [ \WObj ]
TuneServo MecUnit Axis TuneValue
TuneServo MecUnit Axis TuneValue [\Type]
UnLoad FilePath [\File]
VelSet
Override Max
WaitDI
Signal Value [\MaxTime] [\TimeFlag]
WaitDO Signal Value [\MaxTime] [\TimeFlag]

WaitTime
[\InPos] Time
WaitUntil
[\InPos] Cond [\MaxTime] [\TimeFlag]
WaitWObj
WHILE
WObj [ \RelDist ]
Condition DO ... ENDWHILE
Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient]

[\NoNewLine]
WriteBin
IODevice Buffer NChar
WriteStrBin
IODevice Str
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint 1

WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius Height
WZDisable WorldZone
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before] Shape
Signal SetValue
WZEnable WorldZone
WZFree WorldZone
WZLimSup [\Temp] | [\Stat] WorldZone Shape
WZSphDef
3-54
[\Inside] | [\Outside] Shape CentrePoint Radius
RAPID Overview
RAPID Summary
Syntax Summary
20.2 Functions
Abs (Input)
ACos
(Value)
AOutput
(Signal)
(Parameter)
ArgName
ASin
(Value)
ATan
(Value)
ATan2
(Y
ByteToStr
X)
(ByteData [\Hex] | [\Okt] | [\Bin] | [\Char])
ClkRead
(Clock)
CorrRead
Cos
(Angle)
CPos
([Tool] [\WObj])
CRobT
([Tool] [\WObj])
DefDFrame (OldP1
DefFrame
Dim
(NewP1
OldP2
NewP2
NewP1
NewP2
NewP3)
NewP3 [\Origin])
(ArrPar DimNo)
DOutput
(Signal)
DotProd
(Vector1 Vector2)
EulerZYX
Exp
OldP3
([\X] | [\Y] | [\Z] Rotation)
(Exponent)
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime] )

GOutput
(Signal)
GetTime
( [\WDay] | [\Hour] | [\Min] | [\Sec] )
IndInpos MecUnit Axis
RAPID Overview
3-55
Syntax Summary
RAPID Summary
IndSpeed MecUnit Axis [\InSpeed] | [\ZeroSpeed]

IsPers
(DatObj)
IsVar
(DatObj)
MirPos
(Point
MirPlane
[\WObj]
[\MirY])
ModTime ( Object )
NOrient
(Rotation)
NumToStr
Offs
(Val Dec [\Exp])
(Point XOffset YOffset ZOffset)
OrientZYX
(ZAngle YAngle XAngle)
ORobT (OrgPoint [\InPDisp] | [\InEOffs])

PoseInv (Pose)
PoseMult
(Pose1 Pose2)
PoseVect
(Pose Pos)
Pow
(Base Exponent)
Present
(OptPar)
ReadBin
(IODevice [\Time])
ReadMotor [\MecUnit ] Axis

ReadNum
ReadStr
(IODevice [\Time])
RelTool
(Point
Round
Sin
Sqrt
Dx
Dy
Dz
[\Rx]
[\Ry]
[\Rz])
( Val [\Dec])
(Angle)
(Value)
StrFind
StrLen
3-56
(IODevice [\Time])
(Str ChPos Set [\NotInSet])

(Str)
RAPID Overview
RAPID Summary
Syntax Summary
StrMap
( Str FromMap ToMap)
StrMatch
(Str ChPos Pattern)
StrMemb
(Str ChPos Set)
StrOrder
( Str1 Str2 Order)
StrPart
(Str ChPos Len)
StrToByte
(ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
StrToVal ( Str Val )

Tan
(Angle)
TestDI
(Signal)
TestAndSet
Trunc
( Val [\Dec] )
ValToStr
VectMagn
RAPID Overview
Object
( Val )
(Vector)
3-57
Syntax Summary
3-58
RAPID Summary
RAPID Overview
Basic Elements
1 Basic Elements
1.1 Identifiers
Identifiers are used to name modules, routines, data and labels;
e.g.
MODULE module_name
PROC routine_name()
VAR pos data_name;
label_name:
The first character in an identifier must be a letter. The other characters can be letters,
digits or underscores _.
The maximum length of any identifier is 16 characters, each of these characters being
significant. Identifiers that are the same except that they are typed in the upper case,
and vice versa, are considered the same.
Reserved words
The words listed below are reserved. They have a special meaning in the RAPID
language and thus must not be used as identifiers.
There are also a number of predefined names for data types, system data, instructions,
and functions, that must not be used as identifiers. See Chapters 7, 8, 9, 10 ,13, 14 and
15 in this manual.
ALIAS
CONNECT
DO
ENDFUNC
ENDRECORD
ERROR
FROM
INOUT
NOSTEPIN
PERS
RECORD
SYSMODULE
TRAP
VIEWONLY
RAPID Overview
AND
CONST
ELSE
ENDIF
ENDTEST
EXIT
FUNC
LOCAL
NOT
PROC
RETRY
TEST
TRUE
WHILE
BACKWARD
DEFAULT
ELSEIF
ENDMODULE
ENDTRAP
FALSE
GOTO
MOD
NOVIEW
RAISE
RETURN
THEN
TRYNEXT
WITH
CASE
DIV
ENDFOR
ENDPROC
ENDWHILE
FOR
IF
MODULE
OR
READONLY
STEP
TO
VAR
XOR
4-1
Basic Elements
1.2 Spaces and new-line characters

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

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

A logical value can be expressed as TRUE or FALSE.
1.5 String values

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

it must be written twice.
Example:
4-2
"This string contains a "" character"

"This string contains a \\ character"
RAPID Overview
Basic Elements
1.6 Comments
Comments are used to make the program easier to understand. They do not affect the
meaning of the program in any way.
A comment starts with an exclamation mark ! and ends with a new-line character. It
occupies an entire line and cannot occur between two modules;
e.g.
! comment
IF reg1 > 5 THEN
! comment
reg2 := 0;
ENDIF
1.7 Placeholders
Placeholders can be used to temporarily represent parts of a program that are not yet
defined. A program that contains placeholders is syntactically correct and may be
loaded into the program memory.
Placeholder
Represents:
<TDN>
<DDN>
<RDN>
<PAR>
<ALT>
<DIM>
<SMT>
<VAR>
<EIT>
<CSE>
<EXP>
<ARG>
<ID>
data type definition

data declaration
routine declaration
formal optional alternative parameter
optional formal parameter
formal (conformant) array dimension
instruction
data object (variable, persistent or parameter) reference
else if clause of if instruction
case clause of test instruction
expression
procedure call argument
identifier
1.8 File header

A program file starts with the following file header:
%%%
VERSION:1
LANGUAGE:ENGLISH
%%%
RAPID Overview
(Program version M94 or M94A)

(or some other language:
GERMAN or FRENCH)
4-3
Basic Elements
1.9 Syntax
Identifiers
<identifier> ::=
<ident>
| <ID>
<ident> ::= <letter> {<letter> | <digit> | _}
Numeric values
<num literal> ::=
<integer> [ <exponent> ]
| <integer> . [ <integer> ] [ <exponent> ]
| [ <integer> ] . <integer> [ <exponent> ]
<integer> ::= <digit> {<digit>}
<exponent> ::= (E | e) [+ | -] <integer>
Logical values
<bool literal> ::= TRUE | FALSE
String values
<string literal> ::= " {<character> | <character code> } "
<character code> ::= \ <hex digit> <hex digit>
<hex digit> ::= <digit> | A | B | C | D | E | F | a | b | c | d | e | f
Comments
<comment> ::=
! {<character> | <tab>} <newline>
Characters
<character> ::= -- ISO 8859-1 -<newline> ::= -- newline control character -<digit> ::= 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9
<letter> ::=
<upper case letter>
| <lower case letter>
4-4
RAPID Overview
Basic Elements
<upper case letter> ::=

A|B|C|D|E|F|G|H|I|J
|K|L|M|N|O|P|Q|R|S|T
|U|V|W|X|Y|Z||||
||||||||||
| | | 1) | | | | | | |
| | | | | 2) | 3) |
<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) |
RAPID Overview
1) Icelandic letter eth.

2) Letter Y with acute accent.
3) Icelandic letter thorn.
4-5
Basic Elements
4-6
RAPID Overview
Modules
2 Modules
The program is divided into program and system modules. The program can also be
divided into modules (see Figure 1).
Program memory
Program
Program data
Main routine
Main module
Routine1
Module1
Module2
Routine2
Routine3
Module3
Module4
Program data
Routine4
Routine5
System module1
Program data
System module2
Routine6
Routine7
Figure 1 The program can be divided into modules.
2.1 Program modules

A program module can consist of different data and routines. Each module, or the
whole program, can be copied to diskette, RAM disk, etc., and vice versa.
One of the modules contains the entry procedure, a global procedure called main. Executing the program means, in actual fact, executing the main procedure. The program
can include many modules, but only one of these will have a main procedure.
A module may, for example, define the interface with external equipment or contain
geometrical data that is either generated from CAD systems or created on-line by digitizing (teach programming).
Whereas small installations are often contained in one module, larger installations may
have a main module that references routines and/or data contained in one or several
other modules.
RAPID Overview
4-7
Modules
2.2 System modules

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

A module declaration specifies the name and attributes of that module. These attributes
can only be added off-line, not using the teach pendant. The following are examples of
the attributes of a module:
Attribute
If specified, the module:
SYSMODULE
is a system module, otherwise a program module
NOSTEPIN
cannot be entered during stepwise execution
VIEWONLY
cannot be modified
READONLY
cannot be modified, but the attribute can be removed
NOVIEW
cannot be viewed, only executed. Global routines can be

reached from other modules and are always run as NOSTEPIN.
The current values for global data can be reached from other
modules or from the data window on the teach pendant. A module or a program containing a NOVIEW program module cannot be saved. Therefore, NOVIEW should primarily be used
for system modules. NOVIEW can only be defined off-line
from a PC.
e.g.
MODULE module_name (SYSMODULE, VIEWONLY)

!data type definition
!data declarations
!routine declarations
ENDMODULE
A module may not have the same name as another module or a global routine or data.
2.4 Syntax
Module declaration
<module declaration> ::=
MODULE <module name> [ <module attribute list> ]
<type definition list>
<data declaration list>
<routine declaration list>
ENDMODULE
4-8
RAPID Overview
Modules
<module name> ::= <identifier>

<module attribute list> ::= ( <module attribute> { , <module attribute> } )
<module attribute> ::=
SYSMODULE
| NOVIEW
| NOSTEPIN
| VIEWONLY
| READONLY
(Note. If two or more attributes are used they must be in the above order, the
NOVIEW attribute can only be specified alone or together with the attribute
SYSMODULE.)
<type definition list> ::= { <type definition> }
<data declaration list> ::= { <data declaration> }
<routine declaration list> ::= { <routine declaration> }
RAPID Overview
4-9
Modules
4-10
RAPID Overview
Routines
3 Routines
There are three types of routines (subprograms): procedures, functions and traps.
- Procedures do not return a value and are used in the context of instructions.
- Functions return a value of a specific type and are used in the context of
expressions.
- Trap routines provide a means of dealing with interrupts. A trap routine can be
associated with a specific interrupt and then, if that particular interrupt occurs
at a later stage, will automatically be executed. A trap routine can never be
explicitly called from the program.
3.1 Routine scope

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

PROC global_routine (...
The following scope rules apply to routines (see the example in Figure 2):
- The scope of a global routine may include any module.
- The scope of a local routine comprises the module in which it is contained.
- Within its scope, a local routine hides any global routine or data with the same
name.
- Within its scope, a routine hides instructions and predefined routines and data
with the same name.
Module1
Module2
Local Routine a
Local Routine a
Local Routine b
Local Routine e
Routine c
Routine f
Routine d
Routine g
Routine e
Routine h
Figure 2 Example: The following routines can be called from Routine h:

Module1 - Routine c, d.
Module2 - All routines.
A routine may not have the same name as another routine or data in the same module.
A global routine may not have the same name as a module or a global routine or global
data in another module.
RAPID Overview
4-11
Routines
3.2 Parameters
The parameter list of a routine declaration specifies the arguments (actual parameters)
that must/can be supplied when the routine is called.
There are four different types of parameters (in the access mode):
- Normally, a parameter is used only as an input and is treated as a routine
variable. Changing this variable will not change the corresponding argument.
- An INOUT parameter specifies that a corresponding argument must be a
variable (entire, element or component) or an entire persistent which can be
changed by the routine.
- A VAR parameter specifies that a corresponding argument must be a variable
(entire, element or component) which can be changed by the routine.
- A PERS parameter specifies that a corresponding argument must be an entire
persistent which can be changed by the routine.
If an INOUT, VAR or PERS parameter is updated, this means, in actual fact, that the
argument itself is updated, i.e. it makes it possible to use arguments to return values to the
calling routine.
Example:
PROC routine1 (num in_par, INOUT num inout_par,

VAR num var_par, PERS num pers_par)
A parameter can be optional and may be omitted from the argument list of a routine
call. An optional parameter is denoted by a backslash \ before the parameter.
Example:
PROC routine2 (num required_par \num optional_par)
The value of an optional parameter that is omitted in a routine call may not be
referenced. This means that routine calls must be checked for optional parameters
before an optional parameter is used.
Two or more optional parameters may be mutually exclusive (i.e. declared to exclude
each other), which means that only one of them may be present in a routine call. This
is indicated by a stroke | between the parameters in question.
Example:
PROC routine3 (\num exclude1 | num exclude2)
The special type, switch, may (only) be assigned to optional parameters and provides a
means to use switch arguments, i.e. arguments that are only specified by names (not
values). A value cannot be transferred to a switch parameter. The only way to use a
switch parameter is to check for its presence using the predefined function, Present.
Example:
4-12
PROC routine4 (\switch on | switch off)

...
IF Present (off ) THEN
...
ENDPROC
RAPID Overview
Routines
Arrays may be passed as arguments. The degree of an array argument must comply
with the degree of the corresponding formal parameter. The dimension of an array
parameter is conformant (marked with *). The actual dimension thus depends on
the dimension of the corresponding argument in a routine call. A routine can determine
the actual dimension of a parameter using the predefined function, Dim.
Example:
PROC routine5 (VAR num pallet{*,*})
3.3 Routine termination

The execution of a procedure is either explicitly terminated by a RETURN instruction
or implicitly terminated when the end (ENDPROC, BACKWARD or ERROR) of the
procedure is reached.
The evaluation of a function must be terminated by a RETURN instruction.
The execution of a trap routine is explicitly terminated using the RETURN instruction
or implicitly terminated when the end (ENDTRAP or ERROR) of that trap routine is
reached. Execution continues from the point where the interrupt occurred.
3.4 Routine declarations

A routine can contain routine declarations (including parameters), data, a body, a
backward handler (only procedures) and an error handler (see Figure 3). Routine
declarations cannot be nested, i.e. it is not possible to declare a routine within a routine.
Module
Data declarations
Routine a
Routine b
Routine declaration
Data declarations
Routine c
Body (Instructions)
Routine d
Backward handler
Routine e
Error handler
Figure 3 A routine can contain declarations, data, a body, a backward handler and an error
handler.
RAPID Overview
4-13
Routines
Procedure declaration
Example:
Multiply all elements in a num array by a factor;

PROC arrmul( VAR num array{*}, num factor)
FOR index FROM 1 TO dim( array, 1 ) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
Function declaration
A function can return any data type value, but not an array value.
Example:
Return the length of a vector;

FUNC num veclen (pos vector)
RETURN Sqrt(Pow(vector.x,2)+Pow(vector.y,2)+Pow(vector.z,2));
ENDFUNC
Trap declaration
Example:
Respond to feeder empty interrupt;

TRAP feeder_empty
wait_feeder;
RETURN;
ENDTRAP
3.5 Procedure call

When a procedure is called, the arguments that correspond to the parameters of the
procedure shall be used:
- Mandatory parameters must be specified. They must also be specified in the
correct order.
- Optional arguments can be omitted.
- Conditional arguments can be used to transfer parameters from one routine call
to another.
See the Chapter Using function calls in expressions on page 32 for more details.
The procedure name may either be statically specified by using an identifier (early
binding) or evaluated during runtime from a string type expression (late binding). Even
though early binding should be considered to be the normal procedure call form, late
binding sometimes provides very efficient and compact code. Late binding is defined
by putting percent signs before and after the string that denotes the name of the
procedure.
4-14
RAPID Overview
Example:
Routines
! early binding
TEST products_id
CASE 1:
proc1 x, y, z;
CASE 2:
proc2 x, y, z;
CASE 3:
...
! same example using late binding
% proc + NumToStr(product_id, 0) % x, y, z;
...
! same example again using another variant of late binding
VAR string procname {3} :=[proc1, proc2, proc3];
...
% procname{product_id} % x, y, z;
...
Note that the late binding is available for procedure calls only, and not for function
calls. If a reference is made to an unknown procedure using late binding, the system
variable ERRNO is set to ERR_REFUNKPRC. If a reference is made to a procedure
call error (syntax, not procedure) using late binding, the system variable ERRNO is set
to ERR_CALLPROC.
3.6 Syntax
Routine declaration
<routine declaration> ::=
[LOCAL] ( <procedure declaration>
| <function declaration>
| <trap declaration> )
| <comment>
| <RDN>
Parameters
<parameter list> ::=
<first parameter declaration> { <next parameter declaration> }
<first parameter declaration> ::=
<parameter declaration>
| <optional parameter declaration>
| <PAR>
<next parameter declaration> ::=
, <parameter declaration>
| <optional parameter declaration>
| ,<optional parameter declaration>
| , <PAR>
RAPID Overview
4-15
Routines
<optional parameter declaration> ::=

\ ( <parameter declaration> | <ALT> )
{ | ( <parameter declaration> | <ALT> ) }
<parameter declaration> ::=
[ VAR | PERS | INOUT] <data type>
<identifier> [ { ( * { , * } ) | <DIM>] }
| switch <identifier>
Procedure declaration
<procedure declaration> ::=
PROC <procedure name>
( [ <parameter list> ] )
<instruction list>
[ BACKWARD <instruction list> ]
[ ERROR <instruction list> ]
ENDPROC
<procedure name> ::= <identifier>
<data declaration list> ::= {<data declaration>}
Function declaration
<function declaration> ::=
FUNC <value data type>
<function name>
( [ <parameter list> ] )
<instruction list>
ENDFUNC
<function name> ::= <identifier>
Trap routine declaration
<trap declaration> ::=
TRAP <trap name>
<instruction list>
ENDTRAP
<trap name> ::= <identifier>
4-16
RAPID Overview
Routines
Procedure call
<procedure call> ::= <procedure> [ <procedure argument list> ] ;
<procedure> ::=
<identifier>
| % <expression> %
<procedure argument list> ::= <first procedure argument> { <procedure argument> }
<first procedure argument> ::=
<required procedure argument>
| <optional procedure argument>
| <conditional procedure argument>
| <ARG>
<procedure argument> ::=
, <required procedure argument>
| <optional procedure argument>
| , <optional procedure argument>
| <conditional procedure argument>
| , <conditional procedure argument>
| , <ARG>
<required procedure argument> ::= [ <identifier> := ] <expression>
<optional procedure argument> ::= \ <identifier> [ := <expression> ]
<conditional procedure argument> ::= \ <identifier> ? ( <parameter> | <VAR> )
RAPID Overview
4-17
Routines
4-18
RAPID Overview
Data Types
4 Data Types
There are two different kinds of data types:
- An atomic type is atomic in the sense that it is not defined based on any other
type and cannot be divided into parts or components, e.g. num.
- A record data type is a composite type with named, ordered components, e.g.
pos. A component may be of an atomic or record type.
A record value can be expressed using an aggregate representation;
e.g.
[ 300, 500, depth ]
pos record aggregate value.
A specific component of a record data can be accessed by using the name of that
component;
e.g.
pos1.x := 300;
assignment of the x-component of pos1.
4.1 Non-value data types

Each available data type is either a value data type or a non-value data type. Simply
speaking, a value data type represents some form of value. Non-value data cannot be
used in value-oriented operations:
- Initialisation
- Assignment (:=)
- Equal to (=) and not equal to (<>) checks
- TEST instructions
- IN (access mode) parameters in routine calls
- Function (return) data types
The input data types (signalai, signaldi, signalgi) are of the data type semi value. These
data can be used in value-oriented operations, except initialisation and assignment.
In the description of a data type it is only specified when it is a semi value or a nonvalue data type.
4.2 Equal (alias) data types

An alias data type is defined as being equal to another type. Data with the same data
types can be substituted for one another.
Example:
RAPID Overview
VAR dionum high:=1;

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

data type for num
4-19
Data Types
4.3 Syntax
<type definition>::=
[LOCAL] ( <record definition>
| <alias definition> )
| <comment>
| <TDN>
<record definition>::=
RECORD <identifier>
<record component list> ;
ENDRECORD
<record component list> ::=
<record component definition> |
<record component definition> <record component list>
<record component definition> ::=
<data type> <record component name>
<alias definition> ::=
ALIAS <data type> <identifier> ;
<data type> ::= <identifier>
4-20
RAPID Overview
Data
5 Data
There are three kinds of data: variables, persistents and constants.
- A variable can be assigned a new value during program execution.
- A persistent can be described as a persistent variable. This is accomplished
by letting an update of the value of a persistent automatically cause the
initialisation value of the persistent declaration to be updated. (When a program
is saved the initialisation value of any persistent declaration reflects the current
value of the persistent.)
- A constant represents a static value and cannot be assigned a new value.
A data declaration introduces data by associating a name (identifier) with a data type.
Except for predefined data and loop variables, all data used must be declared.
5.1 Data scope

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

VAR num global_variable;
Data declared outside a routine is called program data. The following scope rules
apply to program data:
- The scope of predefined or global program data may include any module.
- The scope of local program data comprises the module in which it is contained.
- Within its scope, local program data hides any global data or routine with the
same name (including instructions and predefined routines and data).
Program data may not have the same name as other data or a routine in the same
module. Global program data may not have the same name as other global data or a
routine in another module. A persistent may not have the same name as another
persistent in the same program.
Data declared inside a routine is called routine data. Note that the parameters of a
routine are also handled as routine data. The following scope rules apply to routine
data:
- The scope of routine data comprises the routine in which it is contained.
- Within its scope, routine data hides any other routine or data with the same
name.
RAPID Overview
4-21
Data
See the example in Figure 4.
Module1
Module2
Local Data a
Local Data a
Local Data b
Local Data f
Data c
Data g
Data d
Local Routine e
Data e1
Data e
Routine h
Data h1
Data c
Figure 4 Example: The following data can be called from routine e:
Module1: Data c, d.
Module2: Data a, f, g, e1.
The following data can be called from routine h:
Module1: Data d.
Module2: Data a, f, g, h1, c.
Routine data may not have the same name as other data or a label in the same routine.
5.2 Variable declaration

A variable is introduced by a variable declaration.
Example:
VAR num x;
Variables of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.
Example:
VAR pos pallet{14, 18};
Variables with value types may be initialised (given an initial value). The expression
used to initialise a program variable must be constant. Note that the value of an
uninitialized variable may be used, but it is undefined, i.e. set to zero.
Example:
VAR string author_name := John Smith;

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

- the program is opened,
- the program is executed from the beginning of the program.
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RAPID Overview
Data
5.3 Persistent declaration

Persistents can only be declared at module level, not inside a routine, and must always
be given an initial value. The initialisation value must be a single value (without data
or operands), or a single aggregate with members which, in turn, are single values or
single aggregates.
Example:
PERS pos refpnt := [100.23, 778.55, 1183.98];
Persistents of any type can be given an array (of degree 1, 2 or 3) format by adding
than 0.
Example:
PERS pos pallet{14, 18} := [...];
Note that if the value of a persistent is updated, this automatically causes the
initialisation value of the persistent declaration to be updated.
Example:
PERS num reg1 := 0;

...
reg1 := 5;
After execution, the program looks like this:
PERS num reg1 := 5;
...
reg1 := 5;
It is possible to declare two persistents with the same name in different modules, if they
are local within the module (PERS LOCAL), without any error being generated by the
system (different data scope). But note the limitation that these two persistents always
have the same current value (use the same storage in the memory).
5.4 Constant declaration

A constant is introduced by a constant declaration. The value of a constant cannot be
modified.
Example:
CONST num pi := 3.141592654;
A constant of any type can be given an array (of degree 1, 2 or 3) format by adding
than 0.
Example:
RAPID Overview
CONST pos seq{3} :=
[[614, 778, 1020],

[914, 998, 1021],
[814, 998, 1022]];
4-23
Data
5.5 Initiating data

The initialisation value for a constant or variable can be a constant expression.
The initialisation value for a persistent can only be a literal expression.
Example:
CONST num a := 2;
CONST num b := 3;
! Correct syntax
CONST num ab := a + b;
VAR num a_b := a + b;
PERS num a__b := 5;
! Faulty syntax
PERS num a__b := a + b;
In the table below, you can see what is happening in various activities such as warm
start, new program, program start etc.
Table1
System
event
Affects
Power on
(Warm
start)
Open, Close
or New
program
Start
program
(Move PP to
main)
Start
program
(Move PP to
Routine)
Start
program
(Move PP to
cursor)
Start
program
(Call
Routine)
Start
program
(After
cycle)
Start
program
(After stop)
Constant
Unchanged
Init
Init
Init
Unchanged
Unchanged
Unchanged
Unchanged
Variable
Unchanged
Init
Init
Init
Unchanged
Unchanged
Unchanged
Unchanged
Persistent
Unchanged
Init
Init
Init
Unchanged
Unchanged
Unchanged
Unchanged
Commanded
interrupts
Re-ordered
Disappears
Disappears
Disappears
Unchanged
Unchanged
Unchanged
Unchanged
Start up
routine
SYS_RESET
(with motion
settings)
Not run
Run*
Run
Not run
Not run
Not run
Not run
Not run
Files
Closes
Closes
Closes
Closes
Unchanged
Unchanged
Unchanged
Unchanged
Path
Recreated at
power on
Disappears
Disappears
Disappears
Disappears
Unchanged
Unchanged
Unchanged
* Generates an error when there is a semantic error in the actual task program.
5.6 Storage Class

The storage class of a data object determines when the system allocates and deallocates memory for the data object. The storage class of a data object is determined
by the kind of data object and the context of its declaration and can be either static or
volatile.
4-24
RAPID Overview
Data
Constants, persistents, and module variables are static, i.e. they have the same storage
during the lifetime of a task. This means that any value assigned to an persistent or a
module variable, always remains unchanged until the next assignment.
Routine variables are volatile. The memory needed to store the value of a volatile
variable is allocated first upon the call of the routine in which the declaration of the
variable is contained. The memory is later de-allocated at the point of the return to the
caller of the routine. This means that the value of a routine variable is always undefined
before the call of the routine and is always lost (becomes undefined) at the end of the
execution of the routine.
In a chain of recursive routine calls (a routine calling itself directly or indirectly) each
instance of the routine receives its own memory location for the same routine
variable - a number of instances of the same variable are created.
5.7 Syntax
Data declaration
<data declaration> ::=
[LOCAL] ( <variable declaration>
| <persistent declaration>
| <constant declaration> )
| <comment>
| <DDN>
Variable declaration
<variable declaration> ::=
VAR <data type> <variable definition> ;
<variable definition> ::=
<identifier> [ { <dim> { , <dim> } } ]
[ := <constant expression> ]
<dim> ::= <constant expression>
Persistent declaration
<persistent declaration> ::=
PERS <data type> <persistent definition> ;
<persistent definition> ::=
:= <literal expression>
RAPID Overview
4-25
Data
Constant declaration
<constant declaration> ::=
CONST <data type> <constant definition> ;
<constant definition> ::=
:= <constant expression>
<dim> ::= <constant expression>
4-26
RAPID Overview
Instructions
6 Instructions
Instructions are executed in succession unless a program flow instruction or an interrupt or error causes the execution to continue at some other place.
Most instructions are terminated by a semicolon ;. A label is terminated by a colon
:. Some instructions may contain other instructions and are terminated by specific
keywords:
Instruction
Termination word
IF
ENDIF
FOR
ENDFOR
WHILE
ENDWHILE
TEST
ENDTEST
Example:
WHILE index < 100 DO

.
index := index + 1;
ENDWHILE
6.1 Syntax
<instruction list> ::= { <instruction> }
<instruction> ::=
[<instruction according to separate chapter in this manual>
| <SMT>
RAPID Overview
4-27
Instructions
4-28
RAPID Overview
Expressions
7 Expressions
An expression specifies the evaluation of a value. It can be used, for example:
- in an assignment instruction
e.g. a:=3*b/c;
- as a condition in an IF instruction
e.g. IF a>=3 THEN ...
- as an argument in an instruction
e.g. WaitTime time;
- as an argument in a function call
e.g. a:=Abs(3*b);
7.1 Arithmetic expressions

An arithmetic expression is used to evaluate a numeric value.
Example:
2*pi*radius
Table 2 shows the different types of operations possible.

Table 2
Operator
Operation
Operand types
Result type
addition
num + num
num3)
unary plus; keep sign
+num or +pos
same1)3)
vector addition
pos + pos
pos
subtraction
num - num
num3)
unary minus; change sign
-num or -pos
same1)3)
vector subtraction
pos - pos
pos
multiplication
num * num
num3)
scalar vector multiplication
num * pos or pos * num
pos
vector product
pos * pos
pos
linking of rotations
orient * orient
orient
division
num / num
num
integer division
num DIV num
num
integer modulo; remainder
num MOD num
num
/
DIV
2)
MOD 2)
1. The result receives the same type as the operand. If the operand has an alias
data type, the result receives the alias "base" type (num or pos).
2. Integer operations, e.g. 14 DIV 4=3, 14 MOD 4=2.
(Non-integer operands are illegal.)
3. Preserves integer (exact) representation as long as operands and result are kept
within the integer subdomain of the num type.
RAPID Overview
4-29
Expressions
7.2 Logical expressions

A logical expression is used to evaluate a logical value (TRUE/FALSE).
Example:
a>5 AND b=3
Table 3 shows the different types of operations possible.

Table 3
Operator
Operation
Operand types
<
less than
num < num
<=
less than or equal to
num <= num

1)
Result type
bool
1)
bool
equal to
any = any
bool
>=
greater than or equal to
num >= num
bool
>
greater than
num > num
bool
<>
not equal to
any 1) <> any 1)
bool
AND
and
bool AND bool
bool
XOR
exclusive or
bool XOR bool
bool
OR
or
bool OR bool
bool
NOT
unary not; negation
NOT bool
bool
1) Only value data types. Operands must have equal types.

a AND b
a True False
b
True True False
False False False
a XOR b
a True False
b
True False True
False True False
a OR b
a True False
b
True True True
False True False
NOT b
b
True False
False True
7.3 String expressions

A string expression is used to carry out operations on strings.
Example:
4-30
IN + PUT
gives the result INPUT
RAPID Overview
Expressions
Table 4 shows the one operation possible.

.
Table 4
Operator
+
Operation
string concatenation
Operand types
string + string
Result type
string
7.4 Using data in expressions

An entire variable, persistent or constant can be a part of an expression.
Example:
2*pi*radius
Arrays
A variable, persistent or constant declared as an array can be referenced to the whole
array or a single element.
An array element is referenced using the index number of the element. The index is an
integer value greater than 0 and may not violate the declared dimension. Index value 1
selects the first element. The number of elements in the index list must fit the declared
degree (1, 2 or 3) of the array.
Example:
VAR num row{3};

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

all elements in the array
Records
A variable, persistent or constant declared as a record can be referenced to the whole
record or a single component.
A record component is referenced using the component name.
Example:
RAPID Overview
VAR pos home;

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

the whole position
4-31
Expressions
7.5 Using aggregates in expressions

An aggregate is used for record or array values.
Example:
pos := [x, y, 2*x];

pos record aggregate
posarr := [[0, 0, 100], [0,0,z]]; pos array aggregate
It must be possible to determine the data type of an aggregate the context. The data type
of each aggregate member must be equal to the type of the corresponding member of
the determined type.
Example
VAR pos pl;

p1 :=[1, -100, 12];
aggregate type pos - determined

by p1
IF [1, -100, 12] = [a,b,b,] THEN
illegal since the data type of

neither of the aggregates can be
determined by the context.
7.6 Using function calls in expressions

A function call initiates the evaluation of a specific function and receives the value
returned by the function.
Example:
Sin(angle)
The arguments of a function call are used to transfer data to (and possibly from) the
called function. The data type of an argument must be equal to the type of the corresponding parameter of the function. Optional arguments may be omitted but the order
of the (present) arguments must be the same as the order of the formal parameters. In
addition, two or more optional arguments may be declared to exclude each other, in
which case, only one of them may be present in the argument list.
A required (compulsory) argument is separated from the preceding argument by a
comma ,. The formal parameter name may be included or omitted.
Example:
Polar(3.937, 0.785398)
two required arguments
Polar(Dist:=3.937, Angle:=0.785398)... using names
An optional argument must be preceded by a backslash \ and the formal parameter

name. A switch type argument is somewhat special; it may not include any argument
expression. Instead, such an argument can only be either "present" or "not present".
Example:
4-32
Cosine(45)
Cosine(0.785398\Rad)
Dist(p2)
Dist(\distance:=pos1, p2)
one required argument

... and one switch
one required argument
... and one optional
RAPID Overview
Expressions
Conditional arguments are used to support smooth propagation of optional arguments

through chains of routine calls. A conditional argument is considered to be present
if the specified optional parameter (of the calling function) is present, otherwise it is
simply considered to be omitted. Note that the specified parameter must be optional.
Example:
PROC Read_from_file (iodev File \num Maxtime)

..
character:=ReadBin (File \Time?Maxtime);
! Max. time is only used if specified when calling the routine
! Read_from_file
..
ENDPROC
The parameter list of a function assigns an access mode to each parameter. The access
mode can be either in, inout, var or pers:
- An IN parameter (default) allows the argument to be any expression. The called
function views the parameter as a constant.
- An INOUT parameter requires the corresponding argument to be a variable
(entire, array element or record component) or an entire persistent. The called
function gains full (read/write) access to the argument.
- A VAR parameter requires the corresponding argument to be a variable (entire,
array element or record component). The called function gains full (read/write)
access to the argument.
- A PERS parameter requires the corresponding argument to be an entire persistent. The called function gains full (read/update) access to the argument.
7.7 Priority between operators

The relative priority of the operators determines the order in which they are evaluated.
Parentheses provide a means to override operator priority. The rules below imply the
following operator priority:
* / DIV MOD
+< > <> <= >= =
AND
XOR OR NOT
- highest
- lowest
An operator with high priority is evaluated prior to an operator with low priority. Operators of the same priority are evaluated from left to right.
RAPID Overview
4-33
Expressions
Example
Expression
Evaluation order
Comment
a+b+c
a+b*c
a OR b OR c
a AND b OR c AND d
(a + b) + c
a + (b * c)
(a OR b) OR c
(a AND b) OR (c AND d)
a < b AND c < d
(a < b) AND (c < d)
left to right rule

* higher than +
Left to right rule
AND higher than
OR
< higher than AND
7.8 Syntax
Expressions
<expression> ::=
<expr>
| <EXP>
<expr> ::= [ NOT ] <logical term> { ( OR | XOR ) <logical term> }
<logical term> ::= <relation> { AND <relation> }
<relation> ::= <simple expr> [ <relop> <simple expr> ]
<simple expr> ::= [ <addop> ] <term> { <addop> <term> }
<term> ::= <primary> { <mulop> <primary> }
<primary> ::=
<literal>
| <variable>
| <persistent>
| <constant>
| <parameter>
| <function call>
| <aggregate>
| ( <expr> )
Operators
<relop> ::= < | <= | = | > | >= | <>
<addop> ::= + | -
<mulop> ::= * | / | DIV | MOD
Constant values
<literal> ::= <num literal>
| <string literal>
| <bool literal>
4-34
RAPID Overview
Expressions
Data
<variable> ::=
<entire variable>
| <variable element>
| <variable component>
<entire variable> ::= <ident>
<variable element> ::= <entire variable> { <index list> }
<index list> ::= <expr> { , <expr> }
<variable component> ::= <variable> . <component name>
<component name> ::= <ident>
<persistent> ::=
<entire persistent>
| <persistent element>
| <persistent component>
<constant> ::=
<entire constant>
| <constant element>
| <constant component>
Aggregates
<aggregate> ::= [ <expr> { , <expr> } ]
Function calls
<function call> ::= <function> ( [ <function argument list> ] )
<function> ::= <ident>
<function argument list> ::= <first function argument> { <function argument> }
<first function argument> ::=
<required function argument>
| <optional function argument>
| <conditional function argument>
<function argument> ::=
, <required function argument>
| <optional function argument>
| , <optional function argument>
| <conditional function argument>
| , <conditional function argument>
<required function argument> ::= [ <ident> := ] <expr>
<optional function argument> ::= \ <ident> [ := <expr> ]
<conditional function argument> ::= \ <ident> ? <parameter>
Special expressions
<constant expression> ::= <expression>
<literal expression> ::= <expression>
RAPID Overview
4-35
Expressions
<conditional expression> ::= <expression>

Parameters
<parameter> ::=
<entire parameter>
| <parameter element>
| <parameter component>
4-36
RAPID Overview
Error Recovery
8 Error Recovery
An execution error is an abnormal situation, related to the execution of a specific piece
of a program. An error makes further execution impossible (or at least hazardous).
Overflow and division by zero are examples of errors. Errors are identified by their
unique error number and are always recognized by the robot. The occurrence of an
error causes suspension of the normal program execution and the control is passed to
an error handler. The concept of error handlers makes it possible to respond to and,
possibly, recover from errors that arise during program execution. If further execution
is not possible, the error handler can at least assure that the program is given a graceful
abortion.
8.1 Error handlers

Any routine may include an error handler. The error handler is really a part of the
routine, and the scope of any routine data also comprises the error handler of the
routine. If an error occurs during the execution of the routine, control is transferred to
its error handler.
Example:
FUNC num safediv( num x, num y)

RETURN x / y;
ERROR
IF ERRNO = ERR_DIVZERO THEN
TPWrite "The number cannot be equal to 0";
RETURN x;
ENDIF
ENDFUNC
The system variable ERRNO contains the error number of the (most recent) error and
can be used by the error handler to identify that error. After any necessary actions have
been taken, the error handler can:
- Resume execution, starting with the instruction in which the error occurred.
This is done using the RETRY instruction. If this instruction causes the same
error again, up to four error recoveries will take place; after that execution will
stop.
- Resume execution, starting with the instruction following the instruction in
which the error occurred. This is done using the TRYNEXT instruction.
- Return control to the caller of the routine using the RETURN instruction. If the
routine is a function, the RETURN instruction must specify an appropriate
return value.
- Propagate the error to the caller of the routine using the RAISE instruction.
When an error occurs in a routine that does not contain an error handler or when the
end of the error handler is reached (ENDFUNC, ENDPROC or ENDTRAP), the
system error handler is called. The system error handler just reports the error and stops
the execution.
RAPID Overview
4-37
Error Recovery
In a chain of routine calls, each routine may have its own error handler. If an error
occurs in a routine with an error handler, and the error is explicitly propagated using
the RAISE instruction, the same error is raised again at the point of the call of the
routine - the error is propagated. When the top of the call chain (the entry routine of the
task) is reached without any error handler being found or when the end of any error
handler is reached within the call chain, the system error handler is called. The system
error handler just reports the error and stops the execution. Since a trap routine can only
be called by the system (as a response to an interrupt), any propagation of an error from
a trap routine is made to the system error handler.
Error recovery is not available for instructions in the backward handler. Such errors are
always propagated to the system error handler.
In addition to errors detected and raised by the robot, a program can explicitly raise
errors using the RAISE instruction. This facility can be used to recover from complex
situations. It can, for example, be used to escape from deeply-nested code positions.
Error numbers 1-90 may be used in the raise instruction. Explicitly-raised errors are
treated exactly like errors raised by the system.
Note that it is not possible to recover from or respond to errors that occur within an error
clause. Such errors are always propagated to the system error handler.
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RAPID Overview
Interrupts
9 Interrupts
Interrupts are program-defined events, identified by interrupt numbers. An interrupt
occurs when an interrupt condition is true. Unlike errors, the occurrence of an interrupt
is not directly related to (synchronous with) a specific code position. The occurrence
of an interrupt causes suspension of the normal program execution and control is
passed to a trap routine.
Even though the robot immediately recognizes the occurrence of an interrupt (only
delayed by the speed of the hardware), its response calling the corresponding trap
routine can only take place at specific program positions, namely:
- when the next instruction is entered,
- any time during the execution of a waiting instruction, e.g. WaitUntil,
- any time during the execution of a movement instruction, e.g. MoveL.
This normally results in a delay of 5-120 ms between interrupt recognition and
response, depending on what type of movement is being performed at the time of the
interrupt.
The raising of interrupts may be disabled and enabled. If interrupts are disabled, any
interrupt that occurs is queued and not raised until interrupts are enabled again. Note
that the interrupt queue may contain more than one waiting interrupt. Queued
interrupts are raised in FIFO order. Interrupts are always disabled during the execution
of a trap routine.
When running stepwise and when the program has been stopped, no interrupts will be
handled. Interrupts that are generated under these circumstances are not dealt with.
The maximum number of defined interrupts at any one time is limited to 70 per
program task. The total limitation set by the I/O CPU is 100 interrupts.
9.1 Interrupt manipulation

Defining an interrupt makes it known to the robot. The definition specifies the interrupt
condition and activates and enables the interrupt.
Example:
VAR intnum sig1int;

.
ISignalDI di1, high, sig1int;
An activated interrupt may in turn be deactivated (and vice versa).

During the deactivation time, any generated interrupts of the specified type are thrown
away without any trap execution.
Example:
RAPID Overview
ISleep sig1int;
.
IWatch sig1int;
deactivate
activate
4-39
Interrupts
An enabled interrupt may in turn be disabled (and vice versa).

During the disable time, any generated interrupts of the specified type are queued and
raised first when the interrupts are enabled again.
Example:
IDisable sig1int;
.
IEnable sig1int;
disable
enable
Deleting an interrupt removes its definition. It is not necessary to explicitly remove an

interrupt definition, but a new interrupt cannot be defined to an interrupt variable until
the previous definition has been deleted.
Example:
IDelete sig1int;
9.2 Trap routines

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

VAR intnum full;
.PROC main()
CONNECT empty WITH etrap;
CONNECT full WITH ftrap;
ISignalDI di1, high, empty;
ISignalDI di3, high, full;
.
IDelete empty;
IDelete full;
ENDPROC
connect trap routines
TRAP etrap
open_valve;
RETURN;
ENDTRAP
responds to feeder
empty interrupt
TRAP ftrap
close_valve;
RETURN;
ENDTRAP
responds to feeder full

interrupt
define feeder interrupts
Several interrupts may be connected to the same trap routine. The system variable
INTNO contains the interrupt number and can be used by a trap routine to identify an
interrupt. After the necessary action has been taken, a trap routine can be terminated
using the RETURN instruction or when the end (ENDTRAP or ERROR) of the trap
routine is reached. Execution continues from the place where the interrupt occurred.
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RAPID Overview
Backward execution
10 Backward execution
A program can be executed backwards one instruction at a time. The following general
restrictions are valid for backward execution:
- The instructions IF, FOR, WHILE and TEST cannot be executed backwards.
- It is not possible to step backwards out of a routine when reaching the beginning
of the routine.
10.1 Backward handlers

Procedures may contain a backward handler that defines the backward execution of a
procedure call.
The backward handler is really a part of the procedure and the scope of any routine data
also comprises the backward handler of the procedure.
Example:
PROC MoveTo ()
MoveL p1,v500,z10,tool1;
MoveC p2,p3,v500,z10,tool1;
BACKWARD
ENDPROC
When the procedure is called during forward execution, the following occurs:
..
MoveTo;
..
RAPID Overview
PROC MoveTo ()
BACKWARD
ENDPROC
4-41
Backward execution
When the procedure is called during backwards execution, the following occurs:
..
MoveTo;
..
PROC MoveTo ()
BACKWARD
ENDPROC
Instructions in the backward or error handler of a routine may not be executed

backwards. Backward execution cannot be nested, i.e. two instructions in a call chain
may not simultaneously be executed backwards.
A procedure with no backward handler cannot be executed backwards. A procedure
with an empty backward handler is executed as no operation.
10.2 Limitation of move instructions in the backward handler

The move instruction type and sequence in the backward handler must be a mirror of
the move instruction type and sequence for forward execution in the same routine:
PROC MoveTo ()
BACKWARD
ENDPROC
Mirror plane
Note that the order of CirPoint p2 and ToPoint p3 in the MoveC should be the same.
By move instructions is meant all instructions that result in some movement of the
robot or external axes such as MoveL, SearchC, TriggJ, ArcC, PaintL ...
Any departures from this programming limitation in the backward handler can
result in faulty backward movement. Linear movement can result in circular
movement and vice versa, for some part of the backward path.
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RAPID Overview
Multitasking
11 Multitasking
The events in a robot cell are often in parallel, so why are the programs not in parallel?
Multitasking RAPID is a way to execute programs in (pseudo) parallel with the normal execution. The execution is started at power on and will continue for ever, unless
an error occurs in that program. One parallel program can be placed in the background
or foreground of another program. It can also be on the same level as another program.
To use this function the robot must be configured with one extra TASK for each background program.
Up to 10 different tasks can be run in pseudo parallel. Each task consists of a set of
modules, in the same way as the normal program. All the modules are local in each
task.
Variables and constants are local in each task, but persistents are not. A persistent with
the same name and type is reachable in all tasks. If two persistents have the same name,
but their type or size (array dimension) differ, a runtime error will occur.
A task has its own trap handling and the event routines are triggered only on its own
task system states (e.g. Start/Stop/Restart....).
There are a few restrictions on the use of Multitasking RAPID.
- Do not mix up parallel programs with a PLC. The response time is the same as
the interrupt response time for one task. This is true, of course, when the task is
not in the background of another busy program
- There is only one physical Teach Pendent, so be careful that a TPWrite request
is not mixed in the Operator Window for all tasks.
- When running a Wait instruction in manual mode, a simulation box will come
up after 3 seconds. This will only occur in the main task.
- Move instructions can only be executed in the main task (the task bind to program instance 0, see Users guide - System parameters).
- The execution of a task will halt during the time that some other tasks are
accessing the file system, that is if the operator chooses to save or open a program, or if the program in a task uses the load/erase/read/write instructions.
- The Teach Pendent cannot access other tasks than the main task. So, the development of RAPID programs for other tasks can only be done if the code is
loaded into the main task, or off-line.
For all settings, see Users Guide - System parameters.
RAPID Overview
4-43
Multitasking
11.1 Synchronising the tasks

In many applications a parallel task only supervises some cell unit, quite independently
of the other tasks being executed. In such cases, no synchronisation mechanism is necessary. But there are other applications which need to know what the main task is doing,
for example.
Synchronising using polling
This is the easiest way to do it, but the performance will be the slowest.
Persistents are then used together with the instructions WaitUntil, IF, WHILE or GOTO.
If the instruction WaitUntil is used, it will poll internally every 100 ms. Do not poll
more frequently in other implementations.
Example
TASK 0
MODULE module1
PERS bool startsync:=FALSE;
PROC main()
startsync:= TRUE;
.
ENDPROC
ENDMODULE
TASK 1
MODULE module2
PROC main()
WaitUntil startsync;
.
ENDPROC
ENDMODULE
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RAPID Overview
Multitasking
Synchronising using an interrupt

The instruction SetDO and ISignalDO are used.
Example
TASK 0
MODULE module1
PROC main()
SetDO do1,1;
.
ENDPROC
ENDMODULE
TASK 1
MODULE module2
VAR intnum isiint1;
PROC main()
CONNECT isiint1 WITH isi_trap;
ISignalDO do1, 1, isiint1;
WHILE TRUE DO
WaitTime 200;
ENDWHILE
IDelete isiint1;
ENDPROC
TRAP isi_trap
.
ENDTRAP
ENDMODULE
11.2 Intertask communication

All types of data can be sent between two (or more) tasks with persistent variables.
A persistent variable is global in all tasks. The persistent variable must be of the same
type and size (array dimension) in all tasks that declared it. Otherwise a runtime error
will occur.
All declarations must specify an init value to the persistent variable, but only the first
module loaded with the declaration will use it.
RAPID Overview
4-45
Multitasking
Example
TASK 0
MODULE module1
PERS string stringtosend:=;
PROC main()
stringtosend:=this is a test;
startsync:= TRUE
ENDPROC
ENDMODULE
TASK 1
MODULE module2
PERS string stringtosend:=;
PROC main()
WaitUntil startsync;
!read string
IF stringtosend = this is a test THEN
ENDPROC
ENDMODULE
11.3 Type of task

Each extra task (not 0) is started in the system start sequence. If the task is of type
STATIC, it will be restarted at the current position (where PP was when the system was
powered off), but if the type is set to SEMISTATIC, it will be restarted from the beginning each time the power is turned on. A SEMISTATIC task will also int the restart
sequence reload modules specified in the system parameters if the module file is newer
that the loaded module.
It is also possible to set the task to type NORMAL, then it will behave in the same was
as task 0 (the main task, controlling the robot movement). The teach pendent can only
be used to start task 0, so the only way to start other NORMAL tasks is to use CommunicationWare.
4-46
RAPID Overview
Multitasking
11.4 Priorities
The way to run the tasks as default is to run all tasks at the same level in a round robbin way (one basic step on each instance). But it is possible to change the priority of
one task by putting the task in the background of another. Then the background will
only execute when the foreground is waiting for some events, or has stopped the execution (idle). A robot program with move instructions will be in an idle state most of
the time.
The example below describes some situations where the system has 10 tasks (see
Figure 5)
Round robbin chain 1:
tasks 0, 1, and 8 are busy
tasks 0, 3, 4, 5 and 8 are busy

tasks 1 and 2 are idle
tasks 2, 4 and 5 are busy

tasks 0, 1, 8 and 9 are idle.
tasks 6 and 7 are busy

tasks 0, 1, 2, 3, 4, 5, 8 and 9 are idle
chain 1
chain 2
task 0
task 1
task 2
task 3
task 4
task 5
task 6
task 7
chain 4
chain 3
task 8
task 9
Figure 5 The tasks can have different priorities.
RAPID Overview
4-47
Multitasking
11.5 Trust Level

TrustLevel handel the system behavior when a SEMISTATIC or STATIC task is
stopped for some reason or not executable.
SysFail - This is the default behaivour, all other NORMAL tasks (eg the MAIN task)
will also stop, and the system is set to state SYS_FAIL. All jogg and program start
orders will be rejected. Only a new warm start reset the system. This should be used
when the task has some security supervisions.
SysHalt - All NORMAL tasks will be stopped (normaly only the main task). The system is forced to motors off. When taking up the system to motors on it is possible
to jogg the robot, but a new attempt to start the program will be rejected. A new warm
start will reset the system.
SysStop - All NORMAL tasks will be stopped (eg the main task), but it is restartable.
Jogging is also possible.
NoSafety - Only the actual task itself will stop.
See System parameters - Controller/Task
11.6 Task sizes

The system will supply a memory area with an installation depending on size. That area
is shared by all tasks.
The value of a persistent variable will be stored in a separate part of the system, and not
affect the memory area above. See System parameters - AveragePers.
11.7 Something to think about

When you specify task priorities, you must think about the following:
- Always use the interrupt mechanism or loops with delays in supervision tasks.
Otherwise the teach pendent will never get any time to interact with the user.
And if the supervision task is in foreground, it will never allow another task in
background to execute.
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RAPID Overview
Multitasking
11.8 Programming scheme

The first time
1. Define the new task under system parameters (controller/task)
Set the type to NORMAL and the TrustLevel to NoSafety.
2. Specify all modules that should be preloaded to this new task, also under
system parameters (controller/task-modules).
3. Create the modules that should be in the task from the TeachPendant (in the
MAIN task) or off-line.
4. Test and debug the modules in the MAIN task, until the functionallity is
satified. Note: this could only be done in motors on state.
5. Change the task type to SEMISTATIC (or STATIC).
6. Restart the system.
Iteration phase
In many cases an iteration with point 3 and 5 is enough. Its only when the program has
to be tested in the MAIN task and execution of the RAPID code in two task at the same
time could confuse the user, all point should be used. Note: if a STATIC task is used
it has to be forced to reload the new changed module and restarted from the beginning.
If all point below is used it will take care of that for you.
1. Change the task type to NORMAL to inhibit the task. A NORMAL task will
not start when the system restart and if its not the MAIN task not it will be
affected by the start button at the teach pendant.
3. Load the moulde(s) to the MAIN task, test, change and save the module(s).
Note: Dont save the task, save each module according to the system
parameters.
4. Change back the task type to SEMISTATIC (or STATIC).
Finish phase
1. Set the TrustLevel to desired level eg SysFail
2. Restart the system
RAPID Overview
4-49
Multitasking
4-50
RAPID Overview
Coordinate Systems
1 Coordinate Systems
1.1 The robots tool centre point (TCP)
The position of the robot and its movements are always related to the tool centre point.
This point is normally defined as being somewhere on the tool, e.g. in the muzzle of a
glue gun, at the centre of a gripper or at the end of a grading tool.
Several TCPs (tools) may be defined, but only one may be active at any one time.
When a position is recorded, it is the position of the TCP that is recorded. This is also
the point that moves along a given path, at a given velocity.
If the robot is holding a work object and working on a stationary tool, a stationary TCP
is used. If that tool is active, the programmed path and speed are related to the work
object. See Stationary TCPs on page 8.
1.2 Coordinate systems used to determine the position of the TCP

The tool (TCPs) position can be specified in different coordinate systems to facilitate
programming and readjustment of programs.
The coordinate system defined depends on what the robot has to do. When no
coordinate system is defined, the robots positions are defined in the base coordinate
system.
1.2.1 Base coordinate system

In a simple application, programming can be done in the base coordinate system; here
the z-axis is coincident with axis 1 of the robot (see Figure 1).
Z
Y
X
Figure 1 The base coordinate system.
RAPID Overview
5-1
Coordinate Systems
The base coordinate system is located on the base of the robot:

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

If the robot is floor-mounted, programming in the base coordinate system is easy. If,
however, the robot is mounted upside down (suspended), programming in the base
coordinate system is more difficult because the directions of the axes are not the same
as the principal directions in the working space. In such cases, it is useful to define a
world coordinate system. The world coordinate system will be coincident with the base
coordinate system, if it is not specifically defined.
Sometimes, several robots work within the same working space at a plant. A common
world coordinate system is used in this case to enable the robot programs to
communicate with one another. It can also be advantageous to use this type of system
when the positions are to be related to a fixed point in the workshop. See the example
in Figure 2.
Base coordinate system robot 2
X
Y
Z
Y
X
Base coordinate system robot 1
z
y
World coordinate system
x
Figure 2 Two robots (one of which is suspended) with a common world coordinate system.
5-2
RAPID Overview
Coordinate Systems
1.2.3 User coordinate system

A robot can work with different fixtures or working surfaces having different positions
and orientations. A user coordinate system can be defined for each fixture. If all
positions are stored in object coordinates, you will not need to reprogram if a fixture
must be moved or turned. By moving/turning the user coordinate system as much as
the fixture has been moved/turned, all programmed positions will follow the fixture
and no reprogramming will be required.
The user coordinate system is defined based on the world coordinate system (see Figure 3).
Z
User coordinate system 1
Y
X
Z
User coordinate system 2
Y
X
Y
X
Base coordinate system
y
x
Figure 3 Two user coordinate systems describe the position of two different fixtures.
1.2.4 Object coordinate system

The user coordinate system is used to get different coordinate systems for different fixtures
or working surfaces. A fixture, however, may include several work objects that are to be
processed or handled by the robot. Thus, it often helps to define a coordinate system for each
object in order to make it easier to adjust the program if the object is moved or if a new
object, the same as the previous one, is to be programmed at a different location. A
coordinate system referenced to an object is called an object coordinate system. This
coordinate system is also very suited to off-line programming since the positions specified
can usually be taken directly from a drawing of the work object. The object coordinate
system can also be used when jogging the robot.
RAPID Overview
5-3
Coordinate Systems
The object coordinate system is defined based on the user coordinate system (see Figure 4).
z
z
Object coordinate system 1
y
User coordinate system
y
x
x
Object coordinate system 2
z
y
x
Figure 4 Two object coordinate systems describe the position of two different work objects
located in the same fixture.
The programmed positions are always defined relative to an object coordinate system.
If a fixture is moved/turned, this can be compensated for by moving/turning the user
coordinate system. Neither the programmed positions nor the defined object coordinate
systems need to be changed. If the work object is moved/turned, this can be
compensated for by moving/turning the object coordinate system.
If the user coordinate system is movable, that is, coordinated external axes are used,
then the object coordinate system moves with the user coordinate system. This makes
it possible to move the robot in relation to the object even when the workbench is being
manipulated.
1.2.5 Displacement coordinate system

Sometimes, the same path is to be performed at several places on the same object. To
avoid having to re-program all positions each time, a coordinate system, known as the
displacement coordinate system, is defined. This coordinate system can also be used in
conjunction with searches, to compensate for differences in the positions of the
individual parts.
The displacement coordinate system is defined based on the object coordinate system
(see Figure 5).
5-4
RAPID Overview
Coordinate Systems
New position
y
x
Original position
Displacement coordinate system
x
Object coordinate system
Figure 5 If program displacement is active, all positions are displaced.
1.2.6 Coordinated external axes

Coordination of user coordinate system
If a work object is placed on an external mechanical unit, that is moved whilst the robot
is executing a path defined in the object coordinate system, a movable user coordinate
system can be defined. The position and orientation of the user coordinate system will,
in this case, be dependent on the axes rotations of the external unit. The programmed
path and speed will thus be related to the work object (see Figure 6) and there is no
need to consider the fact that the object is moved by the external unit.
z
y
x
joint 2
joint 3
joint 1
z
y
x
Figure 6 A user coordinate system, defined to follow the movements of a 3-axis external mechanical unit.
RAPID Overview
5-5
Coordinate Systems
Coordination of base coordinate system

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

World coordinate
system
Track
Figure 7 Coordinated interpolation with a track moving the base coordinate system of the robot.
To be able to calculate the user and the base coordinate systems when involved units
are moved, the robot must be aware of:
- The calibration positions of the user and the base coordinate systems
- The relations between the angles of the external axes and the translation/rotation
of the user and the base coordinate systems.
These relations are defined in the system parameters.
1.3 Coordinate systems used to determine the direction of the tool

The orientation of a tool at a programmed position is given by the orientation of the tool
coordinate system. The tool coordinate system is referenced to the wrist coordinated
system, defined at the mounting flange on the wrist of the robot.
5-6
RAPID Overview
Coordinate Systems
1.3.1 Wrist coordinate system

In a simple application, the wrist coordinate system can be used to define the
orientation of the tool; here the z-axis is coincident with axis 6 of the robot
(see Figure 8).
Figure 8 The wrist coordinate system.
The wrist coordinate system cannot be changed and is always the same as the mounting
flange of the robot in the following respects:
- The origin is situated at the centre of the mounting flange (on the mounting surface).
- The x-axis points in the opposite direction, towards the control hole of the
mounting flange.
- The z-axis points outwards, at right angles to the mounting flange.
1.3.2 Tool coordinate system

The tool mounted on the mounting flange of the robot often requires its own coordinate
system to enable definition of its TCP, which is the origin of the tool coordinate system.
The tool coordinate system can also be used to get appropriate motion directions when
jogging the robot.
If a tool is damaged or replaced, all you have to do is redefine the tool coordinate
system. The program does not normally have to be changed.
The TCP (origin) is selected as the point on the tool that must be correctly positioned,
e.g. the muzzle on a glue gun. The tool coordinate axes are defined as those natural for
the tool in question.
RAPID Overview
5-7
Coordinate Systems
x
x
Top
Top
z
Figure 9 Tool coordinate system, as usually defined for an arc-welding gun (left) and
a spot welding gun (right).
The tool coordinate system is defined based on the wrist coordinate system
(see Figure 10).
y
Tool coordinate system
Figure 10 The tool coordinate system is defined relative to the wrist coordinate system,
here for a gripper.
1.3.3 Stationary TCPs

is used. If that tool is active, the programmed path and speed are related to the work
object held by the robot.
This means that the coordinate systems will be reversed, as in Figure 11.
5-8
RAPID Overview
Coordinate Systems
Z
Y
X
Y
X
x
Figure 11 If a stationary TCP is used, the object coordinate system is usually based on the wrist
coordinate system.
In the example in Figure 11, neither the user coordinate system nor program
displacement is used. It is, however, possible to use them and, if they are used, they
will be related to each other as shown in Figure 12.
z
y
z
y
z
x
y
x
y
Displacement coordinate system
Wrist coordinate system
x
Figure 12 Program displacement can also be used together with stationary TCPs.
RAPID Overview
5-9
Coordinate Systems
1.4 Related information

Described in:
5-10
Definition of the world coordinate system
Users Guide - System Parameters
Definition of the user coordinate system
Users Guide - Calibration

Data Types - wobjdata
Definition of the object coordinate system

Definition of the tool coordinate system

Data Types - tooldata
Definition of a tool centre point

Definition of displacement frame

RAPID Summary - Motion Settings
Jogging in different coordinate systems
Users Guide - Jogging
RAPID Overview
Positioning during Program Execution
2 Positioning during Program Execution

2.1 General
During program execution, positioning instructions in the robot program control all
movements. The main task of the positioning instructions is to provide the following
information on how to perform movements:
- The destination point of the movement (defined as the position of the tool
centre point, the orientation of the tool, the configuration of the robot and the
position of the external axes).
- The interpolation method used to reach the destination point, e.g. joint
interpolation, linear interpolation or circle interpolation.
- The velocity of the robot and external axes.
- The zone data (defines how the robot and the external axes are to pass the
destination point).
- The coordinate systems (tool, user and object) used for the movement.
As an alternative to defining the velocity of the robot and the external axes, the time
for the movement can be programmed. This should, however, be avoided if the
weaving function is used. Instead the velocities of the orientation and external axes
should be used to limit the speed, when small or no TCP-movements are made.
In material handling and pallet applications with intensive and frequent
movements, the drive system supervision may trip out and stop the robot in order
to prevent overheating of drives or motors. If this occurs, the cycle time needs to
be slightly increased by reducing programmed speed or acceleration.
2.2 Interpolation of the position and orientation of the tool
2.2.1 Joint interpolation

When path accuracy is not too important, this type of motion is used to move the tool
quickly from one position to another. Joint interpolation also allows an axis to move from
any location to another within its working space, in a single movement.
All axes move from the start point to the destination point at constant axis velocity (see
Figure 13).
RAPID Overview
5-11
Destination point
Start point
Joint interpolated
path
Figure 13 Joint interpolation is often the fastest way to move between two points as the robot
axes follow the closest path between the start point and the destination point (from the
perspective of the axis angles).
The velocity of the tool centre point is expressed in mm/s (in the object coordinate
system). As interpolation takes place axis-by-axis, the velocity will not be exactly the
programmed value.
During interpolation, the velocity of the limiting axis, i.e. the axis that travels fastest
relative to its maximum velocity in order to carry out the movement, is determined.
Then, the velocities of the remaining axes are calculated so that all axes reach the
destination point at the same time.
All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is automatically optimised to the max performance of the robot.
2.2.2 Linear interpolation

During linear interpolation, the TCP travels along a straight line between the start and
destination points (see Figure 14).
e
Start point
Destination point
Figure 14 Linear interpolation without reorientation of the tool.
To obtain a linear path in the object coordinate system, the robot axes must follow a
non-linear path in the axis space. The more non-linear the configuration of the robot is,
the more accelerations and decelerations are required to make the tool move in a
straight line and to obtain the desired tool orientation. If the configuration is extremely
non-linear (e.g. in the proximity of wrist and arm singularities), one or more of the axes
will require more torque than the motors can give. In this case, the velocity of all axes
will automatically be reduced.
5-12
The orientation of the tool remains constant during the entire movement unless a
reorientation has been programmed. If the tool is reorientated, it is rotated at constant
velocity.
RAPID Overview
A maximum rotational velocity (in degrees per second) can be specified when rotating
the tool. If this is set to a low value, reorientation will be smooth, irrespective of the
velocity defined for the tool centre point. If it is a high value, the reorientation velocity
is only limited by the maximum motor speeds. As long as no motor exceeds the limit for
the torque, the defined velocity will be maintained. If, on the other hand, one of the
motors exceeds the current limit, the velocity of the entire movement (with respect to
both the position and the orientation) will be reduced.
Acceleration is optimised automatically.
2.2.3 Circular interpolation

A circular path is defined using three programmed positions that define a circle
segment. The first point to be programmed is the start of the circle segment. The next
point is a support point (circle point) used to define the curvature of the circle, and the
third point denotes the end of the circle (see Figure 15).
The three programmed points should be dispersed at regular intervals along the arc of
the circle to make this as accurate as possible.
The orientation defined for the support point is used to select between the short and the
long twist for the orientation from start to destination point.
If the programmed orientation is the same relative to the circle at the start and the
destination points, and the orientation at the support is close to the same orientation
relative to the circle, the orientation of the tool will remain constant relative to the path.
Circle point
Destination point
Start point
Figure 15 Circular interpolation with a short twist for part of a circle (circle segment) with a
start point, circle point and destination point.
However, if the orientation at the support point is programmed closer to the orientation
rotated 180, the alternative twist is selected (see Figure 16).
RAPID Overview
5-13
Circle point
Destination point
Start point
Figure 16 Circular interpolation with a long twist for orientation is achieved by defining the
orientation in the circle point in the opposite direction compared to the start point.
As long as all motor torques do not exceed the maximum permitted values, the tool will
move at the programmed velocity along the arc of the circle. If the torque of any of the
motors is insufficient, the velocity will automatically be reduced at those parts of the
circular path where the motor performance is insufficient.
2.2.4 SingArea\Wrist
During execution in the proximity of a singular point, linear or circular interpolation
may be problematic. In this case, it is best to use modified interpolation, which means
that the wrist axes are interpolated axis-by-axis, with the TCP following a linear or
circular path. The orientation of the tool, however, will differ somewhat from the
programmed orientation.
In the SingArea\Wrist case the orientation in the circle support point will be the same
as programmed. However, the tool will not have a constant direction relative to the
circle plane as for normal circular interpolation. If the circle path passes a singularity,
the orientation in the programmed positions sometimes must be modified to avoid big
wrist movements, which can occur if a complete wrist reconfiguration is generated
when the circle is executed (joints 4 and 6 moved 180 degrees each).
2.3 Interpolation of corner paths

The destination point is defined as a stop point in order to get point-to-point movement.
This means that the robot and any external axes will stop and that it will not be possible
to continue positioning until the velocities of all axes are zero and the axes are close to
their destinations.
Fly-by points are used to get continuous movements past programmed positions. In this
way, positions can be passed at high speed without having to reduce the speed
unnecessarily. A fly-by point generates a corner path (parabola path) past the programmed
5-14
RAPID Overview
position, which generally means that the programmed position is never reached. The
beginning and end of this corner path are defined by a zone around the programmed
position (see Figure 17).
The zone for the path

of the TCP
Programmed
position
Corner path
Figure 17 A fly-by point generates a corner path to pass the programmed position.
2.3.1 Joint interpolation in corner paths

The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 18). Since the interpolation is performed axis-by-axis, the size of the zones (in
mm) must be recalculated in axis angles (radians). This calculation has an error factor
(normally max. 10%), which means that the true zone will deviate somewhat from the
one programmed.
If different speeds have been programmed before or after the position, the transition
from one speed to the other will be smooth and take place within the corner path
without affecting the actual path.
Programmed
fly-by point
Zone
Start point
Destination point
Corner path
Figure 18 During joint interpolation, a corner path is generated in order to pass a fly-by point.
RAPID Overview
5-15
2.3.2 Linear interpolation of a position in corner paths

The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 19).
Programmed
corner position
Start point
Zone
Corner path
Destination point
Figure 19 During linear interpolation, a corner path is generated in order to pass a fly-by point.
If different speeds have been programmed before or after the corner position, the
transition will be smooth and take place within the corner path without affecting the
actual path.
If the tool is to carry out a process (such as arc-welding, gluing or water cutting) along
the corner path, the size of the zone can be adjusted to get the desired path. If the shape
of the parabolic corner path does not match the object geometry, the programmed
positions can be placed closer together, making it possible to approximate the desired
path using two or more smaller parabolic paths.
2.3.3 Linear interpolation of the orientation in corner paths

Zones can be defined for tool orientations, just as zones can be defined for tool
positions. The orientation zone is usually set larger than the position zone. In this case,
the reorientation will start interpolating towards the orientation of the next position
before the corner path starts. The reorientation will then be smoother and it will
probably not be necessary to reduce the velocity to perform the reorientation.
The tool will be reorientated so that the orientation at the end of the zone will be the
same as if a stop point had been programmed (see Figure 20a-c).
Figure 20a Three positions with different tool orientations are programmed as above.
5-16
RAPID Overview
Figure 20b If all positions were stop points, program execution would look like this.
Operation zone size

Figure 20c If the middle position was a fly-by point, program execution would look like this.
The orientation zone for the tool movement is normally expressed in mm. In this way,
you can determine directly where on the path the orientation zone begins and ends. If
the tool is not moved, the size of the zone is expressed in angle of rotation degrees
instead of TCP-mm.
If different reorientation velocities are programmed before and after the fly-by point,
and if the reorientation velocities limit the movement, the transition from one velocity
to the other will take place smoothly within the corner path.
2.3.4 Interpolation of external axes in corner paths

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

Corner paths are also generated when one interpolation method is exchanged for
another. The interpolation method used in the actual corner paths is chosen in such a
way as to make the transition from one method to another as smooth as possible. If the
corner path zones for orientation and position are not the same size, more than one
interpolation method may be used in the corner path (see Figure 21).
RAPID Overview
5-17
p1
Sing Area\Wrist
p4
interpolation
Linear
interpolation
Joint interpolation
p2
p3
Sing Area\Wrist
interpolation
Position zone
Orientation zone
Figure 21 Interpolation when changing from one interpolation method to another. Linear
interpolation has been programmed between p1 and p2; joint interpolation between
p2 and p3; and Sing Area\Wrist interpolation between p3 and p4.
If the interpolation is changed from a normal TCP-movement to a reorientation without

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

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

If programmed positions are located close to each other, it is not unusual for the
programmed zones to overlap. To get a well-defined path and to achieve optimum
velocity at all times, the robot reduces the size of the zone to half the distance from one
overlapping programmed position to the other (see Figure 22). The same zone radius is
always used for inputs to or outputs from a programmed position, in order to obtain
symmetrical corner paths.
5-18
RAPID Overview
Generated
path
p4
p2
p1
Programmed
position zones
p3
Corner zones as
calculated by the robot
Figure 22 Interpolation with overlapping position zones. The zones around p2 and p3 are larger
than half the distance from p2 to p3. Thus, the robot reduces the size of the zones to
make them equal to half the distance from p2 to p3, thereby generating symmetrical
corner paths within the zones.
Both position and orientation corner path zones can overlap. As soon as one of these
corner path zones overlap, that zone is reduced (see Figure 23).
Programmed
orientation zone
Generated path
Generated
orientation zone
p4
p2
p1
p3
Position zones
Orientation zone
Figure 23 Interpolation with overlapping orientation zones. The orientation zone at p2 is larger
than half the distance from p2 to p3 and is thus reduced to half the distance from p2
to p3. The position zones do not overlap and are consequently not reduced; the
orientation zone at p3 is not reduced either.
RAPID Overview
5-19
2.3.8 Planning time for fly-by points

Occasionally, if the next movement is not planned in time, programmed fly-by points
can give rise to a stop point. This may happen when:
- A number of logical instructions with long program execution times are
programmed between short movements.
- The points are very close together at high speeds.
If stop points are a problem then use concurrent program execution.
2.4 Independent axes

An independent axis is an axis moving independently of other axes in the robot system.
It is possible to change an axis to independent mode and later back to normal mode
again.
A special set of instructions handles the independent axes. Four different move
instructions specify the movement of the axis. For instance, the IndCMove instruction
starts the axis for continuous movement. The axis then keeps moving at a constant
speed (regardless of what the robot does) until a new independent-instruction is
executed.
To change back to normal mode a reset instruction, IndReset, is used. The reset
instruction can also set a new reference for the measurement system - a type of new
synchronization of the axis. Once the axis is changed back to normal mode it is possible
to run it as a normal axis.
2.4.1 Program execution

An axis is immediately change to independent mode when an Ind_Move instruction is
executed. This takes place even if the axis is being moved at the time, such as when a
previous point has been programmed as a fly-by point, or when simultaneous program
execution is used.
If a new Ind_Move instruction is executed before the last one is finished, the new
instruction immediately overrides the old one.
If a program execution is stopped when an independent axis is moving, that axis will
stop. When the program is restarted the independent axis starts automatically. No active
coordination between independent and other axes in normal mode takes place.
If a loss of voltage occurs when an axis is in independent mode, the program cannot be
restarted. An error message is then displayed, and the program must be started from the
beginning.
Note that a mechanical unit may not be deactivated when one of its axes is in
independent mode.
5-20
RAPID Overview
2.4.2 Stepwise execution

During stepwise execution, an independent axis is executed only when another
instruction is being executed. The movement of the axis will also be stepwise in line
with the execution of other instruments, see Figure 24.
Independent axis
reaches final position
IndAMove
WaitTime 10
MoveL
MoveL
10 s
Independent axis
speed
Normal axis speed
Figure 24 Stepwise execution of independent axes.
2.4.3 Jogging
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually, the axis does not move and an error message is displayed. Execute an
IndReset instruction or move the program pointer to main, in order to leave the
independent mode.
2.4.4 Working range

The physical working range is the total movement of the axis.
The logical working range is the range used by RAPID instructions and read in the
jogging window.
After synchronization (updated revolution counter), the physical and logical working
range coincide. By using the IndReset instruction the logical working area can be
moved, see Figure 25.
RAPID Overview
5-21
Logical working range

after synchronization

0 after IndReset
0
0
Physical working range

Figure 25 The logical working range can be moved, using the instruction IndReset.
The resolution of positions is decreased when moving away from logical position 0.
Low resolution together with stiff tuned controller can result in unacceptable torque,
noise and controller instability. Check the controller tuning and axis performance close
to the working range limit at installation. Also check if the position resolution and path
performance are acceptable.
2.4.5 Speed and acceleration

In manual mode with reduced speed, the speed is reduced to the same level as if the axis
was running as non-independent. Note that the IndSpeed\InSpeed function will not be
TRUE if the axis speed is reduced.
The VelSet instruction and speed correction in percentage via the production window,
are active for independent movement. Note that correction via the production window
inhibits TRUE value from the IndSpeed\InSpeed function.
In independent mode, the lowest value of acceleration and deceleration, specified in the
configuration file, is used both for acceleration and deceleration. This value can be
reduced by the ramp value in the instruction (1 - 100%). The AccSet instruction does
not affect axes in independent mode.
2.4.6 Robot axes

Only robot axis 6 can be used as an independent axis. Normally the IndReset instruction
is used only for this axis. However, the IndReset instruction can also be used for axis 4
on IRB 2400 and 4400 models. If IndReset is used for robot axis 4, then axis 6 must not
be in the independent mode.
If axis 6 is used as an independent axis, singularity problems may occur because the
normal 6-axes coordinate transform function is still used. If a problem occurs, execute
the same program with axis 6 in normal mode. Modify the points or use SingArea\Wrist
or MoveJ instructions.
5-22
RAPID Overview
The axis 6 is also internally active in the path performance calculation. A result of this
is that an internal movement of axis 6 can reduce the speed of the other axes in the
system.
The independent working range for axis 6 is defined with axis 4 and 5 in home
position. If axis 4 or 5 is out of home position the working range for axis 6 is moved
due to the gear coupling. However, the position read from teach pendant for axis 6 is
compensated with the positions of axis 4 and 5 via the gear coupling.
2.5 Soft Servo

In some applications there is a need for a servo, which acts like a mechanical spring.
This means that the force from the robot on the work object will increase as a function
of the distance between the programmed position (behind the work object) and the
contact position (robot tool - work object).
The relationship between the position deviation and the force, is defined by a
parameter called softness. The higher the softness parameter, the larger the position
deviation required to obtain the same force.
The softness parameter is set in the program and it is possible to change the softness
values anywhere in the program. Different softness values can be set for different joints
and it is also possible to mix joints having normal servo with joints having soft servo.
Activation and deactivation of soft servo as well as changing of softness values can be
made when the robot is moving. When this is done, a tuning will be made between the
different servo modes and between different softness values to achieve smooth
transitions. The tuning time can be set from the program with the parameter ramp. With
ramp = 1, the transitions will take 0.5 seconds, and in the general case the transition
time will be ramp x 0.5 in seconds.
Note that deactivation of soft servo should not be done when there is a force between
the robot and the work object.
With high softness values there is a risk that the servo position deviations may be so
big that the axes will move outside the working range of the robot.
2.6 Stop and restart

A movement can be stopped in three different ways:
1. For a normal stop the robot will stop on the path, which makes a restart easy.
2. For a stiff stop the robot will stop in a shorter time than for the normal stop, but the
deceleration path will not follow the programmed path. This stop method is, for
example, used for search stop when it is important to stop the motion as soon as
possible.
RAPID Overview
5-23
3. For a quick-stop the mechanical brakes are used to achieve a deceleration distance,
which is as short as specified for safety reasons. The path deviation will usually be
bigger for a quick-stop than for a stiff stop.
After a stop (any of the types above) a restart can always be made on the interrupted
path. If the robot has stopped outside the programmed path, the restart will begin with
a return to the position on the path, where the robot should have stopped.
A restart following a power failure is equivalent to a restart after a quick-stop. It should
be noted that the robot will always return to the path before the interrupted program
operation is restarted, even in cases when the power failure occurred while a logical
instruction was running. When restarting, all times are counted from the beginning; for
example, positioning on time or an interruption in the instruction WaitTime.

Described in:
5-24
Definition of speed
Data Types - speeddata
Definition of zones (corner paths)
Data Types - zonedata
Instruction for joint interpolation
Instructions - MoveJ
Instruction for linear interpolation
Instructions - MoveL
Instruction for circular interpolation
Instructions - MoveC
Instruction for modified interpolation
Instructions - SingArea
Singularity
Motion and I/O Principles- Singularity
Concurrent program execution
Motion and I/O PrinciplesSynchronisation with logical

instructions
CPU Optimization
Users Guide - System parameters
RAPID Overview
Synchronisation with logical instructions
3 Synchronisation with logical instructions

Instructions are normally executed sequentially in the program. Nevertheless, logical
instructions can also be executed at specific positions or during an ongoing
movement.
A logical instruction is any instruction that does not generate a robot movement or
an external axis movement, e.g. an I/O instruction.
3.1 Sequential program execution at stop points

If a positioning instruction has been programmed as a stop point, the subsequent
instruction is not executed until the robot and the external axes have come to a
standstill, i.e. when the programmed position has been attained (see Figure 26).
p1
Execution of SetDO
MoveL p1, v1000, fine, tool1;
SetDO do1, on;
MoveL p2, v1000, z30, tool1;
Figure 26 A logical instruction after a stop point is not executed until the destination position
has been reached.
3.2 Sequential program execution at fly-by points

If a positioning instruction has been programmed as a fly-by point, the subsequent
logical instructions are executed some time before reaching the largest zone (for
position, orientation or external axes). See Figure 27 and Figure 28. These
instructions are then executed in order.
Execution of SetDO
DT
p1
SetDO do1, on;
Position zone
Orientation zone
Figure 27 A logical instruction following a fly-by point is executed before reaching the largest zone.
RAPID Overview
5-25
Execution
of SetDO
Position zone
DT
p2
p1

SetDO do1, on;
Orientation zone
Figure 28 A logical instruction following a fly-by point is executed before reaching the largest zone.
The time at which they are executed (DT) comprises the following time components:
- The time it takes for the robot to plan the next move: approx. 0.1 seconds.
- The robot delay (servo lag) in seconds: 0 - 1.0 seconds depending on the
velocity and the actual deceleration performance of the robot.
3.3 Concurrent program execution

Concurrent program execution can be programmed using the argument \Conc in the
positioning instruction. This argument is used to:
- Execute one or more logical instructions at the same time as the robot moves in order
to reduce the cycle time (e.g. used when communicating via serial channels).
5-26
RAPID Overview
When a positioning instruction with the argument \Conc is executed, the following
logical instructions are also executed (in sequence):
- If the robot is not moving, or if the previous positioning instruction ended with a
stop point, the logical instructions are executed as soon as the current positioning
instruction starts (at the same time as the movement). See Figure 29.
- If the previous positioning instruction ends at a fly-by point, the logical
instructions are executed at a given time (DT) before reaching the largest zone
(for position, orientation or external axes). See Figure 30.
Execution of SetDO
p2
p1
MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
Figure 29 In the case of concurrent program execution after a stop point, a positioning
instruction and subsequent logical instructions are started at the same time.
RAPID Overview
5-27
Execution
of SetDO
Largest zone
DT
p2
p1

SetDO do1, on;
Figure 30 In the case of concurrent program execution after a fly-by point, the logical
instructions start executing before the positioning instructions with the argument
\Conc are started.
Instructions which indirectly affect movements, such as ConfL and SingArea, are
executed in the same way as other logical instructions. They do not, however, affect
the movements ordered by previous positioning instructions.
If several positioning instructions with the argument \Conc and several logical
instructions in a long sequence are mixed, the following applies:
- Logical instructions are executed directly, in the order they were programmed.
This takes place at the same time as the movement (see Figure 31) which means
that logical instructions are executed at an earlier stage on the path than they
were programmed.
5-28
RAPID Overview
Execution of
SetDO and SetAO
DT
Largest zone
p2
p1

SetDO do1, on;
SetAO ao2, 5;
Figure 31 If several positioning instructions with the argument \Conc are programmed in
sequence, all connected logical instructions are executed at the same time as the first
position is executed.
During concurrent program execution, the following instructions are programmed to

end the sequence and subsequently re-synchronise positioning instructions and
logical instructions:
- a positioning instruction to a stop point without the argument \Conc,
- the instruction WaitTime or WaitUntil with the argument \Inpos.
3.4 Path synchronisation

In order to synchronise process equipment (for applications such as gluing, painting
and arc welding) with the robot movements, different types of path synchronisation
signals can be generated.
With a so-called positions event, a trig signal will be generated when the robot passes
a predefined position on the path. With a time event, a signal will be generated in a
predefined time before the robot stops at a stop position. Moreover, the control system
also handles weave events, which generate pulses at predefined phase angles of a
weave motion.
RAPID Overview
5-29
All the position synchronised signals can be achieved both before (look ahead time)
and after (delay time) the time that the robot passes the predefined position. The
position is defined by a programmed position and can be tuned as a path distance before
the programmed position.
Typical repeat accuracy for a set of digital outputs on the path is +/- 2ms.
In the event of a power failure and restart in a Trigg instruction, all trigg events will be
generated once again on the remaining movement path for the trigg instruction.

Described in:
5-30
Positioning instructions
RAPID Summary - Motion
Definition of zone size
RAPID Overview
Robot Configuration
4 Robot Configuration
It is usually possible to attain the same robot tool position and orientation in several
different ways, using different sets of axis angles. We call these different robot
configurations. If, for example, a position is located approximately in the middle of a
work cell, some robots can get to that position from above and from below (see Figure
32). This can also be achieved by turning the front part of the robot upper arm (axis 4)
upside down while rotating axes 5 and 6 to the desired position and orientation (see
Figure 33).
Figure 32 Two different arm configurations used to attain the same position and orientation.
In one of the configurations, the arms point upwards and to attain the other
configuration, axis 1 must be rotated 180 degrees.
axis 6
axis 4
axis 5
Figure 33 Two different wrist configurations used to attain the same position and orientation.
In the configuration in which the front part of the upper arm points upwards (lower),
axis 4 has been rotated 180 degrees, axis 5 through 180 degrees and axis 6 through
180 degrees in order to attain the configuration in which the front part of the upper
arm points downwards (upper).
RAPID Overview
5-31
Robot Configuration
Usually you want the robot to attain the same configuration during program execution as
the one you programmed. To do this, you can make the robot check the configuration
and, if the correct configuration is not attained, program execution will stop. If the
configuration is not checked, the robot may unexpectedly start to move its arms and
wrists which, in turn, may cause it to collide with peripheral equipment.
For a rotational robot axis the robot configuration is specified by defining the
appropriate quarter revolutions of the axis.
Figure 34 Quarter revolution for a positive joint angle: int ( join tan gle 2 ) .
-3
-4
-2
-1
Figure 35 Quarter revolution for a negative joint angle: int ( join tan gle 2 1 ) .
For a linear robot axis the value defines a meter interval for the robot 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.
-2
-3
-1
3
x (m)
-3
-2
-1
Configuration value
Figure 36 Configuration values for a linear axis
The configuration data set consists of four components cf1, cf4, cf6, cfx. cf1 specifies
the value for axis 1, cf4, for axis 4, cf6 for axis 6. cfx is an additional component that
is used for robot types with structures that need an extra component.
The configuration check involves comparing the configuration of the programmed
position with that of the robot. The configuration of a specific axis is accepted if the
5-32
RAPID Overview
Robot Configuration
attained axis value is within +/- 45 degrees from the specified quadrant for a rotational
joint or within +/- 0.5 m from the specified meter value of a linear axis.
cf4 = 0
Figure 37 Example: Accepted axis value 135 deg < joint 4 <-45 deg for rotational axis 4 when
cf4 = 0
-3
-2
-1
3
x (m)
-1
Configuration value
Figure 38 Example: Accepted axis value -1.5 m < joint 1 < 0.5 m for linear axis 1 when cf1 = -1
During linear movement, the robot always moves to the closest possible configuration.
If, however, the configuration check is active, program execution stops as soon as:
- The configuration of the programmed position will not be attained.
- The reorientation needed by any one of the wrist axes to get to the programmed
position exceeds a limit (140-180 degrees).
During axis-by-axis or modified linear movement using a configuration check, the
robot always moves to the programmed axis configuration. If the programmed axes
configurations will not be reached, program execution stops before starting the
movement. If the configuration check is not active, the robot moves to the specified
position and orientation with the closest configuration.
When the execution of a programmed position is stopped because of a configuration
error, it may often be caused by one or more of the following reasons:
- The position is programmed off-line with a faulty configuration.
- The robot tool has been changed causing the robot to take another configuration
than was programmed.
- The position is subject to an active frame operation (displacement, user, object,
base).
RAPID Overview
5-33
Robot Configuration
The correct configuration in the destination position can be found by positioning the
robot near it and reading the configuration on the teach pendant.
If the configuration parameters change because of active frame operation, the
configuration check can be deactivated.

Described in:
5-34
Definition of robot configuration
Data Types - confdata
Activating/deactivating the configuration

check
RAPID Overview
Robot kinematic models
5 Robot kinematic models

5.1 Robot kinematics
The position and orientation of a robot is determined from the kinematic model of its
mechanical structure. The specific mechanical unit models must be defined for each
installation. For standard ABB master and external robots, these models are predefined
in the controller.
5.1.1 Master robot

The kinematic model of the master robot models the position and orientation of the tool
of the robot relative to its base as function of the robot joint angles.
The kinematic parameters specifying the arm-lengths, offsets and joint attitudes, are
predefined in the configuration file for each robot type.
length_of_upper_arm
offset_of_joint_3
Z
joint 4
joint 3
length_of_wrist
Z6
joint 5
joint 6
X6
length_of_lower_arm
offset_of_joint_2
height_of_foot
joint 2
joint 1
X
Figure 39 Kinematic structure of an IRB1400 robot
A calibration procedure supports the definition of the base frame of the master robot
relative to the world frame.
RAPID Overview
5-35
Z6
X6
Z
Y
X
Master robot base frame
World frame
Figure 40 Base frame of master robot
5.1.2 External robot

Coordination with an external robot also requires a kinematic model for the external
robot. A number of predefined classes of 2 and 3 dimensional mechanical structures are
supported.
Z2
length_of_lower_arm
Z0
offset_of_upper_arm
attitude_of_joint1
joint 2
joint 1
X2
turn_table
offset_of_joint1_x
attitude_of_joint
height_of_foot
X0
Figure 41 Kinematic structure of an ORBIT 160B robot using predefined model
Calibration procedures to define the base frame relative to the world frame are supplied
for each class of structures.
5-36
RAPID Overview
Z0
Z2
Body C
X2
Body B
Body A
X0
External robot base frame
World frame
Figure 42 Base frame of an ORBIT_160B robot
Y0
Y2
X0
y1
X2
x1
x2
Figure 43 Reference points on turntable for base frame calibration of an ORBIT_160B robot in
the home position using predefined model
5.2 General kinematics

Mechanical structures not supported by the predefined structures may be modelled by
using a general kinematic model. This is possible for external robots.
Modelling is based on the Denavit-Hartenberg convention according to Introduction to
Robotics, Mechanics & Control, John J. Craigh (Addison-Wesley 1986)
RAPID Overview
5-37
Z2
d1
d2
Z0
Y2
X0
a1 = 0
a2 = 0
alfa1 = 0
turn_table
alfa2
Figure 44 Kinematic structure of an ORBIT 160B robot using general kinematics model
A calibration procedure supports the definition of the base frame of the external robot
relative to the world frame.
Z2
Z0
Y2
X0
External robot base frame
World frame
Figure 45 Base frame of an ORBIT_160B robot using general kinematics model
5-38
RAPID Overview
Y0
X0
x1
y1
Y2
x2
X2
Figure 46 Reference points on turntable for base frame calibration of an ORBIT_160B robot in
the home position (joints = 0 degrees)

Described in:
Definition of general kinematics of
an external robot
RAPID Overview
5-39
5-40
RAPID Overview
Motion Supervision/Collision Detection
6 Motion Supervision/Collision Detection

Motion supervision is the name of a collection of functions for high sensitivity,
model-based supervision of the robots movements. Motion supervision includes
functionality for the detection of collision, jamming, and incorrect load definition.
This functionality is called Collision Detection.
6.1 Introduction
The collision detection will trig if the load is incorrectly defined. If the load data is
not known, the load identification functionality can be used to define it.
When the collision detection is triggered, the motor torques are reversed and the
mechanical brakes applied in order to stop the robot. The robot then backs up a short
distance along the path in order to remove any residual forces which may be present
if a collision or jam occurred. After this, the robot stops again and remains in the
motors on state. A typical collision is illustrated in the figure below.
The motion supervision is only active when at least one axis (including external axes)
is in motion. When all axes are standing still, the function is deactivated. This is to
avoid unnecessary trigging due to external process forces.
6.2 Tuning of Collision Detection levels

The collision detection uses a variable supervision level. At low speeds it is more
sensitive than during high speeds. For this reason, no tuning of the function should
be required by the user during normal operating conditions. However, it is possible
to turn the function on and off and to tune the supervision levels. Separate tuning
parameters are available for jogging and program execution. The different tuning
parameters are described in more detail in the Users Guide under System Parameters: Manipulator.
There is a RAPID instruction called MotionSup which turns the function on and off
and modifies the supervision level. This is useful in applications where external
process forces act on the robot in certain parts of the cycle. The MotionSup
instruction is described in more detail in the LoadId & CollDetect Manual.
6.3 Motion supervision dialogue box

Select motion supervision under the special menu in the jogging window. This
displays a dialogue box which allows the motion supervision to be turned on and off.
This will only affect the robot during jogging. If the motion supervision is turned
off in the dialogue box and a program is executed, the collision detection can still be
active during the running of the program. If the program is then stopped and the robot
jogged, the status flag in the dialogue window is set to on again. This is a safety
measure to avoid turning the function off by accident.
RAPID Overview
5-41
Figure: Typical collision

Phase 1 - The motor torque
is reversed to stop the robot.
Phase 2 - The motor speed is
reversed to remove residual
forces on the tool and robot.
time of
collision
collision
detected
robot
stopped
residual forces
removed
motor
speed
time
speed
reversed
motor
torque
time
torque
reversed
5-42
RAPID Overview
6.4 Digital outputs

The digital output MotSupOn is high when the collision detection function is active
and low when it is not active. Note that a change in the state of the function takes
effect when a motion starts. Thus, if the collision detection is active and the robot is
moving, MotSupOn is high. If the robot is stopped and the function turned off, MotSupOn is still high. When the robot starts to move, MotSupOn switches to low.
The digital output MotSupTrigg goes high when the collision detection triggers. It
stays high until the error code is acknowledged, either from the teach pendant or
through the digital input AckErrDialog.
The digital outputs are described in more detail in the Users Guide under System
Parameters: IO Signals.
6.5 Limitations
The motion supervision is only available for the robot axes. It is not available for
track motions, orbit stations, or any other external manipulators.
In RobotWare 3.1, the motion supervision is only available for the IRB6400
robot family.
The collision detection is deactivated when at least one axis is run in independent
joint mode. This is also the case even when it is an external axis which is run as an
independent joint.
The collision detection may trigger when the robot is used in soft servo mode.
Therefore, it is advisable to turn the collision detection off when the robot is in soft
sevo mode.
If the RAPID instruction MotionSup is used to turn off the collision detection, this
will only take effect once the robot starts to move. As a result, the digital output
MotSupOn may temporarily be high at program start before the robot starts to move.
The distance the robot backs up after a collision is proportional to the speed of the
motion before the collision. If repeated low speed collisions occur, the robot may not
back up sufficiently to relieve the stress of the collision. As a result, it may not be
possible to jog the robot without the supervision triggering. In this case use the jog
menu to turn off the collision detection temporarily and jog the robot away from the
obstacle.
In the event of a stiff collision during program execution, it may take a few seconds
before the robot starts to back up.
RAPID Overview
5-43

Described in:
5-44
RAPID instruction MotionSup
System parameters for tuning
System Parameters - Manipulator
Motion supervision IO Signals
System Parameters - IO Signals
Load Identification
Option Manual - LoadId & CollDetect
RAPID Overview
Singularities
7 Singularities
Some positions in the robot working space can be attained using an infinite number
of robot configurations to position and orient the tool. These positions, known as
singular points (singularities), constitute a problem when calculating the robot arm
angles based on the position and orientation of the tool.
Generally speaking, a robot has two types of singularities: arm singularities and wrist
singularities. Arm singularities are all configurations where the wrist centre (the
intersection of axes 4, 5 and 6) ends up directly above axis 1 (see Figure 47).
Wrist singularities are configurations where axis 4 and axis 6 are on the same line,
i.e. axis 5 has an angle equal to 0 (see Figure 48).
Singularity at the intersection of the
wrist centre and axis 1
Rotation centre of axis 1
Z base
X base
Figure 47 Arm singularity occurs where the wrist centre and axis 1 intersect.
Axis 5 with an angle of 0 degrees

Axis 6 parallel
to axis 4
Figure 48 Wrist singularity occurs when axis 5 is 0 degrees.
RAPID Overview
5-45
Singularities
7.1 Singularity points/IRB 6400C

Between the robots working space, with the arm directed forward and the arm
directed backward, there is a singularity point above the robot. There is also a
singularity point on the sides of the robot. These points contain a singularity and have
kinematic limitations. A position in these points cannot be specified as forward/
backward and can only be reached with MoveAbsJ. When the robot is in a singular
point:
- It is only possible to use MoveAbsJ or to jog the robot axis by axis.
7.2 Program execution through singularities

During joint interpolation, the robot never has any problem passing singular points.
When executing a linear or circular path close to a singularity, the velocities in some
joints (1 and 6/4 and 6) may be very high. In order not to exceed the maximum joint
velocities, the linear path velocity is reduced.
The high joint velocities may be reduced by using the mode (Sing Area\Wrist) when the
wrist axes are interpolated in joint angles while still maintaining the linear path of the
robot tool. An orientation error compared to the full linear interpolation is however
introduced.
Note that the robot configuration changes dramatically when the robot passes close to
a singularity with linear or circular interpolation. In order to avoid the reconfiguration,
the first position on the other side of the singularity should be programmed with an
orientation that makes the reconfiguration unnecessary.
Also note that the robot should not be in its singularity when external joints only are
moved, as this may cause robot joints to make unnecessary movements.
7.3 Jogging through singularities

During joint interpolation, the robot never has any problem passing singular points.
During linear interpolation the robot can pass singular points but at a decreased speed.

Described in:
Controlling how the robot is to act on
execution near singular points
5-46
RAPID Overview
World Zones
8 World Zones
8.1 Using global zones
When using this function, the robot stops or an output is automatically set if the robot
is inside a special user-defined area. Here are some examples of applications:
- When two robots share a part of their respective work areas. The possibility of
the two robots colliding can be safely eliminated by the supervision of these
signals.
- When external equipment is located inside the robots work area. A forbidden
work area can be created to prevent the robot colliding with this equipment.
- Indication that the robot is at a position where it is permissible to start program
execution from a PLC.
8.2 Using World Zones

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

All World Zones are to be defined in the world coordinate system.
The sides of the Boxes are parallel to the coordinate axes and Cylinder axis is parallel
to the Z axis of the world coordinate system.
RAPID Overview
5-47
World Zones
Base coordinate system robot
X
Y
Sphere
Radius
TCP
Cylinder
Radius
Box
Height
A World Zone can be defined to be inside or outside the shape of the Box, Sphere or
the Cylinder.
8.4 Supervision of the Robot TCP

Not supervised
TCP
The movement of the tool centre

point is supervised and not any other
points on the robot.
The TCP is always supervised
irrespective of the mode of operation,
for example, program execution and
jogging.
8.4.1 Stationary TCPs

is used. If that tool is active, the tool will not move and if it is inside a World Zone then
it is always inside.
5-48
RAPID Overview
World Zones
8.5 Actions
8.5.1 Set a digital output when the tcp is inside a World Zone.
This action sets a digital output when the tcp is inside a World Zone. It is useful to indicate
that the robot has stopped in a specified area.
Time between checks
against World Zones
World Zone
Movement of TCP
Status of digital output
8.5.2 Set a digital output before the tcp reaches a World Zone.
This action sets a digital output before the tcp reaches a World Zone. It can be used to
stop the robot just inside a World Zone
Stop Time for Robot
World Zone
Movement of TCP
Status of digital output
8.5.3 Stop the robot before the tcp reaches a World Zone.
A World Zone can be defined to be outside the work area. The robot will then stop with
the Tool Centre Point just outside the World Zone, when heading towards the Zone
Stop Time for Robot
Time between checks
against World Zones
Movement of TCP
When the robot has been moved into a World Zone defined as an outside work area,
for example, by releasing the brakes and manually pushing, then the only ways to get
out of the Zone are by jogging or by manual pushing with the brakes released.
RAPID Overview
5-49
World Zones
8.6 Minimum size of World Zones.

Supervision of the movement of the tool centre points is done at discrete points with
a time interval between them that depends on the path resolution.
It is up to the user to make the zones large enough so the robot cannot move right
through a zone without being checked inside the Zone.
Min. size of zone
for used path_resolution and max. speed
Speed
1000 mm/s
2000 mm/s
25 mm
50 mm
100 mm
50 mm
100 mm
200 mm
75 mm
150 mm
300 mm
Resol.
4000 mm/s
If the same digital output is used for more than one World Zone, the distance between
the Zones must exceed the minimum size, as shown in the table above, to avoid an
incorrect status for the output.
Time between checks
against World Zones
It is possible that the robot can pass right

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

A maximum of ten World Zones can be defined at the same time.
8.8 Power failure, restart, and run on

Stationary World Zones will be deleted at power off and must be reinserted at power
on by an event routine connected to the event POWER ON.
Temporary World Zones will survive a power failure but will be erased when a new
program is loaded or when a program is started from the main program.
The digital outputs for the World Zones will be updated first at Motors on.
5-50
RAPID Overview
World Zones

Motion and I/O Principles:
Coordinate Systems
Data Types:
wztemporary
wzstationary
shapedata
Instructions:
WZBoxDef
WZSphDef
WZCylDef
WZLimSup
WZDOSet
WZDisable
WZEnable
WZFree
WZTempFree
RAPID Overview
5-51
World Zones
5-52
RAPID Overview
I/O Principles
9 I/O Principles
The robot generally has one or more I/O boards. Each of the boards has several digital and/or analog channels which must be connected to logical signals before they
can be used. This is carried out in the system parameters and has usually already been
done using standard names before the robot is delivered. Logical names must always
be used during programming.
A physical channel can be connected to several logical names, but can also have no
logical connections (see Figure 49).
Physical channel
IN1
IN2
IN16
Logical signal
do1
feeder
.
.
.
.
I/O board
OUT1
OUT2
OUT16
.
.
.
.
gripper
do2
feeder2
do16
Figure 49 To be able to use an I/O board, its channels must be given logical names. In the above
example, the physical output 2 is connected to two different logical names. IN16, on
the other hand, has no logical name and thus cannot be used.
9.1 Signal characteristics

The characteristics of a signal are depend on the physical channel used as well as how
the channel is defined in the system parameters. The physical channel determines
time delays and voltage levels (see the Product Specification). The characteristics,
filter times and scaling between programmed and physical values, are defined in the
system parameters.
When the power supply to the robot is switched on, all signals are set to zero. They
are not, however, affected by emergency stops or similar events.
RAPID Overview
5-53
I/O Principles
An output can be set to one or zero from within the program. This can also be done using
a delay or in the form of a pulse. If a pulse or a delayed change is ordered for an output,
program execution continues. The change is then carried out without affecting the rest of
the program execution. If, on the other hand, a new change is ordered for the same output
before the given time elapses, the first change is not carried out (see Figure 50).
SetDO \SDelay:=1, do1;

WaitTime 0.5;
PulseDO do1;
Signal value
1
Time
0
0.5
Figure 50 The instruction SetDO is not carried out at all because a new command is given before
the time delay has elapsed.
9.2 Signals connected to interrupt

RAPID interrupt functions can be connected to digital signal changes. The function
can be called on a raising or falling edge of the signal. However, if the digital signal
changes very quickly, the interrupt can be missed.
Ex:
If a function is connected to a signal called do1 and you make a program like:
SetDO do1,1;
SetDO do1,0;
The signal will first go to High and then Low in a few milliseconds. In this case you
may loose the interrupt. To be sure that you will get the interrupt, make sure that the
output is set before resetting it.
Ex:
SetDO do1,1;
WaitDO do1 ,1;
SetDO do1,0;
In this way you will never loose any interrupt.
9.3 System signals

Logical signals can be interconnected by means of special system functions. If, for
example, an input is connected to the system function Start, a program start is automatically generated as soon as this input is enabled. These system functions are generally only enabled in automatic mode. For more information, see Chapter 9, System
Parameters, or the chapter on Installation and Commissioning - PLC Communication
in the Product Manual.
5-54
RAPID Overview
I/O Principles
9.4 Cross connections

Digital signals can be interconnected in such a way that they automatically affect one
another:
- An output signal can be connected to one or more input or output signals.
- An input signal can be connected to one or more input or output signals.
- If the same signal is used in several cross connections, the value of that signal
is the same as the value that was last enabled (changed).
- Cross connections can be interlinked, in other words, one cross connection can
affect another. They must not, however, be connected in such a way so as to
form a vicious circle, e.g. cross-connecting di1 to di2 whilst di2 is cross-connected to di1.
- If there is a cross connection on an input signal, the corresponding physical connection is automatically disabled. Any changes to that physical channel will
thus not be detected.
- Pulses or delays are not transmitted over cross connections.
- Logical conditions can be defined using NOT, AND and OR (Option:
Advanced functions).
Examples:
- di2=di1
- di3=di2
- do4=di2
If di1 changes, di2, di3 and do4 will be changed to the corresponding value.
- do8=do7
- do8=di5
If do7 is set to 1, do8 will also be set to 1. If di5 is then set to 0, do8 will also be
changed (in spite of the fact that do7 is still 1).
- do5=di6 and do1
Do5 is set to 1 if both di6 and do1 is set to 1.
9.5 Limitations
A maximum of 10 signals can be pulsed at the same time and a maximum of 20 signals can be delayed at the same time.
RAPID Overview
5-55
I/O Principles

Described in:
5-56
Definition of I/O boards and signals
Instructions for handling I/O
RAPID Summary - Input and Output

Signals
Manual manipulation of I/O
Users Guide - Inputs and Outputs
RAPID Overview
1 Programming Off-line
RAPID programs can easily be created, maintained and stored in an ordinary office
computer. All information can be read and changed directly using a normal text editor.
This chapter explains the working procedure for doing this. In addition to off-line
programming, you can use the computer tool, QuickTeach.
1.1 File format

The robot stores and reads RAPID programs in TXT format (ASCII) and can handle
both DOS and UNIX text formats. If you use a word-processor to edit programs, these
must be saved in TXT format (ASCII) before they are used in the robot.
1.2 Editing
When a program is created or changed in a word-processor, all information will be
handled in the form of text. This means that information about data and routines will
differ somewhat from what is displayed on the teach pendant.
Note that the value of a stored position is only displayed as an *on the teach pendant,
whereas the text file will contain the actual position value (x, y, z, etc.).
In order to minimise the risk of errors in the syntax (faulty programs), you should use
a template. A template can take the form of a program that was created previously on
the robot or using QuickTeach. These programs can be read directly to a wordprocessor without having to be converted.
1.3 Syntax check

Programs must be syntactically correct before they are loaded into the robot. By this is
meant that the text must follow the fundamental rules of the RAPID language. One of
the following methods should be used to detect errors in the text:
Save the file on diskette and try to open it in the robot. If there are any syntactical
errors, the program will not be accepted and an error message will be displayed. To
obtain information about the type of error, the robot stores a log called
PGMCPL1.LOG on the internal RAM disk. Copy this log to a diskette using the
robots File Manager. Open the log in a word-processor and you will be able to read
which lines were incorrect and receive a description of the error.
Open the file in QuickTeach or ProgramMaker.
Use a RAPID syntax check program for the PC.
When the program is syntactically correct, it can be checked and edited in the robot.
To make sure that all references to routines and data are correct, use the command File:
Check Program. If the program has been changed in the robot, it can be stored on
diskette again and processed or stored in a PC.
RAPID Overview
6-1
1.4 Examples
The following shows examples of what routines look like in text format.
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE main
VAR intnum process_int ;
! Demo of RAPID program
PROC main()
MoveL p1, v200, fine, gun1;
ENDPROC
TRAP InvertDo12
! Trap routine for TriggInt
TEST INTNO
CASE process_int:
InvertDO do12;
DEFAULT:
TPWrite Unknown trap , number=\Num:=INTNO;
ENDTEST
ENDTRAP
LOCAL FUNC num MaxNum(num t1, num t2)
IF t1 > t2 THEN
RETURN t1;
ELSE
RETURN t2;
ENDIF
ENDFUNC
ENDMODULE
1.5 Making your own instructions

In order to make programming easier, you can customize your own instructions. These
are created in the form of normal routines, but, when programming and test-running,
function as instructions:
- They can be taken from the instruction pick list and programmed as normal
instructions.
- The complete routine will be run during step-by-step execution.
Create a new system module where you can place your routines that will function as
instructions. Alternatively, you can place them in the USER system module.
6-2
RAPID Overview
Create a routine in this system module with the name that you want your new
instruction to be called. The arguments of the instruction are defined in the form of
routine parameters. Note that the name of the parameters will be displayed in the
window during programming and should therefore be given names that the user will
understand.
Place the routine in one of the Most Common pick lists.
If the instruction is to behave in a certain way during backward program execution,
this can be done in the form of a backward handler. If there is no such handler, it will
not be possible to get past the instruction during backward program execution (see
Chapter 13 in this manual - Basic Characteristics). A backward handler can be
entered using the command Routine: Add Backward Handler from the Program
Routines window.
Test the routine thoroughly so that it works with different types of input data
(arguments).
Change the module attribute to NOSTEPIN. The complete routine will then be run
during step-by-step execution. This attribute, however, must be entered off-line.
Example: To make the gripper easier to handle, two new instructions are made,
GripOpen and GripClose. The output signals name is given to the instructions
argument, e.g. GripOpen gripper1.
MODULE My_instr (SYSMODULE, NOSTEPIN)
PROC GripOpen (VAR signaldo Gripper)
Set Gripper;
WaitTime 0.2;
ENDPROC
PROC GripClose (VAR signaldo Gripper)
Reset Gripper;
WaitTime 0.2;
ENDPROC
ENDMODULE
RAPID Overview
6-3
6-4
RAPID Overview
System Module User
1 System Module User

In order to facilitate programming, predefined data is supplied with the robot. This data
does not have to be created and, consequently, can be used directly.
If this data is used, initial programming is made easier. It is, however, usually better to
give your own names to the data you use, since this makes the program easier for you
to read.
1.1 Contents
User comprises five numerical data (registers), one work object data, one clock and
two symbolic values for digital signals.
Name
Data type
Declaration
reg1
reg2
reg3
reg4
reg5
num
.
.
.
num
VAR num reg1:=0

.
.
.
VAR num reg5:=0
wobj1
wobjdata
PERS wobjdata wobj1:=wobj0
clock1
clock
VAR clock clock1
high
low
edge
dionum
dionum
dionum
CONST dionum high:=1

CONST dionum low:=0
CONST dionum edge:=2
User is a system module, which means that it is always present in the memory of the
robot regardless of which program is loaded.
1.2 Creating new data in this module

This module can be used to create such data and routines that must always be present
in the program memory regardless of which program is loaded, e.g. tools and service
routines.
Choose View: Modules from the Program window.
Select the system module User and press Enter
Change, create data and routines in the normal way (see Programming and Testing).
RAPID Overview
7-1
System Module User
1.3 Deleting this data

Warning: If the Module is deleted, the CallByVar instruction will not work.
To delete all data (i.e. the entire module)
Choose View: Modules from the Program window.
Select the module User.
Press Delete
To change or delete individual data

Choose View: Data from the Program window.
Choose Data: In All Modules.
Select the desired data. If this is not shown, press the Types function key to select the
correct data type.
Change or delete in the normal way (see Programming and Testing).
7-2
RAPID Overview
INDEX
A
aggregate 4-19
alias data type 4-19
AND 4-30
argument
conditional 4-33
arithmetic expression 4-29
array 4-22, 4-23
assigning a value to data 3-5
axis configuration 5-31
B
backward execution 4-41
Backward Handler 6-3
backward handler 4-13, 4-41, 4-44
base coordinate system 5-1
C
calling a subroutine 3-3
circular movement 5-13
comment 3-5, 4-3
communication 3-39
communication instructions 3-21
component of a record 4-19
concurrent execution 5-26, 5-43
conditional argument 4-33
configuration check instructions 3-10
CONST 4-23
constant 4-21
coordinate system 5-1, 5-35
coordinated external axes 5-5
corner path 5-14
cross connections 5-55
displacement instructions 3-11

DIV 4-29
E
equal data type 4-19
ERRNO 4-37
error handler 4-37
error number 4-37
error recovery 4-37
expression 4-29
external axes
coordinated 5-5
F
file header 4-3
file instructions 3-21
function 4-11
function call 4-32
G
global
data 4-21
routine 4-11
GlueWare 3-37
I
I/O principles 5-53
I/O synchronisation 5-25
identifier 4-1
input instructions 3-19
interpolation 5-11
interrupt 3-23, 4-39
J
D
joint movement 5-11
data 4-21
used in expression 4-31
data type 4-19
declaration
constant 4-23
module 4-8
persistent 4-23
routine 4-13
variable 4-22
displacement frame 5-4
RAPID Overview
L
linear movement 5-12
local
data 4-21
routine 4-11
logical expression 4-30
logical value 4-2
8-1
M
main routine 4-7
mathematical instructions 3-29, 3-45
MOD 4-29
modified linear interpolation 5-14
module 4-7
declaration 4-8
motion instructions 3-14
motion settings instructions 3-9
mulittasking 4-43
Multitasking 3-47
N
non value data type 4-19
NOT 4-30
numeric value 4-2
O
object coordinate system 5-3
offline programming 6-1
operator
priority 4-33
optional parameter 4-12
OR 4-30
output instructions 3-19
P
parameter 4-12
path synchronization 5-29
PERS 4-23
persistent 4-21
placeholder 4-3
position
instruction 3-14
position fix I/O 5-29
procedure 4-11
program 4-7
program data 4-21
program displacement 3-11
program flow instructions 3-3
program module 4-7
programming 6-1
R
record 4-19
reserved words 4-1
8-2
robot configuration 5-31

routine 4-11
declaration 4-13
routine data 4-21
S
scope
data scope 4-21
routine scope 4-11
searching instructions 3-14
semi value data type 4-19
singularity 5-45
soft servo 3-11, 5-23
spot welding 3-32
stationary TCP 5-8
stopping program execution 3-4
string 4-2
string expression 4-30
switch 4-12
syntax rules 2-2
system module 4-8
T
TCP 5-1, 5-35
stationary 5-8
time instructions 3-27
tool centre point 5-1, 5-35
tool coordinate system 5-7
trap routine 4-11, 4-39
typographic conventions 2-2
U
User - system module 7-1
user coordinate system 5-3
V
VAR 4-22
variable 4-21
W
wait instructions 3-5
world coordinate system 5-2
wrist coordinate system 5-7
X
XOR 4-30
RAPID Overview
Glossary
Glossary
Argument
The parts of an instruction that can be changed, i.e.

everything except the name of the instruction.
Automatic mode
The applicable mode when the operating mode selector is

set to
.
Component
One part of a record.
Configuration
The position of the robot axes at a particular location.
Constant
Data that can only be changed manually.
Corner path
The path generated when passing a fly-by point.
Declaration
The part of a routine or data that defines its properties.
Dialog/Dialog box
Any dialog boxes appearing on the display of the teach pendant must always be terminated (usually by pressing OK or
Cancel) before they can be exited.
Error handler
A separate part of a routine where an error can be taken care

of. Normal execution can then be restarted automatically.
Expression
A sequence of data and associated operands; e.g. reg1+5 or

reg1>5.
Fly-by point
A point which the robot only passes in the vicinity of

without stopping. The distance to that point depends on the
size of the programmed zone.
Function
A routine that returns a value.
Group of signals
A number of digital signals that are grouped together and

handled as one signal.
Interrupt
An event that temporarily interrupts program execution and

executes a trap routine.
I/O
Electrical inputs and outputs.
Main routine
The routine that usually starts when the Start key is pressed.
Manual mode
The applicable mode when the operating mode switch is set

to
.
Mechanical unit
A group of external axes.
Module
A group of routines and data, i.e. a part of the program.
Motors On/Off
The state of the robot, i.e. whether or not the power supply
to the motors is switched on.
Operators panel
The panel located on the front of the control system.
Orientation
The direction of an end effector, for example.
Parameter
The input data of a routine, sent with the routine call. It corresponds to the argument of an instruction.
Persistent
A variable, the value of which is persistent.
Procedure
A routine which, when called, can independently form an

instruction.
RAPID Overview
8-3
Glossary
Program
The set of instructions and data which define the task of the
robot. Programs do not, however, contain system modules.
Program data
Data that can be accessed in a complete module or in the

complete program.
Program module
A module included in the robots program and which is

transferred when copying the program to a diskette, for
example.
Record
A compound data type.
Routine
A subprogram.
Routine data
Local data that can only be used in a routine.
Start point
The instruction that will be executed first when starting program execution.
Stop point
A point at which the robot stops before it continues on to the

next point.
System module
A module that is always present in the program memory.

When a new program is read, the system modules remain in
the program memory.
System parameters
The settings which define the robot equipment and properties; configuration data in other words.
Tool Centre Point (TCP) The point, generally at the tip of a tool, that moves along the
programmed path at the programmed velocity.
8-4
Trap routine
The routine that defines what is to be done when a specific

interrupt occurs.
Variable
Data that can be changed from within a program, but which

loses its value (returns to its initial value) when a program is
started from the beginning.
Window
The robot is programmed and operated by means of a number of different windows, such as the Program window and
the Service window. A window can always be exited by
choosing another window.
Zone
The spherical space that surrounds a fly-by point. As soon

as the robot enters this zone, it starts to move to the next
position.
RAPID Overview
3HAC 5761-1
For BaseWare OS 3.2
System Data Types and Routines
Data Types and System Data
Instructions
Functions
Index
The information in this document is subject to change without notice and should not be construed as a commitment by ABB Robotics AB. ABB Robotics AB assumes no responsibility for any errors that may appear in this
document.
In no event shall ABB Robotics AB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.
This document and parts thereof must not be reproduced or copied without ABB Robotics ABs 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 document may be obtained from ABB Robotics AB at its then current charge.
ABB Robotics AB
Article number: 3HAC 5761-1
Issue: For BaseWare OS 3.2
ABB Robotics AB
S-721 68 Vsters
Sweden
Data Types
CONTENTS
aiotrigg
bool
byte
clock
confdata
dionum
errnum
extjoint
intnum
iodev
jointtarget
loaddata
loadsession
mecunit
motsetdata
num
orient
o_jointtarget
o_robtarget
pos
pose
progdisp
robjoint
robtarget
shapedata
signalxx
speeddata
string
symnum
System Data
taskid
Analog I/O trigger condition

Logical values
Decimal values 0 - 255
Time measurement
Robot configuration data
Digital values 0 - 1
Error number
Position of external joints
Interrupt identity
Serial channels and files
Joint position data
Load data
Program load session
Mechanical unit
Motion settings data
Numeric values (registers)
Orientation
Original joint position data
Original position data
Positions (only X, Y and Z)
Coordinate transformations
Joint position of robot axes
Position data
World zone shape data
Digital and analog signals
Speed data
Strings
Symbolic number
testsignal
tooldata
tpnum
triggdata
tunetype
Test signal
Tool data
Teach Pendant Window number
Positioning events - trigg
Servo tune type
Task identification
1-1
Data Types
wobjdata
wzstationary
wztemporary
zonedata
1-2
Work object data

Stationary world zone data
Temporary world zone data
Zone data
Data Types
aiotrigg
aiotrigg
Analog I/O trigger condition
aiotrigg (Analog I/O Trigger) is used to define the condition to generate an interrupt
for an analog input or output signal.
Description
Data of the type aiotrigg 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.
Example
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog
input signal ai1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap
routine.
Predefined data
The following symbolic constants of the data type aiotrigg are predefined and can be
used when specifying a condition for the instructions ISignalAI and ISignalAO.
Value
Symbolic constant
Comment
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
AIO_BETWEEN
Signal will generate interrupts if between specified low and high

values
AIO_OUTSIDE
Signal will generate interrupts if below specified low value or

above specified high value
AIO_ALWAYS
Signal will always generate interrupts
1-aiotrigg-3
aiotrigg
Data Types
Characteristics
aiotrigg is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
Interrupt from analog input signal
Instructions - ISignalAI
Interrupt from analog output signal
Instructions - ISignalAO
Data types in general, alias data types
Basic Characteristics - Data Types
1-aiotrigg-4
Data Types
bool
bool
Logical values
Bool is used for logical values (true/false).
Description
The value of data of the type bool can be either TRUE or FALSE.
Examples
flag1 := TRUE;
flag is assigned the value TRUE.
VAR bool highvalue;
VAR num reg1;
.
highvalue := reg1 > 100;
highvalue is assigned the value TRUE if reg1 is greater than 100; otherwise,
FALSE is assigned.
IF highvalue Set do1;
The do1 signal is set if highvalue is TRUE.
highvalue := reg1 > 100;
mediumvalue := reg1 > 20 AND NOT highvalue;
mediumvalue is assigned the value TRUE if reg1 is between 20 and 100.
Related information
Described in:
Logical expressions
Basic Characteristics - Expressions
Operations using logical values
1-bool-5
bool
1-bool-6
Data Types
Data Types
byte
byte
Decimal values 0 - 255

Byte 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.
Description
Data of the type byte represents a decimal byte value.
Examples
CONST num parity_bit := 8;
VAR byte data1 := 130;
Definition of a variable data1 with a decimal value 130.
BitClear data1, parity_bit;
Bit number 8 (parity_bit) in the variable data1 will be set to 0, e.g. the content
of the variable data1 will be changed from 130 to 2 (decimal representation).
Error handling
If an argument of the type byte has a value that is not in the range between 0 and 255,
an error is returned on program execution.
Characteristics
Byte is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
Alias data types
Basic Characteristics- Data Types
Bit functions
RAPID Summary - Bit Functions
1-byte-7
byte
1-byte-8
Data Types
Data Types
clock
clock
Time measurement
Clock is used for time measurement. A clock functions like a stopwatch used for timing.
Description
Data of the type clock stores a time measurement in seconds and has a resolution of
0.01 seconds.
Example
VAR clock clock1;
ClkReset clock1;
The clock, clock1, is declared and reset. Before using ClkReset, ClkStart, ClkStop and
ClkRead, you must declare a variable of data type clock in your program.
Limitations
The maximum time that can be stored in a clock variable is approximately 49 days
(4,294,967 seconds). The instructions ClkStart, ClkStop and ClkRead report clock
overflows in the very unlikely event that one occurs.
A clock must be declared as a VAR variable type, not as a persistent variable type.
Characteristics
Clock is a non-value data type and cannot be used in value-oriented operations.
Related Information
Described in:
Summary of Time and Date Instructions
RAPID Summary - System & Time
Non-value data type characteristics
1-clock-9
clock
1-clock-10
Data Types
Data Types
confdata
confdata
Robot configuration data
Confdata is used to define the axis configurations of the robot.
Description
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is
in the same position and with the same orientation, with several different positions or
configurations of the robots axes.
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
Figure 1 The configuration quadrants for axis 6.
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).
1-confdata-11
confdata
Data Types
-2
-3
-1
3
x (m)
-3
-2
-1
Configuration value
Figure 2 Configuration values for a linear axis.
Robot Configuration data for IRB540, 640

Only the configuration parameter cf6 is used.
Robot Configuration data for IRB1400, 2400, 3400, 4400, 6400

Only the three configuration parameters cf1, cf4 and cf6 are used.
Robot Configuration data for IRB5400

All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6
respectively and cfx for joint 5.
Robot configuration data for 6400C

The IRB 6400C requires a slightly different way of unambiguously denoting one robot
configuration. The difference lies in the interpretation of the confdata cf1.
cf1 is used to select one of two possible main axes (axes 1, 2 and 3) configurations:
- cf1 = 0 is the forward configuration
- cf1 = 1 is the backward configuration
Figure 3 shows an example of a forward configuration and a backward configuration
giving the same position and orientation.
1-confdata-12
Data Types
confdata
FORWARD,
cf1 = 0
BACKWARD,
cf1 = 1.
Figure 3 Same position and orientation with two different main axes configurations.
The forward configuration is the front part of the robots working area with the arm
directed forward. The backward configuration is the service part of the working area
with the arm directed backwards.
Robot configuration data for IRB5404, 5406

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
Robot Configuration data for IRB5413, 5414, 5423

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
1-confdata-13
confdata
Data Types
Robot configuration data for IRB840

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.
Components
cf1
Data type: num

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.
cf4
Data type: num

Rotating axis:
Linear axis:
cf6
Data type: num

Rotating axis:
Linear axis:
1-confdata-14
Data Types
confdata
cfx
Data type: num

Rotating axis:
For the IRB5400 robot, 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:
Example
VAR confdata conf15 := [1, -1, 0, 0]
A robot configuration conf15 is defined as follows:
- The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180o.
- The axis configuration of the robot axis 4 is quadrant -1, i.e. 0-(-90o).
- The axis configuration of the robot axis 6 is quadrant 0, i.e. 0 - 90o.
- The axis configuration of the robot axis 5 is quadrant 0, i.e. 0 - 90o.
Structure
< dataobject of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
Related information
Described in:
Coordinate systems
Motion and I/O Principles Coordinate Systems
Handling configuration data
Motion and I/O Principles - Robot

Configuration
1-confdata-15
confdata
1-confdata-16
Data Types
Data Types
dionum
dionum
Digital values 0 - 1
Dionum (digital input output numeric) is used for digital values (0 or 1).
This data type is used in conjunction with instructions and functions that handle digital
input or output signals.
Description
Data of the type dionum represents a digital value 0 or 1.
Examples
CONST dionum close := 1;
Definition of a constant close with a value equal to 1.
SetDO grip1, close;
The signal grip1 is set to close, i.e. 1.
Error handling
If an argument of the type dionum has a value that is neither equal to 0 nor 1, an error
is returned on program execution.
Characteristics
Dionum is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
Summary input/output instructions
RAPID Summary Input and Output Signals
Configuration of I/O
Alias data types
1-dionum-17
dionum
1-dionum-18
Data Types
Data Types
errnum
errnum
Error number
Errnum is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.
Description
If the robot detects an error during program execution, this can be dealt with in the
error handler of the routine. Examples of such errors are values that are too high and
division by zero. The system variable ERRNO, of type errnum, is thus assigned
different values depending on the nature of an error. The error handler may be able to
correct an error by reading this variable and then program execution can continue in
the correct way.
An error can also be created from within the program using the RAISE instruction.
This particular type of error can be detected in the error handler by specifying an error
number (within the range 1-90 or booked with instruction BookErrNo) as an argument
to RAISE.
Examples
reg1 := reg2 / reg3;
.
ERROR
reg3 := 1;
RETRY;
ENDIF
If reg3 = 0, the robot detects an error when division is taking place. This error,
however, can be detected and corrected by assigning reg3 the value 1. Following
this, the division can be performed again and program execution can continue.
CONST errnum machine_error := 1;
.
IF di1=0 RAISE machine_error;
.
ERROR
IF ERRNO=machine_error RAISE;
An error occurs in a machine (detected by means of the input signal di1). A jump
is made to the error handler in the routine which, in turn, calls the error handler
of the calling routine where the error may possibly be corrected. The constant,
machine_error, is used to let the error handler know exactly what type of error
has occurred.
1-errnum-19
errnum
Data Types
Predefined data
The system variable ERRNO can be used to read the latest error that occurred. A
number of predefined constants can be used to determine the type of error that has
occurred.
Name
Cause of error
ERR_ALRDYCNT
ERR_CNTNOTVAR
The interrupt variable is already connected to a

TRAP routine
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.
If an IOEnable or IODisable request is interrupted
by another request to the same unit
Procedure call error (not procedure)
at runtime (late binding)
CONNECT target is not a variable reference
ERR_CNV_NOT_ACT
The conveyor is not activated.
ERR_CNV_CONNECT
The WaitWobj instruction is already active.
ERR_CNV_DROPPED
The object that the instruction WaitWobj was

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

ReadStr instruction
Division by zero
Max. number of retries exceeded
An attempt was made to execute an instruction using
a place holder
A file is accessed incorrectly
A file cannot be opened
File not found
No return value
Unable to calculate new frame
Incorrect array dimension
Attempt to use illegal orientation (quaternion) valve
ERR_ARGDUPCND
ERR_ARGNAME
ERR_ARGNOTPER
ERR_ARGNOTVAR
ERR_AXIS_ACT
ERR_AXIS_IND
ERR_AXIS_MOVING
ERR_AXIS_PAR
ERR_CALLIO_INTER
ERR_CALLPROC
ERR_DIVZERO
ERR_EXCRTYMAX
ERR_EXECPHR
ERR_FILEACC
ERR_FILEOPEN
ERR_FILNOTFND
ERR_FNCNORET
ERR_FRAME
ERR_ILLDIM
ERR_ILLQUAT
1-errnum-20
Data Types
ERR_ILLRAISE
ERR_INOMAX
ERR_IODISABLE
ERR_IOENABLE
ERR_IOERROR
ERR_LOADED
ERR_LOADID_FATAL
ERR_LOADID_RETRY
ERR_MAXINTVAL
ERR_MODULE
ERR_NAME_INVALID
ERR_NEGARG
ERR_NOTARR
ERR_NOTEQDIM
ERR_NOTINTVAL
ERR_NOTPRES
ERR_OUTOFBND
ERR_PATH
ERR_PATHDIST
ERR_PID_MOVESTOP
ERR_PID_RAISE_PP
ERR_RANYBIN_EOF
ERR_RCVDATA
ERR_REFUNKDAT
ERR_REFUNKFUN
ERR_REFUNKPRC
ERR_REFUNKTRP
ERR_SC_WRITE
ERR_SIGSUPSEARCH
ERR_STEP_PAR
ERR_STRTOOLNG
ERR_SYM_ACCESS
ERR_TP_DIBREAK
ERR_TP_MAXTIME
errnum
Error number in RAISE out of range
No more interrupt numbers available
Timeout when executing IODisable
Timeout when executing IOEnable
I/O Error from instruction Save
The program module is already loaded
Only internal use in LoadId
The integer value is too large
Incorrect module name in instruction Save
If the unit name does not exist or if the unit is not
allowed to be disabled
Negative argument is not allowed
Data is not an array
The array dimension used when calling the routine
does not coincide with its parameters
Not an integer value
A parameter is used, despite the fact that the
corresponding argument was not used at the routine
call
The array index is outside the permitted limits
Missing destination path in instruction Save
Too long regain distance for StartMove instruction
Error from ParIdRobValid or ParIdPosValid
End of file is detected before all bytes are read in
instruction ReadAnyBin
An attempt was made to read non numeric data with
ReadNum
Reference to unknown entire data object
Reference to unknown function
Reference to unknown procedure at linking time or
at run time (late binding)
Reference to unknown trap
Error when sending to external computer
The signal has already a positive value at the
beginning of the search process
Parameter Step in SetCurrRef is wrong
The string is too long
Symbol read/write access error
A TPRead instruction was interrupted by a digital
input
Timeout when executing a TPRead instruction
1-errnum-21
errnum
Data Types
ERR_UNIT_PAR
ERR_UNKINO
ERR_UNKPROC
ERR_UNLOAD
ERR_WAIT_MAXTIME
ERR_WHLSEARCH
Parameter Mech_unit in TestSign and SetCurrRef is

wrong
Unknown interrupt number
Incorrect reference to the load session in instruction
WaitLoad
Unload error in instruction UnLoad or WaitLoad
Timeout when executing a WaitDI or WaitUntil
instruction
No search stop
Characteristics
Errnum is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
Error recovery
RAPID Summary - Error Recovery

Basic Characteristics - Error Recovery
1-errnum-22
Data Types
extjoint
extjoint
Position of external joints
Extjoint is used to define the axis positions of external axes, positioners or workpiece
manipulators.
Description
The robot can control up to six external axes in addition to its six internal axes, i.e. a
total of twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each
such logical axis can be connected to a physical axis and, in this case, the connection
is defined in the system parameters.
Data of the type extjoint is used to hold position values for each of the logical axes a - f.
For each logical axis connected to a physical axis, the position is defined as follows:
- For rotating axes the position is defined as the rotation in degrees from the
calibration position.
- For linear axes the position is defined as the distance in mm from the 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 EOffsOn or EOffsSet), the positions are
specified in the ExtOffs coordinate system.
1-extjoint-23
extjoint
Data Types
Components
eax_a
(external axis a)
Data type: num
The position of the external logical axis a, expressed in degrees or mm

(depending on the type of axis).
eax_b
(external axis b)
Data type: num
The position of the external logical axis b, expressed in degrees or mm

(depending on the type of axis).
...
eax_f
(external axis f)
Data type: num
The position of the external logical axis f, expressed in degrees or mm (depending on the type of axis).
Example
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;
The position of an external positioner, axpos10, is defined as follows:
- The position of the external logical axis a is set to 11, expressed in degrees or
mm (depending on the type of axis).
- The position of the external logical axis b is set to 12.3, expressed in degrees
or mm (depending on the type of axis).
- Axes c to f are undefined.
Structure
< dataobject of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
1-extjoint-24
Data Types
extjoint
Related information
Described in:
Position data
Data Types - robtarget
ExtOffs coordinate system
Instructions - EOffsOn
1-extjoint-25
extjoint
1-extjoint-26
Data Types
Data Types
intnum
intnum
Interrupt identity
Intnum (interrupt numeric) is used to identify an interrupt.
Description
When a variable of type intnum is connected to a trap routine, it is given a specific
value identifying the interrupt. This variable is then used in all dealings with the 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 INTNO can thus be used in a trap routine to determine the type of interrupt that
occurs.
Examples
VAR intnum feeder_error;
.
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;
An interrupt is generated when the input di1 is set to 1. When this happens, a call
is made to the correct_feeder trap routine.
1-intnum-27
intnum
Data Types
VAR intnum feeder1_error;
VAR intnum feeder2_error;
.
PROC init_interrupt();
.
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
.
ENDPROC
.
TRAP correct_feeder
IF INTNO=feeder1_error THEN
.
ELSE
.
ENDIF
.
ENDTRAP
An interrupt is generated when either of the inputs di1 or di2 is set to 1. A call is
then made to the correct_feeder trap routine. The system variable INTNO is used
in the trap routine to find out which type of interrupt has occurred.
Limitations
The maximum number of active variables of type intnum at any one time (between
CONNECT and IDelete) is limited to 40.The maximum number of interrupts, in the
queue for execution of TRAP routine at any one time, is limited to 30.
Characteristics
Intnum is an alias data type for num and thus inherits its properties.
Related information
Described in:
Summary of interrupts
RAPID Summary - Interrupts
Alias data types
Basic CharacteristicsData Types
1-intnum-28
Data Types
iodev
iodev
Serial channels and files

Iodev (I/O device) is used for serial channels, such as printers and files.
Description
Data of the type iodev contains a reference to a file or serial channel. It can be linked
to the physical unit by means of the instruction Open and then used for reading and
writing.
Example
VAR iodev file;
.
Open "flp1:LOGDIR/INFILE.DOC", file\Read;
input := ReadNum(file);
The file INFILE.DOC is opened for reading. When reading from the file, file is
used as a reference instead of the file name.
Characteristics
Iodev is a non-value data type.
Related information
Described in:
Communication via serial channels
RAPID Summary - Communication
Configuration of serial channels
Characteristics of non-value data types
1-iodev-29
iodev
1-iodev-30
Data Types
Data Types
jointtarget
jointtarget
Joint position data
Jointtarget is used to define the position that the robot and the external axes will move
to with the instruction MoveAbsJ.
Description
Jointtarget defines each individual axis position, for both the robot and the external
axes.
Components
robax
(robot axes)
Data type: robjoint
Axis positions of the robot axes in degrees.

Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.
extax
(external axes)
Data type: extjoint
The position of the external axes.

The position is defined as follows for each individual axis (eax_a, eax_b ...
eax_f):
- For rotating axes, the position is defined as the rotation in degrees from the calibration position.
- For linear axes, the position is defined as the distance in mm from the calibration position.
External axes eax_a ... are logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program execution, the following applies:
- If the position is not defined in the position data (value 9E9) the value will be
ignored, if the axis is connected and not activated. But if the axis is activated it
will result in error.
- If the position is defined in the position data yet the axis is not connected, the
value is ignored.
1-jointtarget-31
jointtarget
Data Types
Examples
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];
The normal calibration position for IRB2400 is defined in calib_pos by the data
type jointtarget. The normal calibration position 0 (degrees or mm) is also
defined for the external logical axis a. The external axes b to f are undefined.
Structure
< dataobject of jointtarget >
< robax of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
Described in:
Move to joint position
Instructions - MoveAbsJ
Configuration of external axes
1-jointtarget-32
Data Types
loaddata
loaddata
Load data
Loaddata is 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 GripLoad) of the robot, i.e. the load held in the robot gripper. The tool load is specified in
the tool data (tooldata) which includes load data.
Description
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
It is important to always define the actual tool load and when used, the payload
of the robot too. Incorrect definitions of load data can result in overloading of the
robot mechanical structure.
When incorrect load data is specified, it can often lead to the following consequences:
- If the value in the specified load data is greater than that of the value of the true
load;
-> The robot will not be used to its maximum capacity
-> Impaired path accuracy including a risk of overshooting
-> Risk of overloading the mechanical structure
- If the value in the specified load data is less than the value of the true load;
The payload is connected/disconnected using the instruction GripLoad.
Components
mass
Data type: num

The weight of the load in kg.
cog
(centre of gravity)
Data type: pos
The centre of gravity of a tool load expressed in the wrist coordinate system.
If a stationary tool is used, it means the centre of gravity for the tool holding the
work object.
The centre of gravity of a payload expressed in the tool coordinate system. The
object coordinate system when a stationary tool is used.
1-loaddata-33
loaddata
Data Types
aom
(axes of moment)
Data type: orient
Tool load (Ref. to Figure 4)

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. It must always be set to 1, 0, 0, 0.
Pay load (Ref. to figure 1 and 2)
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. It must always be set to 1, 0, 0, 0.
Because of this limitation, the best way is to define the orientation of the tool
coordinate system (tool frame) to coincide with the orientation of the wrist coordinate system.
The wrist coordinate system

Y
Z
IY Tool load coordinate system Inertial axes of tool load
IZ
Y
Z
X
IX
TCP

X
IY
IZ
Payload coordinate system Inertial axes of payload
IX
Figure 4 Restriction on the orientation of tool load and payload coordinate system.
1-loaddata-34
Data Types
loaddata
Wrist coordinate system

Y
Gripper
Z
Y

Z
Y
Payload coordinate
Z system Inertial axes of payload
X
Payload
X
The centre of gravity of the payload
Figure 5 The centre of gravity and inertial axes of the payload.
ix
(inertia x)
Data type: num
The moment of inertia of the load around the x-axis of the tool load or payload
coordinate system in kgm2.
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 ix, iy and iz equal to
0 kgm2 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 6).
payload
distance
x
dimension
Figure 6 The moment of inertia must normally be defined when the distance
is less than the load dimension.
iy
(inertia y)
Data type: num
The inertial moment of the load around the y-axis, expressed in kgm2.
1-loaddata-35
loaddata
Data Types
For more information, see ix.
iz
(inertia z)
Data type: num
The inertial moment of the load around the z-axis, expressed in kgm2.
For more information, see ix.
Examples
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in Figure 4 is described using the following values:
- Weight 5 kg.
- The centre of gravity is x = 50, y = 0 and z = 50 mm in the tool coordinate system.
- The payload is a point mass.
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, piece1, specified at the same time as the robot grips
the load piece1.
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a payload.
Limitations
The payload should only be defined as a persistent variable (PERS) and not within a
routine. Current values are then saved when storing the program on diskette and are
retrieved on loading.
Arguments of the type load data in the GripLoad instruction should only be an entire
persistent (not array element or record component).
1-loaddata-36
Data Types
loaddata
Predefined data
The load load0 defines a payload, the weight of which is equal to 0 kg, i.e. no load at
all. This load is used as the argument in the instruction GripLoad to disconnect a payload.
The load load0 can always be accessed from the program, but cannot be changed (it is
stored in the system module BASE).
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0 ,0 ];
Structure
< dataobject of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >
Related information
Described in:
Coordinate systems
Motion and I/O Principles - Coordinate Systems
Definition of tool loads
Activation of payload
Instructions - GripLoad
1-loaddata-37
loaddata
1-loaddata-38
Data Types
Data Types
loadsession
loadsession
Program load session
Loadsession is used to define different load sessions of RAPID program modules.
Description
Data of the type loadsession is used in the instructions StartLoad and WaitLoad, to
identify the load session. Loadsession only contains a reference to the load session.
Characteristics
Loadsession is a non-value data type and cannot be used in value-oriented operations.
Related information
Described in:
Loading program modules during execution
Instructions - StartLoad, WaitLoad
1-loadsession-39
loadsession
1-loadsession-40
Data Types
Data Types
mecunit
mecunit
Mechanical unit
Mecunit is used to define the different mechanical units which can be controlled and
accessed from the robot and the program.
The names of the mechanical units are defined in the system parameters and, consequently, must not be defined in the program.
Description
Data of the type mecunit only contains a reference to the mechanical unit.
Limitations
Data of the type mecunit must not be defined in the program. The data type can, on the
other hand, be used as a parameter when declaring a routine.
Predefined data
The mechanical units defined in the system parameters can always be accessed from
the program (installed data).
Characteristics
Mecunit is a non-value data type. This means that data of this type does not permit
value-oriented operations.
Related information
Described in:
Activating/Deactivating mechanical units
Instructions - ActUnit, DeactUnit
Configuration of mechanical units
1-mecunit-41
mecunit
1-mecunit-42
Data Types
Data Types
motsetdata
motsetdata
Motion settings data
Motsetdata is used to define a number of motion settings that affect all positioning
instructions in the program:
- Max. velocity and velocity override
- Acceleration data
- Behavior around singular points
- Override of path resolution
- Motion supervision
This data type does not normally have to be used since these settings can only be set
using the instructions VelSet, AccSet, SingArea, ConfJ, ConfL, PathResol and
MotionSup.
The current values of these motion settings can be accessed using the system variable
C_MOTSET.
Description
The current motion settings (stored in the system variable C_MOTSET) affect all
movements.
Components
vel.oride
Data type: veldata/num
Velocity as a percentage of programmed velocity.

vel.max
Data type: veldata/num
Maximum velocity in mm/s.

acc.acc
Data type: accdata/num
Acceleration and deceleration as a percentage of the normal values.

acc.ramp
Data type: accdata/num
The rate by which acceleration and deceleration increases as a percentage of the

normal values.
1-motsetdata-43
motsetdata
Data Types
sing.wrist
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent

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

conf.jsup
Data type: confsupdata/bool
Supervision of joint configuration is active during joint movement.

conf.lsup
Data type: confsupdata/bool
Supervision of joint configuration is active during linear and circular movement.

conf.ax1
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 1 (not used in this version).
conf.ax4
conf.ax6
pathresol
Data type: num
Current override in percentage of the configured path resolution.

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

function.
tunevalue
Data type: num
Current RAPID override as a percentage of the configured tunevalue for the

motion supervision function.
Limitations
One and only one of the components sing.wrist, sing.arm or sing.base may have a value
equal to TRUE.
1-motsetdata-44
Data Types
motsetdata
Example
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF
Different parts of the program are executed depending on the current velocity
override.
Predefined data
C_MOTSET describes the current motion settings of the robot and can always be
accessed from the program (installed data). C_MOTSET, on the other hand, can only
be changed using a number of instructions, not by assignment.
The following default values for motion parameters are set
- at a cold start-up
- when a new program is loaded
- when starting program execution from the beginning.
PERS motsetdata C_MOTSET := [
[ 100, 500 ],-> veldata
[ 100, 100 ],-> accdata
[ FALSE, FALSE, TRUE ],-> singdata
[ TRUE, TRUE, 30, 45, 90],-> confsupdata
[100 ],-> path resolution
[TRUE ],-> motionsup
[100 ] ];-> tunevalue
1-motsetdata-45
motsetdata
Data Types
Structure
<dataobject of motsetdata>
<vel of veldata >
< oride of num >
< max of num >
<acc of accdata >
< acc of num >
< ramp of num >
<sing of singdata >
< wrist of bool >
< arm of bool >
< base of bool >
<conf of confsupdata >
< jsup of bool >
<lsup of bool >
< ax1 of num >
< ax4 of num >
< ax6 of num >
<pathresol of num>
<motionsup of bool>
<tunevalue of num>
-> 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
Related information
Described in:
Instructions for setting motion parameters
1-motsetdata-46
RAPID Summary Motion Settings
Data Types
num
num
Numeric values (registers)

Num is used for numeric values; e.g. counters.
Description
The value of the num data type may be
- an integer; e.g. -5,
- a decimal number; e.g. 3.45.
It may also be written exponentially; e.g.2E3 (= 2*103 = 2000), 2.5E-2 (= 0.025).
Integers between -8388607 and +8388608 are always stored as exact integers.
Decimal numbers are only approximate numbers and should not, therefore, be used in
is equal to or is not equal to comparisons. In the case of divisions, and operations using
decimal numbers, the result will also be a decimal number; i.e. not an exact integer.
E.g.
a := 10;
b := 5;
IF a/b=2 THEN
...
As the result of a/b is not an integer,

this condition is not necessarily
satisfied.
Example
VAR num reg1;
.
reg1 := 3;
reg1 is assigned the value 3.
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the
remainder (=1).
1-num-47
num
Data Types
Predefined data
The constant pi () is already defined in the system module BASE.
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;
Related information
Described in:
1-num-48
Numeric expressions
Operations using numeric values
Data Types
o_jointtarget
o_jointtarget
Original joint position data
o_jointtarget (original joint target) is used in combination with the function Absolute
Limit Modpos. When this function is used to modify a position, the original position is
stored as a data of the type o_jointtarget.
Description
If the function Absolute Limit Modpos is activated and a named position in a movement
instruction is modified with the function Modpos, then the original programmed position is saved.
Example of a program before Modpos:
CONST jointtarget jpos40
:= [[0, 0, 0, 0, 0, 0],
[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
...
MoveAbsJ jpos40, v1000, z50, tool1;
The same program after ModPos in which the point jpos40 is corrected to 2 degrees
for robot axis 1:
CONST jointtarget jpos40
:= [[2, 0, 0, 0, 0, 0],
[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
CONST o_jointtarget o_jpos40 := [[0, 0, 0, 0, 0, 0],
[0, 9E9, 9E9, 9E9, 9E9, 9E9]];
...
MoveAbsJ jpos40, v1000, z50, tool1;
The original programmed point has now been saved in o_jpos40 (by the data type
o_jointtarget) and the modified point saved in jpos40 (by the data type jointtarget).
By saving the original programmed point, the robot can monitor that further Modpos
of the point in question are within the acceptable limits from the original programmed
point.
The fixed name convention means that an original programmed point with the name
xxxxx is saved with the name o_xxxxx by using Absolute Limit Modpos.
1-o_jointtarget-49
o_jointtarget
Data Types
Components
robax
(robot axes)
Data type: robjoint
Axis positions of the robot axes in degrees.

extax
(external axes)
Data type: extjoint
Structure
< dataobject of o_jointtarget >
< robax of robjoint>
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
Described in:
Position data
Data Types - Jointtarget
Configuration of Limit Modpos
1-o_jointtarget-50
Data Types
orient
orient
Orientation
Orient is used for orientations (such as the orientation of a tool) and rotations (such as
the rotation of a coordinate system).
Description
The orientation is described in the form of a quaternion which consists of four elements: q1, q2, q3 and q4. For more information on how to calculate these, see below.
Components
q1
Data type: num

Quaternion 1.
q2
Data type: num

Quaternion 2.
q3
Data type: num

Quaternion 3.
q4
Data type: num

Quaternion 4.
Example
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];
The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to
no rotation.
Limitations
The orientation must be normalised; i.e. the sum of the squares must equal 1:
q 12 + q 22 + q 32 + q 42 = 1
1-orient-51
orient
Data Types
What is a Quaternion?
The orientation of a coordinate system (such as that of a tool) can be described by a
rotational matrix that describes the direction of the axes of the coordinate system in
relation to a reference system (see Figure 7).
z
z
x
Reference
coordinate
system
Rotated
coordinate
system
Figure 7 The rotation of a coordinate system is described by a quaternion.
The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the
reference coordinate system as follows:
x = (x1, x2, x3)
y = (y1, y2, y3)
z = (z1, z2, z3)
This means that the x-component of the x-vector in the reference coordinate system
will be x1, the y-component will be x2, etc.
These three vectors can be put together in a matrix, a rotational matrix, where each of
the vectors form one of the columns:
x1 y1
x2 y2
z1
z2
x3 y3 z3
A quaternion is just a more concise way to describe this rotational matrix; the quaternions are calculated based on the elements of the rotational matrix:
x1 + y2 + z3 + 1
q1 = ----------------------------------------2
1-orient-52
x 1 y2 z3 + 1
q2 = ---------------------------------------2
sign q2 = sign (y3-z2)
y 2 x1 z3 + 1
q3 = ---------------------------------------2
sign q3 = sign (z1-x3)
z3 x 1 y2 + 1
q4 = ---------------------------------------2
sign q4 = sign (x2-y1)
Data Types
orient
Example 1
A tool is orientated so that its Z-axis points straight ahead (in the same direction as the
X-axis of the base coordinate system). The Y-axis of the tool corresponds to the Yaxis of the base coordinate system (see Figure 8). 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
Figure 8 The direction of a tool in accordance with example 1.
The axes will then be related as follows:

x = -z = (0, 0, -1)
y = y = (0, 1, 0)
z = x = (1, 0, 0)
Which corresponds to the following rotational matrix:
0 0 1
0 1 0
1 0 0
The rotational matrix provides a corresponding quaternion:

0+1+0+1
2
q1 = ----------------------------------- = ------- = 0,707
2
2
010+1
q2 = ---------------------------------- = 0
2
100+1
2
q3 = ---------------------------------- = ------- = 0,707
2
2
sign q3 = sign (1+1) = +
001+1
q4 = ---------------------------------- = 0
2
Example 2
The direction of the tool is rotated 30o about the X- and Z-axes in relation to the wrist
coordinate system (see Figure 8). How is the orientation of the tool defined in the tool
data?
1-orient-53
orient
Data Types
Z
Z
X
X
Figure 9 The direction of the tool in accordance with example 2.
The axes will then be related as follows:

x = (cos30o, 0, -sin30o)
x = (0, 1, 0)
x = (sin30o, 0, cos30o)
Which corresponds to the following rotational matrix:
cos 30 0 sin 30
0
1
0
sin 30 0 cos 30
The rotational matrix provides a corresponding quaternion:

cos 30 + 1 + cos 30 + 1
q1 = ---------------------------------------------------------------- = 0,965926
2
cos 30 1 cos 30 + 1
q2 = ---------------------------------------------------------------- = 0
2
1 cos 30 cos 30 + 1
q3 = ---------------------------------------------------------------- = 0,258819
2
sign q3 = sign (sin30o+sin30o) = +
cos 30 cos 30 1 + 1
q4 = ---------------------------------------------------------------- = 0
2
Structure
<dataobject of orient>
<q1 of num>
<q2 of num>
<q3 of num>
<q4 of num>
Related information
Described in:
Operations on orientations
1-orient-54
Data Types
o_robtarget
o_robtarget
Original position data
o_robtarget (original robot target) is used in combination with the function Absolute
Limit Modpos. When this function is used to modify a position, the original position is
stored as a data of the type o_robtarget.
Description
If the function Absolute Limit Modpos is activated and a named position in a movement
instruction is modified with the function Modpos, then the original programmed position is saved.
Example of a program before Modpos:
CONST robtarget p50
:= [[500, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],

[500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
The same program after ModPos in which the point p50 is corrected to 502 in the xdirection:
CONST robtarget p50
:= [[502, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],

[500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST o_robtarget o_p50 := [[500, 500, 500], [1, 0, 0, 0], [1, 1, 0, 0],
[ 500, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
The original programmed point has now been saved in o_p50 (by the data type
o_robtarget) and the modified point saved in p50 (by the data type robtarget).
By saving the original programmed point, the robot can monitor that further Modpos
of the point in question are within the acceptable limits from the original programmed
point.
The fixed name convention means that an original programmed point with the name
xxxxx is saved with the name o_xxxxx by using Absolute Limit Modpos.
Components
trans
(translation)
Data type: pos
The position (x, y and z) of the tool centre point expressed in mm.
1-o_robtarget-55
o_robtarget
Data Types
rot
(rotation)
Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).
robconf
(robot configuration)
Data type: confdata
The axis configuration of the robot (cf1, cf4, cf6 and cfx).
extax
(external axes)
Data type: extjoint
Structure
< dataobject of o_robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
Described in:
Position data
Data Types - Robtarget
Configuration of Limit Modpos
1-o_robtarget-56
Data Types
pos
pos
Positions (only X, Y and Z)

Pos is used for positions (only X, Y and Z).
The robtarget data type is used for the robots position including the orientation of the
tool and the configuration of the axes.
Description
Data of the type pos describes the coordinates of a position: X, Y and Z.
Components
x
Data type: num

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

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

The Z-value of the position.
Examples
VAR pos pos1;
.
pos1 := [500, 0, 940];
The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.
pos1.x := pos1.x + 50;
The pos1 position is shifted 50 mm in the X-direction.
Structure
<dataobject of pos>
<x of num>
<y of num>
<z of num>
1-pos-57
pos
Data Types
Related information
Described in:
1-pos-58
Operations on positions
Robot position including orientation
Data Types- robtarget
Data Types
pose
pose
Coordinate transformations
Pose is used to change from one coordinate system to another.
Description
Data of the type pose describes how a coordinate system is displaced and rotated
around another coordinate system. The data can, for example, describe how the tool
coordinate system is located and oriented in relation to the wrist coordinate system.
Components
trans
(translation)
Data type: pos
The displacement in position (x, y and z) of the coordinate system.

rot
(rotation)
Data type: orient
The rotation of the coordinate system.
Example
VAR pose frame1;
.
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The frame1 coordinate transformation is assigned a value that corresponds to a
displacement in position, where X=50 mm, Y=0 mm, Z=40 mm; there is, however, no rotation.
Structure
<dataobject of pose>
<trans of pos>
<rot of orient>
Related information
Described in:
What is a Quaternion?
Data Types - orient
1-pose-59
pose
1-pose-60
Data Types
Data Types
progdisp
progdisp
Progdisp is 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 PDispSet, PDispOn, PDispOff, EOffsSet, EOffsOn and EOffsOff. It is only used
to temporarily store the current value for later use.
Description
The current values for program displacement can be accessed using the system variable
C_PROGDISP.
For more information, see the instructions PDispSet, PDispOn, EOffsSet and EOffsOn.
Components
pdisp
(program displacement)
Data type: pose
The program displacement for the robot, expressed using a translation and an orientation. The translation is expressed in mm.
eoffs
(external offset)
Data type: extjoint
The offset for each of the external axes. If the axis is linear, the value is expressed
in mm; if it is rotating, the value is expressed in degrees.
Example
VAR progdisp progdisp1;
.
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
.
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
.
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
First, a program displacement is activated from a searched position. Then, it is
temporarily deactivated by storing the value in the variable progdisp1 and, later
on, re-activated using the instructions PDispSet and EOffsSet.
1-progdisp-61
progdisp
Data Types
Predefined data
The system variable C_PROGDISP describes the current program displacement of the
robot and external axes, and can always be accessed from the program (installed data).
C_PROGDISP, on the other hand, can only be changed using a number of instructions,
not by assignment.
Structure
< dataobject of progdisp >
<pdisp of pose>
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< eoffs of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
Described in:
Instructions for defining program displacement RAPID Summary - Motion Settings
Coordinate systems
1-progdisp-62
Data Types
robjoint
robjoint
Joint position of robot axes
Robjoint is used to define the axis position in degrees of the robot axes.
Description
Data of the type robjoint is used to store axis positions in degrees of the robot axes 1
to 6. Axis position is defined as the rotation in degrees for the respective axis (arm) in
a positive or negative direction from the axis calibration position.
Components
rax_1
(robot axis 1)
Data type: num
The position of robot axis 1 in degrees from the calibration position.

...
rax_6
(robot axis 6)
Data type: num
The position of robot axis 6 in degrees from the calibration position.
Structure
< dataobject of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
Related information
Described in:
Joint position data
Data Types - jointtarget
Move to joint position
Instructions - MoveAbsJ
1-robjoint-63
robjoint
1-robjoint-64
Data Types
Data Types
robtarget
robtarget
Position data
Robtarget (robot target) is used to define the position of the robot and external axes.
Description
Position data is used to define the position in the positioning instructions to which the
robot and external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis
configuration is also specified. This defines the axis values if these are in any way
ambiguous, for example:
- if the robot is in a forward or backward position,
- if axis 4 points downwards or upwards,
- if axis 6 has a negative or positive revolution.
The position is defined based on the coordinate system of the work object,
including any program displacement. If the position is programmed with some
other work object than the one used in the instruction, the robot will not move in
the expected way. Make sure that you use the same work object as the one used
when programming positioning instructions. Incorrect use can injure someone or
damage the robot or other equipment.
Components
trans
(translation)
Data type: pos
The position (x, y and z) of the tool centre point expressed in mm.
The position is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
rot
(rotation)
Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).
The orientation is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
1-robtarget-65
robtarget
Data Types
robconf
(robot configuration)
Data type: confdata
The axis configuration of the robot (cf1, cf4, cf6 and cfx). This is defined in the
form of the current quarter revolution of axis 1, axis 4 and axis 6. The first
positive quarter revolution 0 to 90 o is defined as 0. The component cfx is only
used for the robot model IRB5400.
For more information, see data type confdata.
extax
(external axes)
Data type: extjoint

The position is defined as follows for each individual axis (eax_a, eax_b ...
eax_f):
- For rotating axes, the position is defined as the rotation in degrees from the
- For linear axes, the position is defined as the distance in mm from the
External axes eax_a ... are logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system
parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program
execution, the following applies:
- If the position is not defined in the position data (value 9E9), the value will be
ignored, if the axis is connected and not activated. But if the axis is activated, it
will result in an error.
- If the position is defined in the position data although the axis is not connected,
the value is ignored.
Examples
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0],
[ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
- The position of the robot: x = 600, y = 500 and z = 225.3 mm in the object
coordinate system.
- The orientation of the tool in the same direction as the object coordinate system.
- The axis configuration of the robot: axes 1 and 4 in position 90-180o, axis 6 in
position 0-90o.
- The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
1-robtarget-66
Data Types
robtarget
VAR robtarget p20;

...
p20 := CRobT();
p20 := Offs(p20,10,0,0);
The position p20 is set to the same position as the current position of the robot by
calling the function CRobT. The position is then moved 10 mm in the x-direction.
Limitations
When using the configurable edit function Absolute Limit Modpos, the number of
characters in the name of the data of the type robtarget, is limited to 14 (in other cases
16).
Structure
< dataobject of robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
1-robtarget-67
robtarget
Data Types
Related information
Described in:
Coordinate systems
Handling configuration data
Motion and I/O Principles - Robot

Configuration
What is a quaternion?
Data Types - Orient
1-robtarget-68
Data Types
shapedata
shapedata
World zone shape data
shapedata is used to describe the geometry of a world zone.
Description
World zones can be defined in 3 different geometrical shapes:
- a straight box, with all sides parallel to the world coordinate system and defined
by a WZBoxDef instruction
- a sphere, defined by a WZSphDef instruction
- a cylinder, parallel to the z axis of the world coordinate system and defined by
a WZCylDef instruction
The geometry of a world zone is defined by one of the previous instructions and the
action of a world zone is defined by the instruction WZLimSup or WZDOSet.
Example
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC
A conveyor is defined as a box and the supervision for this area is activated. A
pole is defined as a cylinder and the supervision of this zone is also activated. If
the robot reaches one of these areas, the motion is stopped.
Characteristics
shapedata is a non-value data type.
1-shapedata-69
shapedata
Data Types
Related information
Described in:
World Zones
Motion and I/O Principles World Zones
World zone shape
Data Types - shapedata
Define box-shaped world zone
Instructions - WZBoxDef
Define sphere-shaped world zone
Instructions - WZSphDef
Define cylinder-shaped world zone
Instructions - WZCylDef
Activate world zone limit supervision
Instructions - WZLimSup
Activate world zone digital output set
Instructions - WZDOSet
1-shapedata-70
System DataTypes and Routines
Data Types
signalxx
signalxx
Digital and analog signals
Data types within signalxx are used for digital and analog input and output signals.
The names of the signals are defined in the system parameters and are consequently
not to be defined in the program.
Description
Data type
Used for
signalai
analog input signals
signalao
analog output signals
signaldi
digital input signals
signaldo
digital output signals
signalgi
groups of digital input signals
signalgo
groups of digital output signals
Variables of the type signalxo only contain a reference to the signal. The value is set
using an instruction, e.g. DOutput.
Variables of the type signalxi contain a reference to a signal as well as 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 ...
Limitations
Data of the data type signalxx 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.
1-signalxx-71
signalxx
Data Types
Predefined data
The signals defined in the system parameters can always be accessed from the program
by using the predefined signal variables (installed data). It should however be noted
that if other data with the same name is defined, these signals cannot be used.
Characteristics
Signalxo is a non-value data type. Thus, data of this type does not permit valueoriented operations.
Signalxi is a semi-value data type.
Related information
Described in:
Summary input/output instructions
Input/Output functionality in general
Motion and I/O Principles I/O Principles
1-signalxx-72
Data Types
speeddata
speeddata
Speed data
Speeddata is used to specify the velocity at which both the robot and the external axes
move.
Description
Speed data defines the velocity:
- at which the tool centre point moves,
- of the reorientation of the tool,
- at which linear or rotating external axes move.
When several different types of movement are combined, one of the velocities often
limits all movements. The velocity of the other movements will be reduced in such a
way that all movements will finish executing at the same time.
The velocity is also restricted by the performance of the robot. This differs, depending
on the type of robot and the path of movement.
Components
v_tcp
(velocity tcp)
Data type: num
The velocity of the tool centre point (TCP) in mm/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.
v_ori
(velocity orientation)
Data type: num
The velocity of reorientation about the TCP expressed in degrees/s.

If a stationary tool or coordinated external axes are used, the velocity is specified
relative to the work object.
v_leax
(velocity linear external axes)
Data type: num
The velocity of linear external axes in mm/s.

v_reax
(velocity rotational external axes) Data type: num
The velocity of rotating external axes in degrees/s.
1-speeddata-73
speeddata
Data Types
Example
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];
The speed data vmedium is defined with the following velocities:
- 1000 mm/s for the TCP.
- 30 degrees/s for reorientation of the tool.
- 200 mm/s for linear external axes.
- 15 degrees/s for rotating external axes.
vmedium.v_tcp := 900;
The velocity of the TCP is changed to 900 mm/s.
Predefined data
A number of speed data are already defined in the system module BASE.
Name
TCP speed
Orientation
Linear ext. axis Rotating ext. axis
v5
v10
v20
v30
v40
v50
v60
v80
v100
v150
v200
v300
v400
v500
v600
v800
v1000
v1500
v2000
v2500
v3000
v4000
v5000
vmax
v6000
v7000
5 mm/s
10 mm/s
20 mm/s
30 mm/s
40 mm/s
50 mm/s
60 mm/s
80 mm/s
100 mm/s
150 mm/s
200 mm/s
300 mm/s
400 mm/s
500 mm/s
600 mm/s
800 mm/s
1000 mm/s
1500 mm/s
2000 mm/s
2500 mm/s
3000 mm/s
4000 mm/s
5000 mm/s
5000 mm/s
6000 mm/s
7000 mm/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
500o/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
5000 mm/s
1-speeddata-74
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
1000o/s
Data Types
speeddata
Structure
< dataobject of speeddata >
< v_tcp of num >
< v_ori of num >
< v_leax of num >
< v_reax of num >
Related information
Described in:
Motion/Speed in general
Motion and I/O Principles - Positioning during Program Execution
Defining maximum velocity
Instructions - VelSet
Motion performance
Product Specification
1-speeddata-75
speeddata
1-speeddata-76
Data Types
Data Types
string
string
Strings
String is used for character strings.
Description
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks (),
e.g.
This is a character string.
If the quotation marks are to be included in the string, they must be written twice,
e.g.
This string contains a character.
Example
VAR string text;
.
text := start welding pipe 1;
TPWrite text;
The text start welding pipe 1 is written on the teach pendant.
Limitations
A string may have from 0 to 80 characters; inclusive of extra quotation marks.
A string may contain any of the characters specified by ISO 8859-1 as well as control
characters (non-ISO 8859-1 characters with a numeric code between 0-255).
1-string-77
string
Data Types
Predefined data
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 constants flp1, ram1disk and stEmpty are already defined in the system module
BASE.
CONST string flp1 := flp1:;
CONST string ram1disk := ram1disk:;
CONST string stEmpty := ;
Related information
Described in:
1-string-78
Operations using strings
String values
Basic Characteristics - Basic Elements
Data Types
symnum
symnum
Symbolic number
Symnum is used to represent an integer with a symbolic constant.
Description
A symnum constant is intended to be used when checking the return value from the
functions OpMode and RunMode. See example below.
Example
IF RunMode() = RUN_CONT_CYCLE THEN
.
.
ELSE
.
.
ENDIF
Predefined data
The following symbolic constants of the data type symnum are predefined and can be
used when checking return values from the functions OpMode and RunMode.
Value
Symbolic constant
Comment
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
Comment
OP_UNDEF
Undefined operating mode
OP_AUTO
Automatic operating mode
OP_MAN_PROG
Manual operating mode

max. 250 mm/s
OP_MAN_TEST

full speed, 100%
1-symnum-79
symnum
Data Types
Characteristics
Symnum is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
1-symnum-80
Data Types
System Data
System Data
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.
The following table contains a list of all system data.
Name
Description
Data Type
Changed by
See also
C_MOTSET
Current motion settings, i.e.:

- max. velocity and velocity override
- max. acceleration
- movement about singular points
- monitoring the axis configuration
- path resolution
- motion supervision with tunevalue
motsetdata
Instructions
- VelSet
- AccSet
- SingArea
- ConfL,ConfJ
- PathResol
- MotionSup
Data Types - motsetdata

Instructions - VelSet
Instructions - AccSet
Instructions - ConfL, ConfJ
Instructions - PathResol
Instructions - MotionSup
C_PROGDISP
Current program displacement for robot and external axes.
progdisp
Instructions
- PDispSet
- PDispOn
- PDispOff
- EOffsSet
- EOffsOn
- EOffsOff
Data Types - progdisp

Instructions - PDispSet
Instructions - PDispOn
Instructions - PDispOff
Instructions - EOffsSet
Instructions - EOffsOff
ERRNO
The latest error that occurred
errnum
The robot
Data Types - errnum

RAPID Summary Error Recovery
INTNO
The latest interrupt that occurred
intnum
The robot
Data Types - intnum

RAPID Summary -Interrupts
7-System Data-81
System Data
1-System Data-82
Data Types
Data Types
taskid
taskid
Task identification
Taskid is 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.
Description
Data of the type taskid only contains a reference to the program task.
Limitations
Data of the type taskid must not be defined in the program. The data type can, on the
other hand, be used as a parameter when declaring a routine.
Predefined data
The 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 taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for MAIN task the variable identity will be MAINId, TSK1 - TSK1Id etc.
Characteristics
Taskid is a non-value data type. This means that data of this type does not permit valueoriented operations.
Related information
Described in:
Saving program modules
Instruction - Save
Configuration of program tasks
1-taskid-83
taskid
1-taskid-84
Data Types
Data Types
testsignal
testsignal
Test signal
The data type testsignal is used when a test of the robot system is performed.
Description
A number of predefined test signals are available in the robot system. The testsignal
data type is available in order to simplify programming of instructions regarding service and test.
Examples
TestSign 2, revolution_counter, Orbit, 2, 1, 0;
revolution_counter is a constant of the testsignal data type.
Predefined data
A number of predefined constants for the various test signals in the robot system are
loaded into the system at start-up. The service manual describes the test signals more
thoroughly.
Characteristics
Testsignal is an alias data type for num and consequently inherits its characteristics.
Related information
Described in:
1-testsignal-85
testsignal
1-testsignal-86
Data Types
Data Types
tooldata
tooldata
Tool data
Tooldata is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.
If the tool is fixed in space (a stationary tool), common tool data is defined for this tool
and the gripper holding the work object.
Description
Tool data affects robot movements in the following ways:
- The tool centre point (TCP) refers to a point that will satisfy the specified path
and velocity performance. If the tool is reorientated or if coordinated external
axes are used, only this point will follow the desired path at the programmed
velocity.
- If a stationary tool is used, the programmed speed and path will relate to the
work object.
- Programmed positions refer to the position of the current TCP and the orientation in relation to the tool coordinate system. This means that if, for example,
a tool is replaced because it is damaged, the old program can still be used if the
tool coordinate system is redefined.
Tool data is also used when jogging the robot to:
- Define the TCP that is not to move when the tool is reorientated.
- Define the tool coordinate system in order to facilitate moving in or rotating
about the tool directions.
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;
- If the value in the specified load is less than the value of the true load;
1-tooldata-87
tooldata
Data Types
Components
robhold
(robot hold)
Data type: bool
Defines whether or not the robot is holding the tool:

- TRUE
-> The robot is holding the tool.
- FALSE
-> The robot is not holding the tool, i.e. a stationary tool.
tframe
(tool frame)
Data type: pose
The tool coordinate system, i.e.:

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

Y
Z
The tool coordinate system
TCP
X
Y
X
Z
Figure 10 Definition of the tool coordinate system.
1-tooldata-88
Data Types
tooldata
tload
(tool load)
Data type: loaddata
The load of the tool, i.e.:

- The weight of the tool in kg.
- The centre of gravity of the tool (x, y and z) in mm, expressed in the wrist coordinate system
- The orientation of the tool load coordinate system 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. This must always be set to 1, 0, 0, 0.
- 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.

IY
Y
Tool load coordinate system Inertial axes of tool load
Z
IZ
TCP
IX
Y
X
Tool coordinate systeem
Z
Figure 11 Tool load parameter definitions
For more information (such as coordinate system for stationary tool or restrictions), see the data type loaddata.
If a stationary tool is used, the load of the gripper holding the work object must
be defined.
Note that only the load of the tool is to be specified. The payload handled by a
gripper is connected and disconnected by means of the instruction GripLoad.
1-tooldata-89
tooldata
Data Types
Examples
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]],
[5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool in Figure 10 is described using the following values:
- The robot is holding the tool.
- The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm
along the X-axis of the wrist coordinate system.
- The X and Z directions of the tool are rotated 45o in relation to the wrist coordinate system.
- The tool weighs 5 kg.
- The centre of gravity is located at a point 75 mm straight out from axis 6 and
23 mm along the X-axis of the wrist coordinate system.
- The load can be considered a point mass, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
The TCP of the tool, gripper, is adjusted to 225.2 in the z-direction.
Limitations
The tool data should be defined as a persistent variable (PERS) and should not be
defined within a routine. The current values are then saved when the program is stored
on diskette and are retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent (not array element or record component).
Predefined data
The tool tool0 defines the wrist coordinate system, with the origin being the centre of
the mounting flange. Tool0 can always be accessed from the program, but can never be
changed (it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
1-tooldata-90
Data Types
tooldata
Structure
< dataobject of tooldata >
< robhold of bool >
< tframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< tload of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >
Related information
Described in:
Coordinate systems
Definition of payload
Instructions - Gripload
Definition of load
Data types - Load data
1-tooldata-91
tooldata
1-tooldata-92
Data Types
Data Types
tpnum
tpnum

tpnum is used to represent the Teach Pendant Window number with a symbolic
constant.
Description
A tpnum constant is intended to be used in instruction TPShow. See example below.
Example
TPShow TP_PROGRAM;
The Production Window will be active if the system is in AUTO mode and the
Program Window will be active if the system is in MAN mode, after execution of
this instruction.
Predefined data
The following symbolic constants of the data type tpnum are predefined and can be
used in instruction TPShow:
Value
Symbolic constant
Comment
TP_PROGRAM
AUTO: Production Window

MAN: Program Window
TP_LATEST
Latest used Teach Pendant Window
TP_SCREENVIEWER
Screen Viewer window, if this option is

active
Characteristics
tpnum is an alias data type for num and consequently inherits its characteristics.
1-tpnum-93
tpnum
Data Types
Related information
Described in:
1-tpnum-94
Communicating using the teach pendant
Switch window on the teach pendant
Instructions - TPShow
Data Types
triggdata
triggdata
Positioning events - trigg
Triggdata is used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
Description
To define the conditions for the respective measures at a positioning event, variables
of the type triggdata are used. The data contents of the variable are formed in the program using one of the instructions TriggIO or TriggInt, and are used by one of the
instructions TriggL, TriggC or TriggJ.
Example
VAR triggdata gunoff;
TriggIO gunoff, 5 \DOp:=gun, off;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal gun is set to the value off when the TCP is at a position
5 mm before the point p1.
Characteristics
Triggdata is a non-value data type.
Related information
Described in:
Definition of triggs
Instructions - TriggIO, TriggInt
Use of triggs
Instructions - TriggL, TriggC,

TriggJ
1-triggdata-95
triggdata
1-triggdata-96
Data Types
Data Types
tunetype
tunetype
Servo tune type
Tunetype is used to represent an integer with a symbolic constant.
Description
A tunetype constant is intended to be used as an argument to the instruction TuneServo.
See example below.
Example
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
Predefined data
The following symbolic constants of the data type tunetype are predefined and can be
used as argument for the instruction TuneServo.
Value
Symbolic constant
Comment
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
Reseved for future use
Characteristics
Tunetype is an alias data type for num and consequently inherits its characteristics.
1-tunetype-97
tunetype
Data Types
Related information
Described in:
Use of data type tunetype
Instructions - TuneServo
1-tunetype-98
Data Types
wobjdata
wobjdata
Work object data
Wobjdata is used to describe the work object that the robot welds, processes, moves
within, etc.
Description
If work objects are defined in a positioning instruction, the position will be based on
the coordinates of the work object. The advantages of this are as follows:
- If position data is entered manually, such as in off-line programming, the values
can often be taken from a drawing.
- Programs can be reused quickly following changes in the robot installation. If,
for example, the fixture is moved, only the user coordinate system has to be
redefined.
- Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.
If a stationary tool or coordinated external axes are used the work object must be
defined, since the path and velocity would then be related to the work object instead of
the TCP.
Work object data can also be used for jogging:
- The robot can be jogged in the directions of the work object.
- The current position displayed is based on the coordinate system of the work
object.
Components
robhold
(robot hold)
Data type: bool
Defines whether or not the robot is holding the work object:

- TRUE
-> The robot is holding the work object, i.e. using a stationary tool.
- FALSE
-> The robot is not holding the work object, i.e. the robot is holding
the tool.
ufprog
(user frame programmed)
Data type: bool
Defines whether or not a fixed user coordinate system is used:

- TRUE
-> Fixed user coordinate system.
- FALSE
-> Movable user coordinate system, i.e. coordinated external axes

are used.
1-wobjdata-99
wobjdata
Data Types
ufmec
(user frame mechanical unit)
Data type: string
The mechanical unit with which the robot movements are coordinated. Only
specified in the case of movable user coordinate systems (ufprog is FALSE).
Specified with the name that is defined in the system parameters, e.g. "orbit_a".
uframe
(user frame)
Data type: pose
The user coordinate system, i.e. the position of the current work surface or fixture
(see Figure 12):
- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).
If the robot is holding the tool, the user coordinate system is defined in the world
coordinate system (in the wrist coordinate system if a stationary tool is used).
When coordinated external axes are used (ufprog is FALSE), the user coordinate
system is defined in the system parameters.
oframe
(object frame)
Data type: pose
The object coordinate system, i.e. the position of the current work object (see Figure 12):
- The position of the origin of the coordinate system (x, y and z) in mm.
- The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3,
q4).
The object coordinate system is defined in the user coordinate system.
Tool coordinates
Y
TCP
Z
Y
User coordinates
Z
Object coordinates
Y
X
Base coordinates
X
World coordinates
Figure 12 The various coordinate systems of the robot (when the robot is holding the tool).
1-wobjdata-100
Data Types
wobjdata
Example
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0, 0 ,0] ],
[ [0, 200, 30], [1, 0, 0 ,0] ] ];
The work object in Figure 12 is described using the following values:
- The robot is not holding the work object.
- The fixed user coordinate system is used.
- The user coordinate system is not rotated and the coordinates of its origin are
x= 300, y = 600 and z = 200 mm in the world coordinate system.
- The object coordinate system is not rotated and the coordinates of its origin are
x= 0, y= 200 and z= 30 mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;
- The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.
Limitations
The work object data should be defined as a persistent variable (PERS) and should not
be defined within a routine. The current values are then saved when the program is
stored on diskette and are retrieved on loading.
Arguments of the type work object data in any motion instruction should only be an
entire persistent (not array element or record component).
Predefined data
The work object data wobj0 is defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.
Wobj0 can always be accessed from the program, but can never be changed (it is stored
in system module BASE).
PERS wobjdata wobj0 :=
[ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ],

[ [0, 0, 0], [1, 0, 0 ,0] ] ];
1-wobjdata-101
wobjdata
Data Types
Structure
< dataobject of wobjdata >
< robhold of bool >
< ufprog of bool>
< ufmec of string >
< uframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< oframe of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
Related information
Described in:
Coordinate systems
Coordinated external axes
Calibration of coordinated external axes
1-wobjdata-102
Data Types
wzstationary
wzstationary
Stationary world zone data
wzstationary (world zone stationary) is used to identify a stationary world zone and
can only be used in an event routine connected to the event POWER ON.
A world zone is supervised during robot movements both during program execution
and jogging. If the robots TCP reaches this world zone, the movement is stopped or a
digital output signal is set or reset.
Description
A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type stationary a
numeric value. The value identifies the world zone.
A stationary world zone is always active and is only erased by a warm start (switch
power off then on, or change system parameters). It is not possible to deactivate,
activate or erase a stationary world zone via RAPID instructions.
Stationary world zones should be active from power on and should be defined in a
POWER ON event routine or a semistatic task.
Example
VAR wzstationary conveyor;
...
PROC ...
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC
A conveyor is defined as a straight box (the volume below the belt). If the robot
reaches this volume, the movement is stopped.
Limitations
A wzstationary data can 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 wzstationary should only be entire data (not array element or
record component).
1-wzstationary-103
wzstationary
Data Types
An init value for data of the type wzstationary 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];
Example
For a complete example see instruction WZLimSup.
Characteristics
wzstationary is an alias data type of wztemporary and inherits its characteristics.
Related information
Described in:
World Zones
World zone shape
Temporary world zone
Data Types - wztemporary
1-wzstationary-104
Data Types
wztemporary
wztemporary
wztemporary (world zone temporary) is used to identify a temporary world zone and
can be used anywhere in the RAPID program for the MAIN task.
A world zone is supervised during robot movements both during program execution
and jogging. If the robots TCP reaches this world zone, the movement is stopped or a
digital output signal is set or reset.
Description
A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wztemporary
a numeric value. The value identifies the world zone.
Once defined and activated, a temporary world zone can be deactivated by
WZDisable, activated again by WZEnable, and erased by WZFree.
All temporary world zones in the MAIN task are automatically erased and all data
objects of type wztemporary 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
Example
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, roll, is defined as a cylinder. If the robot reaches this
volume, the movement is stopped.
Limitations
A wztemporary 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.
1-wztemporary-105
wztemporary
Data Types
Arguments of the type wztemporary must only be entire data, not an array element or
record component.
A temporary world zone must only be defined (WZLimSup or WZDOSet) and free
(WZFree) in the MAIN task. Definitions of temporary world zones in the background
would affect the program execution in the MAIN task The instructions WZDisable and
WZEnable can 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];
Example
For a complete example see instruction WZDOSet.
Structure
<dataobject of wztemporary>
<wz of num>
Related information
Described in:
World Zones
World zone shape
Stationary world zone
Data Types - wzstationary
Deactivate world zone
Instructions - WZDisable
Activate world zone
Instructions - WZEnable
Erase world zone
Instructions - WZFree
1-wztemporary-106
Data Types
zonedata
zonedata
Zone data
Zonedata 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.
Description
A position can be terminated either in the form of a stop point or a fly-by point.
A stop point means that the robot and external axes must reach the specified position
(stand still) before program execution continues with the next instruction.
A fly-by point means that the programmed position is never attained.
Instead, the direction of motion is changed before the position is reached.
Two different zones (ranges) can be defined for each position:
- The zone for the TCP path.
- The extended zone for reorientation of the tool and for external axes.
The zone for

the TCP path
Programmed
position
Start of reorientation
towards next position
Start of TCP corner path
The extended zone
Figure 13 The zones for a fly-by point.
Zones function in the same way during joint movement, but the zone size may differ
somewhat from the one programmed.
The zone size cannot be larger than half the distance to the closest position (forwards
or backwards). If a larger zone is specified, the robot automatically reduces it.
The zone for the TCP path
A corner path (parabola) is generated as soon as the edge of the zone is reached
(see Figure 13).
1-zonedata-107
zonedata
Data Types
The zone for reorientation of the tool

Reorientation starts as soon as the TCP reaches the extended zone. The tool is
reoriented in such a way that the orientation is the same leaving the zone as it
would have been in the same position if stop points had been programmed.
Reorientation will be smoother if the zone size is increased, and there is less of a
risk of having to reduce the velocity to carry out the reorientation.
Figure 14a Three positions are programmed, the last with different tool orientation.
Figure 14b If all positions were stop points, program execution would look like this.
Zone size
Figure 14c If the middle position was a fly-by point, program execution would look like this
The zone for external axes

External axes start to move towards the next position as soon as the TCP reaches
the extended zone. In this way, a slow axis can start accelerating at an earlier
stage and thus execute more evenly.
Reduced zone
With large reorientations of the tool or with large movements of the external axes,
the extended zone and even the TCP zone can be reduced by the robot. The zone
will be defined as the smallest relative size of the zone based upon the zone components (see next page) and the programmed motion.
1-zonedata-108
Data Types
zonedata
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
Figure 15 Example of reduced zone for reorientation of the tool to 36% of the motion due to
zone_ori.
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
Figure 16 Example of reduced zone for reorientation of the tool and TCP path to 15% of the
motion due to zone_ori.
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.
1-zonedata-109
zonedata
Data Types
Components
finep
(fine point)
Data type: bool
Defines whether the movement is to terminate as a stop point (fine point) or as a

fly-by point.
-
TRUE -> The movement terminates as a stop point.

The remaining components in the zone data are not used.
FALSE -> The movement terminates as a fly-by point.
pzone_tcp
(path zone TCP)
Data type: num
The size (the radius) of the TCP zone in mm.

The extended zone will be defined as the smallest relative size of the zone based
upon the following components and the programmed motion.
pzone_ori
(path zone orientation)
Data type: num
The zone size (the radius) for the tool reorientation. The size is defined as the distance of the TCP from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp.
If a lower value is specified, the size is automatically increased to make it the
same as pzone_tcp.
pzone_eax
(path zone external axes)
Data type: num
The zone size (the radius) for external axes. The size is defined as the distance of
the TCP from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp.
If a lower value is specified, the size is automatically increased to make it the
same as pzone_tcp.
zone_ori
( zone orientation)
Data type: num
The zone size for the tool reorientation in degrees. If the robot is holding the work
object, this means an angle of rotation for the work object.
zone_leax
( zone linear external axes)
Data type: num
The zone size for linear external axes in mm.

zone_reax
( zone rotational external axes)
Data type: num
The zone size for rotating external axes in degrees.
1-zonedata-110
Data Types
zonedata
Examples
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];
The zone data path is defined by means of the following characteristics:
- The zone size for the TCP path is 25 mm.
- The zone size for the tool reorientation is 40 mm (TCP movement).
- The zone size for external axes is 40 mm (TCP movement).
If the TCP is standing still, or there is a large reorientation, or there is a large
external axis movement, with respect to the zone, the following apply instead:
- The zone size for the tool reorientation is 10 degrees.
- The zone size for linear external axes is 35 mm.
- The zone size for rotating external axes is 5 degrees.
path.pzone_tcp := 40;
The zone size for the TCP path is adjusted to 40 mm.
1-zonedata-111
zonedata
Data Types
Predefined data
A number of zone data are already defined in the system module BASE.
Stop points
Name
fine
0 mm
Fly-by points
TCP movement
Tool reorientation
Name
TCP path Orientation Ext. axis Orientation Linear axis Rotating axis
z1
z5
z10
z15
z20
z30
z40
z50
z60
z80
z100
z150
z200
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
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
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
0.1 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
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
0.1 o
0.8 o
1.5 o
2.3 o
3.0o
4.5 o
6.0 o
7.5 o
9.0 o
12 o
15 o
23 o
30 o
Structure
< data object of zonedata >
< finep of bool >
< pzone_tcp of num >
< pzone_ori of num >
< pzone_eax of num >
< zone_ori of num >
< zone_leax of num >
< zone_reax of num >
1-zonedata-112
Data Types
zonedata
Related information
Described in:
Movements/Paths in general
Motion and I/O Principles - Positioning during Program Execution
1-zonedata-113
zonedata
1-zonedata-114
Data Types
Instructions
CONTENTS
:=
AccSet
ActUnit
Add
AliasIO
Break
ProcCall
CallByVar
Clear
ClearIOBuff
ClkReset
ClkStart
ClkStop
Close
comment
ConfJ
ConfL
CONNECT
DeactUnit
Decr
EOffsOff
EOffsOn
EOffsSet
ErrWrite
EXIT
ExitCycle
FOR
GetSysData
GOTO
GripLoad
IDelete
Assigns a value
Reduces the acceleration
Activates a mechanical unit
Adds a numeric value
Define I/O signal with alias name
Break program execution
Calls a new procedure
Call a procedure by a variable
Clears the value
Resets a clock used for timing
Starts a clock used for timing
Stops a clock used for timing
Closes a file or serial channel
Comment
Controls the configuration during joint movement
Monitors the configuration during linear movement
Connects an interrupt to a trap routine
Deactivates a mechanical unit
Decrements by 1
Deactivates an offset for external axes
Activates an offset for external axes
Activates an offset for external axes using a value
Write an Error Message
Terminates program execution
Break current cycle and start next
Repeats a given number of times
Get system data
Goes to a new instruction
Defines the payload of the robot
Cancels an interrupt
IDisable
IEnable
Compact IF
IF
Incr
Disables interrupts
Enables interrupts
If a condition is met, then... (one instruction)
If a condition is met, then ...; otherwise ...
Increments by 1
2-115
Instructions
InvertDO
IODisable
IOEnable
ISignalAI
ISignalAO
ISignalDI
ISignalDO
ISleep
ITimer
IVarValue
IWatch
label
Load
MechUnitLoad
MoveAbsJ
MoveC
MoveJ
MoveL
MoveCDO
MoveJDO
MoveLDO
MoveCSync
MoveJSync
MoveL Sync
Open
PathResol
PDispOff
PDispOn
PDispSet
PulseDO
RAISE
2-116
Inverts the value of a digital output signal

Disable I/O unit
Enable I/O unit
Interrupts from analog input signal
Interrupts from analog output signal
Orders interrupts from a digital input signal
Interrupts from a digital output signal
Deactivates an interrupt
Orders a timed interrupt
Orders a variable value interrupt
Activates an interrupt
Line name
Load a program module during execution
Defines a payload for a mechanical unit
Moves the robot to an absolute
joint position
Moves the robot circularly
Moves the robot by joint movement
Moves the robot linearly
and sets digital output in the corner
and executes a RAPID procedure
Opens a file or serial channel
Override path resolution
Deactivates program displacement
Activates program displacement
Activates program displacement using a value
Generates a pulse on a digital output signal
Calls an error handler
Instructions
ReadAnyBin
SingArea
SpyStart
SpyStop
SoftAct
SoftDeact
StartLoad
StartMove
Stop
StopMove
StorePath
TEST
TestSign
TPErase
TPReadFK
TPReadNum
TPShow
TPWrite
Read data from a binary

serial channel or file
Resets a digital output signal
Restores the path after an interrupt
Restarts following an error
Finishes execution of a routine
Rewind file position
Searches circularly using the robot
Searches linearly using the robot
Sets a digital output signal
Changes the value of an analog output signal
Changes the value of a digital output signal
Changes the value of a group
of digital output signals
Defines interpolation around singular points
Start recording of execution time data
Stop recording of time execution data
Activating the soft servo
Deactivating the soft servo
Restarts robot motion
Stops program execution
Stops robot motion
Stores the path when an interrupt occurs
Depending on the value of an expression ...
Output of test signals
Erases text printed on the teach pendant
Reads function keys
Reads a number from the teach pendant
Writes on the teach pendant
TriggC
TriggEquip
TriggInt
TriggIO
TriggJ
Circular robot movement with events

Defines a fixed position-time I/O event
Defines a position related interrupt
Defines a fixed position I/O event
Axis-wise robot movements with events
Reset
RestoPath
RETRY
RETURN
Rewind
Save
SearchC
SearchL
Set
SetAO
SetDO
SetGO
2-117
Instructions
TriggL
TRYNEXT
TuneReset
TuneServo
UnLoad
WaitDI
WaitDO
WaitLoad
VelSet
WHILE
Write
WriteAnyBin
WriteBin
WriteStrBin
WaitTime
WaitUntil
WZBoxDef
WZCylDef
WZDisable
WZDOSet
WZEnable
WZFree
WZLimSup
WZSphDef
2-118
Linear robot movements with events

Jumps over an instruction
which has caused an error
Resetting servo tuning
Tuning servos
UnLoad a program module during execution
Waits until a digital input signal is set
Waits until a digital output signal is set
Connect the loaded module to the task
Changes the programmed velocity
Repeats as long as ...
Writes to a character-based file or serial channel
Writes data to a binary
Writes to a binary serial channel
Writes a string to a binary serial channel
Waits a given amount of time
Waits until a condition is met
Define a box-shaped world zone
Define a cylinder-shaped world zone
Deactivate temporary world zone supervision
Activate world zone to set digital output
Activate temporary world zone supervision
Erase temporary world zone supervision
Define a sphere-shaped world zone
Instructions
:=
:=
Assigns a value
The := instruction is used to assign a new value to data. This value can be anything
from a constant value to an arithmetic expression, e.g. reg1+5*reg3.
Examples
reg1 := 5;
reg1 is assigned the value 5.
reg1 := reg2 - reg3;
reg1 is assigned the value that the reg2-reg3 calculation returns.
counter := counter + 1;
counter is incremented by one.
Arguments
Data := Value
Data
Data type: All

The data that is to be assigned a new value.
Value
Data type: Same as Data
The desired value.
Examples
tool1.tframe.trans.x := tool1.tframe.trans.x + 20;
The TCP for tool1 is shifted 20 mm in the X-direction.
pallet{5,8} := Abs(value);
An element in the pallet matrix is assigned a value equal to the absolute value of
the value variable.
2-:=-119
:=
Instructions
Limitations
The data (whose value is to be changed) must not be
- a constant
- a non-value data type.
The data and value must have similar (the same or alias) data types.
Syntax
(EBNF)
<assignment target> := <expression> ;
<assignment target> ::=
<variable>
| <persistent>
| <parameter>
| <VAR>
Related information
Described in:
2-:=-120
Expressions
Non-value data types
Assigning an initial value to data
Basic Characteristics - Data

Programming and Testing
Manually assigning a value to data
Programming and Testing
Instructions
AccSet
AccSet
Reduces the acceleration

AccSet is used when handling fragile loads. It allows slower acceleration and deceleration, which results in smoother robot movements.
Examples
AccSet 50, 100;
The acceleration is limited to 50% of the normal value.
AccSet 100, 50;
The acceleration ramp is limited to 50% of the normal value.
Arguments
AccSet
Acc Ramp
Acc
Data type: num

Acceleration and deceleration as a percentage of the normal values.
100% corresponds to maximum acceleration. Maximum value: 100%.
Input value < 20% gives 20% of maximum acceleration.
Ramp
Data type: num
The rate at which acceleration and deceleration increases as a percentage of the

normal values (see Figure 17). Jerking can be restricted by reducing this value.
100% corresponds to maximum rate. Maximum value: 100%.
Input value < 10% gives 10% of maximum rate.
Acceleration
Time
AccSet 100, 100, i.e. normal acceleration
Acceleration
Acceleration
Time
AccSet 30, 100
Time
AccSet 100, 30
Figure 17 Reducing the acceleration results in smoother movements.
2-AccSet-121
AccSet
Instructions
Program execution
The acceleration applies to both the robot and external axes until a new AccSet instruction is executed.
The default values (100%) are automatically set
- when starting program executing from the beginning.
Syntax
AccSet
[ Acc := ] < expression (IN) of num > ,
[ Ramp := ] < expression (IN) of num > ;
Related information
Described in:
2-AccSet-122
Instructions
ActUnit
ActUnit
Activates a mechanical unit
ActUnit is used to activate a mechanical unit.

It can be used to determine which unit is to be active when, for example, common drive
units are used.
Example
ActUnit orbit_a;
Activation of the orbit_a mechanical unit.
Arguments
ActUnit MecUnit
MecUnit
(Mechanical Unit)
Data type: mecunit
The name of the mechanical unit that is to be activated.
Program execution
When the robot and external axes have come to a standstill, the specified mechanical
unit is activated. This means that it is controlled and monitored by the robot.
If several mechanical units share a common drive unit, activation of one of these
mechanical units will also connect that unit to the common drive unit.
Limitations
Instruction ActUnit cannot be used in
- program sequence StorePath ... RestoPath
- event routine RESTART
The movement instruction previous to this instruction, should be terminated with a
stop point in order to make a restart in this instruction possible following a power failure.
2-ActUnit-123
ActUnit
Instructions
Syntax
ActUnit
[MecUnit := ] < variable (VAR) of mecunit> ;
Related information
Described in:
Deactivating mechanical units
Instructions - DeactUnit
Mechanical units
Data Types - mecunit
More examples
Instructions - DeactUnit
2-ActUnit-124
Instructions
Add
Add
Adds a numeric value

Add is used to add or subtract a value to or from a numeric variable or persistent.
Examples
Add reg1, 3;
3 is added to reg1, i.e. reg1:=reg1+3.
Add reg1, -reg2;
The value of reg2 is subtracted from reg1, i.e. reg1:=reg1-reg2.
Arguments
Add
Name AddValue
Name
Data type: num
The name of the variable or persistent to be changed.

AddValue
Data type: num
The value to be added.
Syntax
Add
[ Name := ] < var or pers (INOUT) of num > ,
[ AddValue := ] < expression (IN) of num > ;
Related information
Described in:
Incrementing a variable by 1
Instructions - Incr
Decrementing a variable by 1
Instructions - Decr
Changing data using an arbitrary

expression, e.g. multiplication
Instructions - :=
2-Add-125
Add
2-Add-126
Instructions
Instructions
AliasIO
AliasIO
Define I/O signal with alias name
AliasIO is used to define a signal of any type with an alias name

or to use signals in built-in task modules.
Signals with alias names can be used for predefined generic programs, without any
modification of the program before running in different robot installations.
The instruction AliasIO must be run before any use of the actual signal. See example 1
below for loaded modules and example 2 below for builtin modules.
Example 1
VAR signaldo alias_do;
PROC prog_start()
AliasIO config_do, alias_do;
ENDPROC
The routine prog_start is connected to the START event in system parameters.
The program defined digital output signal alias_do is connected to the configured digital output signal config_do at program start (start the program from
beginning).
Arguments
AliasIO FromSignal ToSignal
FromSignal
Data type: signalxx or

string
Loaded modules:
The signal identifier named according to the configuration (data type signalxx)
from which the signal descriptor is copied. The signal must be defined in the IO
configuration.
Built-in modules:
A reference (CONST, VAR, PERS or parameter of these) containing the name of
the signal (data type string) from which the signal descriptor after search in the
system is copied. The signal must be defined in the IO configuration.
2-AliasIO-127
AliasIO
Instructions
ToSignal
Data type: signalxx
The signal identifier according to the program (data type signalxx) to which the
signal descriptor is copied. The signal must be declared in the RAPID program.
The same data type must be used (or find) for the arguments FromSignal and ToSignal
and must be one of type signalxx (signalai, signalao, signaldi, signaldo, signalgi or signalgo).
Program execution
The signal descriptor value is copied from the signal given in argument FromSignal to
the signal given in argument ToSignal.
Example 2
VAR signaldi alias_di;
PROC prog_start()
CONST string config_string := "config_di";
AliasIO config_string, alias_di;
ENDPROC
The routine prog_start is connected to the START event in system parameters.
The program defined digital output signal alias_di is connected to the configured
digital output signal config_di (via constant config_string) at program start (start
the program from the beginning).
Limitation
When starting the program, the alias signal cannot be used until the AliasIO instruction
is executed.
Instruction AliasIO must be placed
- either in the event routine executed at program start (event START)
- or in the program part executed after every program start (before use of the
signal)
Instruction AliasIO is not available for programming from the Teach Pendant (only
from Program Maker). Option Developers Functions is required.
2-AliasIO-128
Instructions
AliasIO
Syntax
AliasIO
[ FromSignal := ] < reference (REF) of anytype> ,
[ ToSignal := ] < variable (VAR) of anytype> ;
Related information
Described in:
Input/Output instructions
Defining event routines
Loaded/Built-in task modules
2-AliasIO-129
AliasIO
2-AliasIO-130
Instructions
Instructions
Break
Break
Break program execution

Break is used to make an immediate break in program execution for RAPID program
code debugging purposes.
Example
..
Break;
...
Program execution stops and it is possible to analyse variables, values etc. for
debugging purposes.
Program execution
The instruction stops program execution at once, without waiting for the robot and
external axes to reach their programmed destination points for the movement being
performed at the time. Program execution can then be restarted from the next
instruction.
If there is a Break instruction in some event routine, the routine will be executed from
the beginning of the next event.
Syntax
Break;
Related information
Described in:
Stopping for program actions
Instructions - Stop
Stopping after a fatal error
Instructions - EXIT
Terminating program execution
Instructions - EXIT
Only stopping robot movements
Instructions - StopMove
2-Break-131
Break
2-Break-132
Instructions
Instructions
ProcCall
ProcCall
Calls a new procedure
A procedure call is used to transfer program execution to another procedure. When the
procedure has been fully executed, program execution continues with the instruction
following the procedure call.
It is usually possible to send a number of arguments to the new procedure. These
control the behaviour of the procedure and make it possible for the same procedure to
be used for different things.
Examples
weldpipe1;
Calls the weldpipe1 procedure.
errormessage;
Set do1;
.
PROC errormessage()
TPWrite "ERROR";
ENDPROC
The errormessage procedure is called. When this procedure is ready, program
execution returns to the instruction following the procedure call, Set do1.
Arguments
Procedure
{ Argument }
Procedure
Identifier
The name of the procedure to be called.

Argument
Data type: In accordance with

the procedure declaration
The procedure arguments (in accordance with the parameters of the procedure).
Example
weldpipe2 10, lowspeed;
Calls the weldpipe2 procedure, including two arguments.
2-ProcCall-133
ProcCall
Instructions
weldpipe3 10 \speed:=20;
Calls the weldpipe3 procedure, including one mandatory and one optional
argument.
Limitations
The procedures arguments must agree with its parameters:
- All mandatory arguments must be included.
- They must be placed in the same order.
- They must be of the same data type.
- They must be of the correct type with respect to the access-mode (input, variable
or persistent).
A routine can call a routine which, in turn, calls another routine, etc. A routine can also
call itself, i.e. a recursive call. The number of routine levels permitted depends on the
number of parameters, but more than 10 levels are usually permitted.
Syntax
(EBNF)
<procedure> [ <argument list> ] ;
<procedure> ::= <identifier>
Related information
Described in:
Arguments, parameters
Basic Characteristics - Routines
More examples
Program Examples
2-ProcCall-134
Instructions
CallByVar
CallByVar
Call a procedure by a variable
CallByVar (Call By Variable) can be used to call procedures with specific names, e.g.
proc_name1, proc_name2, proc_name3 ... proc_namex via a variable.
Example
reg1 := 2;
CallByVar proc, reg1;
The procedure proc2 is called.
Arguments
CallByVar Name Number
Name
Data type: string
The first part of the procedure name, e.g. proc_name.

Number
Data type: num
The numeric value for the number of the procedure. This value will be converted
to a string and gives the 2:nd part of the procedure name e.g. 1. The value must
be a positive integer.
Example
Static selection of procedure call
TEST reg1
CASE 1:
lf_door door_loc;
CASE 2:
rf_door door_loc;
CASE 3:
lr_door door_loc;
CASE 4:
rr_door door_loc;
DEFAULT:
EXIT;
ENDTEST
Depending on whether the value of register reg1 is 1, 2, 3 or 4, different
procedures are called that perform the appropriate type of work for the selected
door.
2-CallByVar-135
CallByVar
Instructions
The door location in argument door_loc.
Dynamic selection of procedure call with RAPID syntax

reg1 := 2;
%proc+NumToStr(reg1,0)% door_loc;
The procedure proc2 is called with argument door_loc.
Limitation: All procedures must have a specific name e.g. proc1, proc2, proc3.
Dynamic selection of procedure call with CallByVar
reg1 := 2;
CallByVar proc,reg1;
The procedure proc2 is called.
Limitation: All procedures must have specific name, e.g. proc1, proc2, proc3,
and no arguments can be used.
Limitations
Can only be used to call procedures without parameters.
Execution of CallByVar takes a little more time than execution of a normal procedure
call.
Error handling
In the event of a reference to an unknown procedure, the system variable ERRNO is set
to ERR_REFUNKPRC.
In the event of the procedure call error (not procedure), the system variable ERRNO is
set to ERR_CALLPROC.
These errors can be handled in the error handler.
Syntax
CallByVar
[Name :=] <expression (IN) of string>,
[Number :=] <expression (IN) of num>;
2-CallByVar-136
Instructions
CallByVar
Related information
Described in:
Calling procedures
Basic Characteristic - Routines

Users Guide - The programming
language RAPID
2-CallByVar-137
CallByVar
2-CallByVar-138
Instructions
Instructions
Clear
Clear
Clears the value

Clear is used to clear a numeric variable or persistent , i.e. it sets it to 0.
Example
Clear reg1;
Reg1 is cleared, i.e. reg1:=0.
Arguments
Clear
Name
Name
Data type: num
The name of the variable or persistent to be cleared.
Syntax
Clear
[ Name := ] < var or pers (INOUT) of num > ;
Related information
Described in:
Instructions - Incr
Instructions - Decr
2-Clear-139
Clear
2-Clear-140
Instructions
Instructions
ClkReset
ClkReset
Resets a clock used for timing
ClkReset is used to reset a clock that functions as a stop-watch used for timing.
This instruction can be used before using a clock to make sure that it is set to 0.
Example
ClkReset clock1;
The clock clock1 is reset.
Arguments
ClkReset
Clock
Clock
Data type: clock
The name of the clock to reset.
Program execution
When a clock is reset, it is set to 0.
If a clock is running, it will be stopped and then reset.
Syntax
ClkReset
[ Clock := ] < variable (VAR) of clock > ;
Related Information
Described in:
Other clock instructions
2-ClkReset-141
ClkReset
2-ClkReset-142
Instructions
Instructions
ClkStart
ClkStart
Starts a clock used for timing
ClkStart is used to start a clock that functions as a stop-watch used for timing.
Example
ClkStart clock1;
The clock clock1 is started.
Arguments
ClkStart
Clock
Clock
Data type: clock
The name of the clock to start.
Program execution
When a clock is started, it will run and continue counting seconds until it is stopped.
A clock continues to run when the program that started it is stopped. However, the
event that you intended to time may no longer be valid. For example, if the program
was measuring the waiting time for an input, the input may have been received while
the program was stopped. In this case, the program will not be able to see the event
that occurred while the program was stopped.
A clock continues to run when the robot is powered down as long as the battery backup retains the program that contains the clock variable.
If a clock is running it can be read, stopped or reset.
Example
VAR clock clock2;
ClkReset clock2;
ClkStart clock2;
WaitUntil DInput(di1) = 1;
ClkStop clock2;
time:=ClkRead(clock2);
The waiting time for di1 to become 1 is measured.
2-ClkStart-143
ClkStart
Instructions
Syntax
ClkStart
Related Information
Described in:
2-ClkStart-144
Instructions
ClkStop
ClkStop
Stops a clock used for timing
ClkStop is used to stop a clock that functions as a stop-watch used for timing.
Example
ClkStop clock1;
The clock clock1 is stopped.
Arguments
ClkStop
Clock
Clock
Data type: clock
The name of the clock to stop.
Program execution
When a clock is stopped, it will stop running.
If a clock is stopped, it can be read, started again or reset.
Syntax
ClkStop
Related Information
Described in:
More examples
Instructions - ClkStart
2-ClkStop-145
ClkStop
2-ClkStop-146
Instructions
Instructions
Close
Close
Closes a file or serial channel

Close is used to close a file or serial channel.
Example
Close channel2;
The serial channel referred to by channel2 is closed.
Arguments
Close
IODevice
IODevice
Data type: iodev
The name (reference) of the file or serial channel to be closed.
Program execution
The specified file or serial channel is closed and must be re-opened before reading or
writing. If it is already closed, the instruction is ignored.
Syntax
Close
[IODevice :=] <variable (VAR) of iodev>;
Related information
Described in:
Opening a file or serial channel
2-Close-147
Close
2-Close-148
Instructions
Instructions
ClearIOBuff
ClearIOBuff
ClearIOBuff (Clear I/O Buffer) is used to clear the input buffer of a serial channel. All
buffered characters from the input serial channel are discarded.
Example
VAR iodev channel2;
...
Open "sio1:", channel2 \Bin;
ClearIOBuff channel2;
The input buffer for the serial channel referred to by channel2 is cleared.
Arguments
ClearIOBuff
IODevice
IODevice
Data type: iodev
The name (reference) of the serial channel whose input buffer is to be cleared.
Program execution
All buffered characters from the input serial channel are discarded. Next read instructions will wait for new input from the channel.
Limitations
This instruction can only be used for serial channels.
Syntax
ClearIOBuff
2-ClearIOBuff-149
ClearIOBuff
Instructions
Related information
Described in:
Opening a serial channel
2-ClearIOBuff-150
Instructions
comment
comment
Comment
Comment is only used to make the program easier to understand. It has no effect on the
execution of the program.
Example
! Goto the position above pallet
A comment is inserted into the program to make it easier to understand.
Arguments
! Comment
Comment
Text string
Any text.
Program execution
Nothing happens when you execute this instruction.
Syntax
(EBNF)
! {<character>} <newline>
Related information
Described in:
Characters permitted in a comment
Basic CharacteristicsBasic Elements
Comments within data and routine

declarations
2-comment-151
comment
2-comment-152
Instructions
Instructions
ConfJ
ConfJ
Controls the configuration during joint movement

ConfJ (Configuration Joint) is used to specify whether or not the robots configuration
is to be controlled during joint movement. If it is not controlled, the robot can sometimes use a different configuration than that which was programmed.
With ConfJ\Off, the robot cannot switch main axes configuration - it will search for a
solution with the same main axes configuration as the current one. It moves to the closest wrist configuration for axes 4 and 6.
Examples
ConfJ \Off;
MoveJ *, v1000, fine, tool1;
The robot moves to the programmed position and orientation. If this position can
be reached in several different ways, with different axis configurations, the closest possible position is chosen.
ConfJ \On;
MoveJ *, v1000, fine, tool1;
The robot moves to the programmed position, orientation and axis configuration.
If this is not possible, program execution stops.
Arguments
ConfJ
[\On] | [\Off]
\On
Data type: switch

The robot always moves to the programmed axis configuration. If this is not possible using the programmed position and orientation, program execution stops.
The IRB5400 robot will move to the pogrammed axis configuration or to an axis
configuration close the the programmed one. Program execution will not stop if
it is impossible to reach the programmed axis configuration.
\Off
Data type: switch

The robot always moves to the closest axis configuration.
2-ConfJ-153
ConfJ
Instructions
Program execution
If the argument \On (or no argument) is chosen, the robot always moves to the programmed axis configuration. If this is not possible using the programmed position and
orientation, program execution stops before the movement starts.
If the argument \Off is chosen, the robot always moves to the closest axis configuration.
This may be different to the programmed one if the configuration has been incorrectly
specified manually, or if a program displacement has been carried out.
The control is active by default. This is automatically set
Syntax
ConfJ
[ \ On] | [ \ Off] ;
Related information
Described in:
Handling different configurations
Motion Principles Robot Configuration
Robot configuration during linear movement Instructions - ConfL
2-ConfJ-154
Instructions
ConfL
ConfL
Monitors the configuration during linear movement

ConfL (Configuration Linear) is used to specify whether or not the robots configuration is to be monitored during linear or circular movement. If it is not monitored, the
configuration at execution time may differ from that at programmed time. It may also
result in unexpected sweeping robot movements when the mode is changed to joint
movement.
NOTE: For the IRB 6400 robot the monotoring is always off independant of the
switch.
Examples
ConfL \On;
MoveL *, v1000, fine, tool1;
Program execution stops when the programmed configuration is not possible to
reach from the current position.
SingArea \Wrist;
Confl \On;
The robot moves to the programmed position, orientation and wrist axis configuration. If this is not possible, program execution stops.
ConfL \Off;
No error message is displayed when the programmed configuration is not the
same as the configuration achieved by program execution.
Arguments
ConfL
[\On] | [\Off]
\On
Data type: switch

The robot configuration is monitored.
\Off
Data type: switch

The robot configuration is not monitored.
2-ConfL-155
ConfL
Instructions
Program execution
During linear or circular movement, the robot always moves to the programmed position and orientation that has the closest possible axis configuration. If the argument \On
(or no argument) is chosen, then the program execution stops as soon as:
- the configuration of the programmed position will not be attained from the
current position.
- the needed reorientation of any one of the wrist axes to get to the programmed
position from the current position exceeds a limit (140-180 degrees).
However, it is possible to restart the program again, although the wrist axes may continue to the wrong configuration. At a stop point, the robot will check that the configurations of all axes are achieved, not only the wrist axes.
If SingArea\Wrist is also used, the robot always moves to the programmed wrist axes
configuration and at a stop point the remaining axes configurations will be checked.
If the argument \Off is chosen, there is no monitoring.
Monitoring is active by default. This is automatically set
Syntax
ConfL
[ \ On] | [ \ Off] ;
Related information
Described in:
Handling different configurations
Motion and I/O PrinciplesRobot Configuration
Robot configuration during joint movement
Instructions - ConfJ
2-ConfL-156
Instructions
CONNECT
CONNECT
Connects an interrupt to a trap routine
CONNECT is used to find the identity of an interrupt and connect it to a trap routine.
The interrupt is defined by ordering an interrupt event and specifying its identity. Thus,
when that event occurs, the trap routine is automatically executed.
Example
VAR intnum feeder_low;
CONNECT feeder_low WITH feeder_empty;
ISignalDI di1, 1 , feeder_low;
An interrupt identity feeder_low is created which is connected to the trap routine
feeder_empty. The interrupt is defined as input di1 is getting high. In other
words, when this signal becomes high, the feeder_empty trap routine is executed.
Arguments
CONNECT Interrupt WITH Trap routine
Interrupt
Data type: intnum
The variable that is to be assigned the identity of the interrupt.

This must not be declared within a routine (routine data).
Trap routine
Identifier
The name of the trap routine.
Program execution
The variable is assigned an interrupt identity which can then be used when ordering or
disabling interrupts. This identity is also connected to the specified trap routine.
Note that before an event can be handled, an interrupt must also be ordered, i.e. the
event specified.
Limitations
An interrupt (interrupt identity) cannot be connected to more than one trap routine.
Different interrupts, however, can be connected to the same trap routine.
When an interrupt has been connected to a trap routine, it cannot be reconnected or
transferred to another routine; it must first be deleted using the instruction IDelete.
2-CONNECT-157
CONNECT
Instructions
Error handling
If the interrupt variable is already connected to a TRAP routine, the system variable
ERRNO is set to ERR_ALRDYCNT.
If the interrupt variable is not a variable reference, the system variable ERRNO is set
to ERR_CNTNOTVAR.
If no more interrupt numbers are available, the system variable ERRNO is set to
ERR_INOMAX.
These errors can be handled in the ERROR handler.
Syntax
(EBNF)
CONNECT <connect target> WITH <trap>;
<connect target> ::= <variable>
| <parameter>
| <VAR>
<trap> ::= <identifier>
Related information
Described in:
More information on interrupt management
Basic Characteristics- Interrupts
2-CONNECT-158
Instructions
DeactUnit
DeactUnit
Deactivates a mechanical unit
DeactUnit is used to deactivate a mechanical unit.

It can be used to determine which unit is to be active when, for example, common drive
units are used.
Examples
DeactUnit orbit_a;
Deactivation of the orbit_a mechanical unit.
DeactUnit track_motion;
ActUnit track_motion;
The unit track_motion will be stationary when the robot moves to p20 and p30.
After this, both the robot and track_motion will move to p40.
DeactUnit orbit1;
ActUnit orbit2;
The unit orbit1 is deactivated and orbit2 activated.
Arguments
DeactUnit MecUnit
MecUnit
(Mechanical Unit)
Data type: mecunit
The name of the mechanical unit that is to be deactivated.
Program execution
When the robot and external axes have come to a standstill, the specified mechanical
unit is deactivated. This means that it will neither be controlled nor monitored until it
is re-activated.
If several mechanical units share a common drive unit, deactivation of one of the
mechanical units will also disconnect that unit from the common drive unit.
2-DeactUnit-159
DeactUnit
Instructions
Limitations
Instruction DeactUnit cannot be used
- in program sequence StorePath ... RestoPath
- in event routine RESTART
- when one of the axes in the mechanical unit is in independent mode.
The movement instruction previous to this instruction, should be terminated with a stop
point in order to make a restart in this instruction possible following a power failure.
Syntax
DeactUnit
[MecUnit := ] < variable (VAR) of mecunit> ;
Related information
Described in:
Activating mechanical units
Instructions - ActUnit
Mechanical units
2-DeactUnit-160
Instructions
Decr
Decr
Decrements by 1
Decr is used to subtract 1 from a numeric variable or persistent.
Example
Decr reg1;
1 is subtracted from reg1, i.e. reg1:=reg1-1.
Arguments
Decr
Name
Name
Data type: num
The name of the variable or persistent to be decremented.
Example
TPReadNum no_of_parts, "How many parts should be produced? ";
WHILE no_of_parts>0 DO
produce_part;
Decr no_of_parts;
ENDWHILE
The operator is asked to input the number of parts to be produced. The variable
no_of_parts is used to count the number that still have to be produced.
Syntax
Decr
2-Decr-161
Decr
Instructions
Related information
Described in:
2-Decr-162
Instructions - Incr
Subtracting any value from a variable
Instructions - Add

Instructions - :=
Instructions
EOffsOff
EOffsOff
Deactivates an offset for external axes
EOffsOff (External Offset Off) is used to deactivate an offset for external axes.
The offset for external axes is activated by the instruction EOffsSet or EOffsOn and
applies to all movements until some other offset for external axes is activated or until
the offset for external axes is deactivated.
Examples
EOffsOff;
Deactivation of the offset for external axes.
EOffsOn \ExeP:=p10, p11;
EOffsOff;
An offset is defined as the difference between the position of each axis at p10 and
p11. This displacement affects the movement to p20 and p30, but not to p40.
Program execution
Active offsets for external axes are reset.
Syntax
EOffsOff ;
Related information
Described in:
Definition of offset using two positions
Definition of offset using values
Deactivation of the robots motion displacement Instructions - PDispOff
2-EOffsOff-163
EOffsOff
2-EOffsOff-164
Instructions
Instructions
EOffsOn
EOffsOn
Activates an offset for external axes
EOffsOn (External Offset On) is used to define and activate an offset for external axes
using two positions.
Examples
EOffsOn \ExeP:=p10, p20;
Activation of an offset for external axes. This is calculated for each axis based
on the difference between positions p10 and p20.
EOffsOn *;
Activation of an offset for external axes. Since a stop point has been used in the
previous instruction, the argument \ExeP does not have to be used. The displacement is calculated on the basis of the difference between the actual position of
each axis and the programmed point (*) stored in the instruction.
Arguments
EOffsOn [ \ExeP ] ProgPoint
[\ExeP ]
(Executed Point)
Data type: robtarget
The new position of the axes at the time of the program execution. If this argument
is omitted, the current position of the axes at the time of the program execution is
used.
ProgPoint
(Programmed Point)
The original position of the axes at the time of programming.
2-EOffsOn-165
EOffsOn
Instructions
Program execution
The offset is calculated as the difference between ExeP and ProgPoint for each separate
external axis. If ExeP has not been specified, the current position of the axes at the time
of the program execution is used instead. Since it is the actual position of the axes that
is used, the axes should not move when EOffsOn is executed.
This offset is then used to displace the position of external axes in subsequent positioning instructions and remains active until some other offset is activated (the instruction
EOffsSet or EOffsOn) or until the offset for external axes is deactivated (the instruction
EOffsOff).
Only one offset for each individual external axis can be activated at any one time. Several EOffsOn, on the other hand, can be programmed one after the other and, if they are,
the different offsets will be added.
The external axes offset is automatically reset
Example
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
A search is carried out in which the searched position of both the robot and the
external axes is stored in the position psearch. Any movement carried out after
this starts from this position using a program displacement of both the robot and
the external axes. This is calculated based on the difference between the searched
position and the programmed point (*) stored in the instruction.
Syntax
EOffsOn
[ \ ExeP := < expression (IN) of robtarget > ,]
[ ProgPoint := ] < expression (IN) of robtarget > ;
2-EOffsOn-166
Instructions
EOffsOn
Related information
Described in:
Deactivation of offset for external axes
Definition of offset using values
Displacement of the robots movements
Coordinate Systems
tems
Motion Principles- Coordinate Sys-
2-EOffsOn-167
EOffsOn
2-EOffsOn-168
Instructions
Instructions
EOffsSet
EOffsSet Activates an offset for external axes using a value

EOffsSet (External Offset Set) is used to define and activate an offset for external axes
using values.
Example
VAR extjoint eax_a_p100 := [100, 0, 0, 0, 0, 0];
.
EOffsSet eax_a_p100;
Activation of an offset eax_a_p100 for external axes, meaning (provided that the
external axis a is linear) that:
- The ExtOffs coordinate system is displaced 100 mm for the logical axis a (see
Figure 18).
- As long as this offset is active, all positions will be displaced 100 mm in the
direction of the x-axis.
.
100
Normal
Coordinate System
0
+X
ExtOffs
Coordinate System
0
+X
Figure 18 Displacement of an external axis.
Arguments
EOffsSet EAxOffs
EAxOffs
(External Axes Offset)
Data type: extjoint
The offset for external axes is defined as data of the type extjoint, expressed in:
- mm for linear axes
- degrees for rotating axes
2-EOffsSet-169
EOffsSet
Instructions
Program execution
The offset for external axes is activated when the EOffsSet instruction is activated and
remains active until some other offset is activated (the instruction EOffsSet or EOffsOn)
or until the offset for external axes is deactivated (the EOffsOff).
Only one offset for external axes can be activated at any one time. Offsets cannot be
added to one another using EOffsSet.
The external axes offset is automatically reset
Syntax
EOffsSet
[ EAxOffs := ] < expression (IN) of extjoint> ;
Related information
Described in:
Deactivation of offset for external axes
Definition of offset using two positions
Displacement of the robots movements
Definition of data of the type extjoint
Data Types - extjoint
Coordinate Systems
Motion Principles- Coordinate Systems
2-EOffsSet-170
Instructions
ErrWrite
ErrWrite
Write an Error Message
ErrWrite (Error Write) is used to display an error message on the teach pendant and
write it in the robot message log.
Example
ErrWrite PLC error, Fatal error in PLC \RL2:=Call service;
Stop;
A message is stored in the robot log. The message is also shown on the teach
pendant display.
ErrWrite \ W, Search error, No hit for the first search;
RAISE try_search_again;
A message is stored in the robot log only. Program execution then continues.
Arguments
ErrWrite [ \W ] Header Reason [ \RL2] [ \RL3] [ \RL4]
[ \W ]
(Warning)
Data type: switch
Gives a warning that is stored in the robot error message log only (not shown
directly on the teach pendant display).
Header
Data type: string
Error message heading (max. 24 characters).

Reason
Data type: string
Reason for error (line 1 of max. 40 characters).

[ \RL2]
(Reason Line 2)
Data type: string

[ \RL3]
(Reason Line 3)
Data type: string

[ \RL4]
(Reason Line 4)
Data type: string
2-ErrWrite-171
ErrWrite
Instructions
Program execution
An error message (max. 5 lines) is displayed on the teach pendant and written in the
robot message log.
ErrWrite always generates the program error no. 80001 or in the event of a warning
(argument \W) generates no. 80002.
Limitations
Total string length (Header+Reason+\RL2+\RL3+\RL4) is limited to 145 characters.
Syntax
ErrWrite
[ \ W , ]
[ Header := ] < expression (IN) of string> ,
[ Reason := ] < expression (IN) of string>
[ \ RL2 := < expression (IN) of string> ]
[ \ RL3 := < expression (IN) of string> ]
[ \ RL4 := < expression (IN) of string> ] ;
Related information
Described in:
Display a message on
the teach pendant only
Instructions - TPWrite
Message logs
Service
2-ErrWrite-172
Instructions
EXIT
EXIT
Terminates program execution

EXIT is used to terminate program execution. Program restart will then be blocked, i.e.
the program can only be restarted from the first instruction of the main routine (if the
start point is not moved manually).
The EXIT instruction should be used when fatal errors occur or when program
execution is to be stopped permanently. The Stop instruction is used to temporarily stop
program execution.
Example
ErrWrite "Fatal error","Illegal state";
EXIT;
Program execution stops and cannot be restarted from that position in the
program.
Syntax
EXIT ;
Related information
Described in:
Stopping program execution temporarily
Instructions - Stop
2-EXIT-173
EXIT
2-EXIT-174
Instructions
Instructions
ExitCycle
ExitCycle
Break current cycle and start next
ExitCycle is used to break the current cycle and move the PP back to the first
instruction in the main routine.
If the program is executed in continuous mode, it will start to execute the next cycle.
If the execution is in cycle mode, the execution will stop at the first instruction in the
main routine.
Example
VAR num cyclecount:=0;
VAR intnum error_intno;
PROC main()
IF cyclecount = 0 THEN
CONNECT error_intno WITH error_trap;
ISignalDI di_error,1,error_intno;
ENDIF
cyclecount:=cyclecount+1;
! start to do something intelligent
....
ENDPROC
TRAP error_trap
TPWrite ERROR, I will start on the next item;
ExitCycle;
ENDTRAP
This will start the next cycle if the signal di_error is set.
Program execution
Execution of ExitCycle in the MAIN program task, results in the following in the
MAIN task:
- On-going robot movements stops
- All robot paths that are not performed at all path levels (both normal and
StorePath level) are cleared
- All instructions that are started but not finished at all execution levels (both
normal and TRAP level) are interrupted
- The program pointer is moved to the first instruction in the main routine
- The program execution continues to execute the next cycle
2-ExitCycle-175
ExitCycle
Instructions
Execution of ExitCycle in some other program task (besides MAIN) results in the
following in the actual task:
- All instructions that are started but not finished on all execution levels (both
normal and TRAP level) are interrupted
- The program pointer is moved to the first instruction in the main routine
- The program execution continues to execute the next cycle
All other modal things in the program and system are not affected by ExitCycle such as:
- The actual value of variables or persistents
- Any motion settings such as StorePath-RestoPath sequence, world zones, etc.
- Open files, directories, etc.
- Defined interrupts, etc.
Syntax
ExitCycle;
Related information
Described in:
Instructions - EXIT
Instructions - EXIT
Stopping for program actions
Instructions - Stop
Finishing execution of a routine
Instructions - RETURN
2-ExitCycle-176
Instructions
FOR
FOR
Repeats a given number of times

FOR is used when one or several instructions are to be repeated a number of times.
If the instructions are to be repeated as long as a given condition is met, the WHILE
instruction is used.
Example
FOR i FROM 1 TO 10 DO
routine1;
ENDFOR
Repeats the routine1 procedure 10 times.
Arguments
FOR Loop counter FROM Start value TO End value
[STEP Step value] DO ... ENDFOR
Loop counter
Identifier
The name of the data that will contain the value of the current loop counter.
The data is declared automatically and its name should therefore not be the same
as the name of any data that exists already.
Start value
Data type: Num
The desired start value of the loop counter.

(usually integer values)
End value
Data type: Num
The desired end value of the loop counter.

Step value
Data type: Num
The value by which the loop counter is to be incremented (or decremented) each loop.
If this value is not specified, the step value will automatically be set to 1 (or -1 if
the start value is greater than the end value).
2-FOR-177
FOR
Instructions
Example
FOR i FROM 10 TO 2 STEP -1 DO
a{i} := a{i-1};
ENDFOR
The values in an array are adjusted upwards so that a{10}:=a{9}, a{9}:=a{8} etc.
Program execution
1. The expressions for the start, end and step values are calculated.
2. The loop counter is assigned the start value.
3. The value of the loop counter is checked to see whether its value lies between the
start and end value, or whether it is equal to the start or end value. If the value of the
loop counter is outside of this range, the FOR loop stops and program execution continues with the instruction following ENDFOR.
4. The instructions in the FOR loop are executed.
5. The loop counter is incremented (or decremented) in accordance with the step value.
6. The FOR loop is repeated, starting from point 3.
Limitations
The loop counter (of data type num) can only be accessed from within the FOR loop
and consequently hides other data and routines that have the same name. It can only be
read (not updated) by the instructions in the FOR loop.
Decimal values for start, end or stop values, in combination with exact termination conditions for the FOR loop, cannot be used (undefined whether or not the last loop is running).
Syntax
(EBNF)
FOR <loop variable> FROM <expression> TO <expression>
[ STEP <expression> ] DO
<instruction list>
ENDFOR
<loop variable> ::= <identifier>
2-FOR-178
Instructions
FOR
Related information
Described in:
Expressions
Identifiers
Basic Characteristics Basic Elements
2-FOR-179
FOR
2-FOR-180
Instructions
Instructions
GetSysData
GetSysData
Get system data
GetSysData fetches the value and optional symbol name for the current system data of
specified data type.
With this instruction it is possible to fetch data for and the name of the current active
Tool or Work Object.
Example
PERS tooldata curtoolvalue := [TRUE, [[0, 0, 0], [1, 0, 0, 0]],
[0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]];
VAR string curtoolname;
GetSysData curtoolvalue;
Copy current active tool data value to the persistent variable curtoolvalue.
GetSysData curtoolvalue \ObjectName := curtoolname;
Copy also current active tool name to the variable curtoolname.
Arguments
GetSysData
DestObject [\ ObjectName ]
DestObject
Data type: anytype
Persistent for storage of current active system data value.

The data type of this argument also specifies the type of system data (Tool or
Work Object) to fetch.
[\ObjectName]
Data type: string
Option argument (variable or persistent) to also fetch the current active system
data name.
2-GetSysData-181
GetSysData
Instructions
Program execution
When running the instruction GetSysData the current data value is stored in the specified persistent in argument DestObject.
If argument \ObjectName is used, the name of the current data is stored in the specified
variable or persistent in argument ObjectName.
Current system data for Tool or Work Object is activated by execution of any move
instruction or can be manually set in the jogging window.
Syntax
GetSysData
[ DestObject:=] < persistent(PERS) of anytype>
[\ObjectName:= < expression (INOUT) of string> ] ;
Related information
Described in:
Definition of tools
Definition of work objects
2-GetSysData-182
Instructions
GOTO
GOTO
Goes to a new instruction

GOTO is used to transfer program execution to another line (a label) within the same
routine.
Examples
GOTO next;
.
next:
Program execution continues with the instruction following next.
reg1 := 1;
next:
.
reg1 := reg1 + 1;
IF reg1<=5 GOTO next;
The next program loop is executed five times.
IF reg1>100 GOTO highvalue;
lowvalue:
.
GOTO ready;
highvalue:
.
ready:
If reg1 is greater than 100, the highvalue program loop is executed; otherwise
the lowvalue loop is executed.
Arguments
GOTO
Label
Label
Identifier
The label from where program execution is to continue.
2-GOTO-183
GOTO
Instructions
Limitations
It is only possible to transfer program execution to a label within the same routine.
It is only possible to transfer program execution to a label within an IF or TEST instruction if the GOTO instruction is also located within the same branch of that instruction.
It is only possible to transfer program execution to a label within a FOR or WHILE
instruction if the GOTO instruction is also located within that instruction.
Syntax
(EBNF)
GOTO <identifier>;
Related information
Described in:
Label
Instructions - label
Other instructions that change the program

flow
RAPID Summary Controlling the Program Flow
2-GOTO-184
Instructions
GripLoad
GripLoad
Defines the payload of the robot
GripLoad is used to define the payload which the robot holds in its gripper.
Description
When incorrect load data is specified, it can often lead to the following consequences:
- If the value in the specified load data is greater than that of the value of the true
load;
If the value in the specified load data is less than the value of the true load;
Examples
GripLoad piece1;
The robot gripper holds a load called piece1.
GripLoad load0;
The robot gripper releases all loads.
Arguments
GripLoad
Load
Load
Data type: loaddata

The load data that describes the current payload.
2-GripLoad-185
GripLoad
Instructions
Program execution
The specified load affects the performance of the robot.
The default load, 0 kg, is automatically set
Syntax
GripLoad
[ Load := ] < persistent (PERS) of loaddata > ;
Related information
Described in:
Definition of load data
Data Types - loaddata
Definition of tool load
2-GripLoad-186
Instructions
IDelete
IDelete
Cancels an interrupt
IDelete (Interrupt Delete) is used to cancel (delete) an interrupt.
If the interrupt is to be only temporarily disabled, the instruction ISleep or IDisable
should be used.
Example
IDelete feeder_low;
The interrupt feeder_low is cancelled.
Arguments
IDelete
Interrupt
Interrupt
Data type: intnum
The interrupt identity.
Program execution
The definition of the interrupt is completely erased. To define it again, it must first be
re-connected to the trap routine.
The instruction should be preceded by a stop point. Otherwise the interrupt will be
deactivated before the end point is reached.
Interrupts do not have to be erased; this is done automatically when
- a new program is loaded
- the program is restarted from the beginning
- the program pointer is moved to the start of a routine
Syntax
IDelete
[ Interrupt := ] < variable (VAR) of intnum > ;
2-IDelete-187
IDelete
Instructions
Related information
Described in:
Temporarily disabling an interrupt
Instructions - ISleep
Temporarily disabling all interrupts
Instructions - IDisable
2-IDelete-188
Instructions
IDisable
IDisable
Disables interrupts
IDisable (Interrupt Disable) is used to disable all interrupts temporarily. It may, for
example, be used in a particularly sensitive part of the program where no interrupts
may be permitted to take place in case they disturb normal program execution.
Example
IDisable;
character[i]:=ReadBin(sensor);
ENDFOR
IEnable;
No interrupts are permitted as long as the serial channel is reading.
Program execution
Interrupts which occur during the time in which an IDisable instruction is in effect are
placed in a queue. When interrupts are permitted once more, the interrupt(s) of the program then immediately start generating, executed in first in - first out order in the
queue.
Syntax
IDisable;
Related information
Described in:
RAPID Summary - Interrupt
Permitting interrupts
Instructions - IEnable
2-IDisable-189
IDisable
2-IDisable-190
Instructions
Instructions
IEnable
IEnable
Enables interrupts
IEnable (Interrupt Enable) is used to enable interrupts during program execution.
Example
IDisable;
character[i]:=ReadBin(sensor);
ENDFOR
IEnable;
No interrupts are permitted as long as the serial channel is reading. When it has
finished reading, interrupts are once more permitted.
Program execution
Interrupts which occur during the time in which an IDisable instruction is in effect, are
placed in a queue. When interrupts are permitted once more (IEnable), the interrupt(s)
of the program then immediately start generating, executed in first in - first out order
in the queue.Program execution then continues in the ordinary program and interrupts
which occur after this are dealt with as soon as they occur.
Interrupts are always permitted when a program is started from the beginning,. Interrupts disabled by the ISleep instruction are not affected by the IEnable instruction.
Syntax
IEnable;
Related information
Described in:
Permitting no interrupts
2-IEnable-191
IEnable
2-IEnable-192
Instructions
Instructions
Compact IF
Compact IF
If a condition is met, then... (one instruction)
Compact IF is used when a single instruction is only to be executed if a given condition

is met.
If different instructions are to be executed, depending on whether the specified
condition is met or not, the IF instruction is used.
Examples
IF reg1 > 5 GOTO next;
If reg1 is greater than 5, program execution continues at the next label.
IF counter > 10 Set do1;
The do1 signal is set if counter > 10.
Arguments
IF
Condition
...
Condition
Data type: bool
The condition that must be satisfied for the instruction to be executed.
Syntax
(EBNF)
IF <conditional expression> ( <instruction> | <SMT>) ;
Related information
Described in:
Conditions (logical expressions)
IF with several instructions
Instructions - IF
2-Compact IF-193
Compact IF
2-Compact IF-194
Instructions
Instructions
IF
IF
If a condition is met, then ...; otherwise ...

IF is used when different instructions are to be executed depending on whether a condition is met or not.
Examples
IF reg1 > 5 THEN
Set do1;
Set do2;
ENDIF
The do1 and do2 signals are set only if reg1 is greater than 5.
IF reg1 > 5 THEN
Set do1;
Set do2;
ELSE
Reset do1;
Reset do2;
ENDIF
The do1 and do2 signals are set or reset depending on whether reg1 is greater
than 5 or not.
Arguments
IF Condition THEN ...
{ELSEIF Condition THEN ...}
[ELSE ...]
ENDIF
Condition
Data type: bool
The condition that must be satisfied for the instructions between THEN and
ELSE/ELSEIF to be executed.
2-IF-195
IF
Instructions
Example
IF counter > 100 THEN
counter := 100;
ELSEIF counter < 0 THEN
counter := 0;
ELSE
counter := counter + 1;
ENDIF
Counter is incremented by 1. However, if the value of counter is outside the limit
0-100, counter is assigned the corresponding limit value.
Program execution
The conditions are tested in sequential order, until one of them is satisfied. Program
execution continues with the instructions associated with that condition. If none of the
conditions are satisfied, program execution continues with the instructions following
ELSE. If more than one condition is met, only the instructions associated with the first
of those conditions are executed.
Syntax
(EBNF)
IF <conditional expression> THEN
<instruction list>
{ELSEIF <conditional expression> THEN <instruction list> | <EIF>}
[ELSE
<instruction list>]
ENDIF
Related information
Described in:
Conditions (logical expressions)
2-IF-196
Instructions
Incr
Incr
Increments by 1
Incr is used to add 1 to a numeric variable or persistent.
Example
Incr reg1;
1 is added to reg1, i.e. reg1:=reg1+1.
Arguments
Incr
Name
Name
Data type: num
The name of the variable or persistent to be changed.
Example
WHILE stop_production=0 DO
produce_part;
Incr no_of_parts;
TPWrite "No of produced parts= "\Num:=no_of_parts;
ENDWHILE
The number of parts produced is updated on the teach pendant each cycle.
Production continues to run as long as the signal stop_production is not set.
Syntax
Incr
Related information
Described in:
Instructions - Decr
Adding any value to a variable
Instructions - Add

Instructions - :=
2-Incr-197
Incr
2-Incr-198
Instructions
Instructions
InvertDO
InvertDO
Inverts the value of a digital output signal
InvertDO (Invert Digital Output) inverts the value of a digital output signal (0 -> 1 and
1 -> 0).
Example
InvertDO do15;
The current value of the signal do15 is inverted.
Arguments
InvertDO
Signal
Signal
Data type: signaldo
The name of the signal to be inverted.
Program execution
The current value of the signal is inverted (see Figure 19).
:
1
Signal level
0
Execution of the instruction InvertDO
Execution of the instruction InvertDO
1
Signal level
0
Figure 19 Inversion of a digital output signal.
Syntax
InvertDO
[ Signal := ] < variable (VAR) of signaldo > ;
2-InvertDO-199
InvertDO
Instructions
Related information
Described in:
System Parameters
2-InvertDO-200
Instructions
IODisable
IODisable
Disable I/O unit
IODisable is used to disable an I/O unit during program execution (only in the S4C
system).
I/O units are automatically enabled after start-up if they are defined in the system
parameters. When required for some reason, I/O units can be disabled or enabled
during program execution.
Examples
IODisable cell1, 5;
Disable I/O unit with name cell1.Wait max. 5 s.
Arguments
IODisable
UnitName MaxTime
UnitName
Data type: string
The name of the I/O unit to be disabled (with same name as configured).
MaxTime
Data type: num
The maximum period of waiting time permitted, expressed in seconds. If this

time runs out before the I/O unit has finished the disable steps, the error handler
will be called, if there is one, with the error code ERR_IODISABLE. If there is
no error handler, the execution will be stopped.
To disable an I/O unit takes about 2-5 s.
Program execution
The specified I/O unit starts the disable steps. The instruction is ready when the disable
steps are finished. If the MaxTime runs out before the I/O unit has finished the disable
steps, a recoverable error will be generated.
After disabling an I/O unit, any setting of outputs in this unit will result in an error.
2-IODisable-201
IODisable
Instructions
Example
PROC go_home()
VAR num recover_flag :=0;
...
! Start to disable I/O unit cell1
recover_flag := 1;
IODisable cell1, 0;
! Move to home position
MoveJ home, v1000,fine,tool1;
! Wait until disable of I/O unit cell1 is ready
recover_flag := 2;
IODisable cell1, 5;
...
ERROR
IF ERRNO = ERR_IODISABLE THEN
IF recover_flag = 1 THEN
TRYNEXT;
ELSEIF recover_flag = 2 THEN
RETRY;
ENDIF
ELSEIF ERRNO = ERR_EXCRTYMAX THEN
ErrWrite IODisable error, Not possible to disable I/O unit cell1;
Stop;
ENDIF
ENDPROC
To save cycle time, the I/O unit cell1 is disabled during robot movement to the
home position. With the robot at the home position, a test is done to establish
whether or not the I/O unit cell1 is fully disabled. After the max. number of retries
(5 with a waiting time of 5 s), the robot execution will stop with an error message.
The same principle can be used with IOEnable (this will save more cycle time
compared with IODisable).
Syntax
IODisable
[ UnitName := ] < expression (IN) of string> ,
[ MaxTime := ] < expression (IN) of num > ;
2-IODisable-202
Instructions
IODisable
Related information
Described in:
Enabling an I/O unit
Instructions - IOEnable
2-IODisable-203
IODisable
2-IODisable-204
Instructions
Instructions
IOEnable
IOEnable
Enable I/O unit
IOEnable is used to enable an I/O unit during program execution (only in the S4C
system).
I/O units are automatically enabled after start-up if they are defined in the system
parameters. When required for some reason, I/O units can be disabled or enabled
during program execution.
Examples
IOEnable cell1, 5;
Enable I/O unit with name cell1. Wait max. 5 s.
Arguments
IOEnable
UnitName MaxTime
UnitName
Data type: string
The name of the I/O unit to be enabled (with same name as configured).
MaxTime
Data type: num

time runs out before the I/O unit has finished the enable steps, the error handler
will be called, if there is one, with the error code ERR_IOENABLE. If there is
no error handler, the execution will be stopped.
To enable an I/O unit takes about 2-5 s.
Program execution
The specified I/O unit starts the enable steps. The instruction is ready when the enable
steps are finished. If the MaxTime runs out before the I/O unit has finished the enable
steps, a recoverable error will be generated.
After a sequence of IODisable - IOEnable, all outputs for the current I/O unit will be
set to the old values (before IODisable).
2-IOEnable-205
IOEnable
Instructions
Example
IOEnable can also be used to check whether some I/O unit is disconnected for some
reason.
VAR num max_retry:=0;
...
IOEnable cell1, 0;
SetDO cell1_sig3, 1;
...
ERROR
IF ERRNO = ERR_IOENABLE THEN
IF max_retry < 5 THEN
WaitTime 1;
max_retry := max_retry + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF
Before using signals on the I/O unit cell1, a test is done by trying to enable the I/
O unit with timeout after 0 sec. If the test fails, a jump is made to the error
handler. In the error handler, the program execution waits for 1 sec. and a new
retry is made. After 5 retry attempts the error ERR_IOENABLE is propagated to
the caller of this routine.
Syntax
IOEnable
[ UnitName := ] < expression (IN) of string> ,
[ MaxTime := ] < expression (IN) of num > ;
Related information
Described in:
More examples
Instructions - IODisable
Disabling an I/O unit
Instructions - IODisable
2-IOEnable-206
Instructions
ISignalAI
ISignalAI
Interrupts from analog input signal
ISignalAI (Interrupt Signal Analog Input) is used to order and enable interrupts from
an analog input signal.
Example
VAR intnum sig1int;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
input signal ai1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap
routine.
ISignalAI ai1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;
Orders an interrupt which is to occur each time the logical value of the analog
input signal ai1 is between 0.5 and 1.5, and the absolute signal difference compared to the stored reference value is bigger than 0.1.
ISignalAI ai1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;
input signal ai1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the stored reference value is bigger than 0.1.
Arguments
ISignalAI [\Single] Signal Condition HighValue LowValue
DeltaValue [\DPos] | [\DNeg] Interrupt
[\Single]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically.

If the argument Single is set, the interrupt occurs once at the most. If the argument is omitted, an interrupt will occur each time its condition is satisfied.
Signal
Data type: signalai
The name of the signal that is to generate interrupts.
2-ISignalAI-207
ISignalAI
Instructions
Condition
Data type: aiotrigg
Specifies how HighValue and LowValue define the condition to be satisfied:

- AIO_ABOVE_HIGH:
logical value of the signal is above HighValue
- AIO_BELOW_HIGH:
logical value of the signal is below HighValue
- AIO_ABOVE_LOW:
logical value of the signal is above LowValue
- AIO_BELOW_LOW:
logical value of the signal is below LowValue
- AIO_BETWEEN:
logical value of the signal is between LowValue

and HighValue
- AIO_OUTSIDE:
logical value of the signal is above HighValue or

below LowValue
- AIO_ALWAYS:
independently of HighValue and LowValue
HighValue
Data type: num
High logical value to define the condition.
LowValue
Data type: num
Low logical value to define the condition.
DeltaValue
Data type: num
Defines the minimum logical signal difference before generation of a new interrupt. The actual signal value compared to the stored reference value must be
greater than the specified DeltaValue before generation of a new interrupt.
[\DPos]
Data type: switch
Specifies that only positive logical signal differences will give new interrupts.
[\DNeg]
Data type: switch
Specifies that only negative logical signal differences will give new interrupts.
If none of \DPos and \DNeg argument is used, both positive and negative differences will generate new interrupts.
Interrupt
Data type: intnum
The interrupt identity. This interrupt should have previously been connected to a
trap routine by means of the instruction CONNECT.
2-ISignalAI-208
Instructions
ISignalAI
Program execution
When the signal fulfils the specified conditions (both Condition and DeltaValue), a
call is made to the corresponding trap routine. When this has been executed, program
execution continues from where the interrupt occurred.
Conditions for interrupt generation
Before the interrupt subscription is ordered, each time the signal is sampled, the value
of the signal is read, saved, and later used as a reference value for the DeltaValue condition.
At the interrupt subscription time, if specified DeltaValue = 0 and after the interrupt
subscription time always at each time the signal is sampled, its value is then compared
to HighValue and LowValue according to Condition and with consideration to DeltaValue, to generate or not generate an interrupt. If the new read value satisfies the specified HighValue and LowValue Condition, but its difference compared to the last stored
reference value is less or equal to the DeltaValue argument, no interrupt occurs.
If the signal difference is not in the specified direction, no interrupts will occur.
(argument \DPos or \DNeg).
The stored reference value for the DeltaValue condition is updated with a newly read
value for later use at any sample, if the following conditions are satisfied:
- Argument Condition with specified HighValue and LowValue
(within limits)
- Argument DeltaValue
(sufficient signal change in any direction, independently of specified switch
\DPos or \DNeg)
The reference value is only updated at the sample time, not at the interrupt subscription
time.
An interrupt is also generated at the sample for update of the reference value, if the
direction of the signal difference is in accordance with the specified argument
(any direction, \DPos or \DNeg).
When the \Single switch is used, only one interrupt at the most will be generated.
If the switch \Single (cyclic interrupt) is not used, at every sample of the signal value
a new test is done of the specified conditions (both Condition and DeltaValue) compared to the actual signal value and the last stored reference value, to generate or not
generate an interrupt.
2-ISignalAI-209
ISignalAI
Instructions
Condition for interrupt generation at interrupt subscription time

Sample before interrupt subscription
RefValue := CurrentValue
Interrupt
False
subscription
CurrentValue tested against Condition

HighValue and LowValue
True
False
DeltaValue = 0
True
Interrupt generated
Continue
2-ISignalAI-210
Instructions
ISignalAI
Condition for interrupt generation at each sample after interrupt subscription

New Sample
False
CurrentValue checked against Condition

HighValue and LowValue
True
True
No DPos or DNeg specified and
ABS(CurrentValue - RefValue) > DeltaValue
False
DPos specified and

(CurrentValue - RefValue) > DeltaValue
True
False
DNeg specified and
(RefValue - CurrentValue) > DeltaValue
True
False
ABS(CurrentValue - RefValue) > DeltaValue

False
Interrupt
generated
True
Continue
2-ISignalAI-211
ISignalAI
Instructions
Example 1 of interrupt generation
Signal logical value
HighValue
Signal Value
LowValue
1
2
3
4
5
6
7
Time for order of interrupt subscription
Storage of reference value
10
11
12
Samples
Assuming the interrupt is ordered between sample 0 and 1, the following instruction
will give the following results:
ISignalAI ai1, AIO_BETWEEN, 6.1, 2,2, 1.0, sig1int;
sample 1 will generate an interrupt, because the signal value is between HighValue and LowValue and the signal difference compared to sample 0 is more than
DeltaValue.
sample 2 will generate an interrupt, because the signal value is between HighValue and LowValue and the signal difference compared to sample 1 is more than
DeltaValue.
samples 3, 4, 5 will not generate any interrupt, because the signal difference is
less than DeltaValue.
sample 6 will generate an interrupt.
samples 7 to 10 will not generate any interrupt, because the signal is above
HighValue
sample 11 will not generate any interrupt, because the signal difference compared
to sample 6 is equal to DeltaValue.
sample 12 will not generate any interrupt, because the signal difference compared
to sample 6 is less than DeltaValue.
2-ISignalAI-212
Instructions
ISignalAI
HighValue
Signal Value
LowValue
1
2
3
4
5
6
7
10
11
12
Samples
ISignalAI ai1, AIO_BETWEEN, 6.1, 2,2, 1.0 \DPos, sig1int;
A new reference value is stored at sample 1 and 2, because the signal is within
limits and the absolute signal difference between the actual value and the last
stored reference value is greater than 1.0.
No interrupt will be generated because the signal changes are in the negative
direction.
sample 6 will generate an interrupt, because the signal value is between HighValue and LowValue and the signal difference in the positive direction compared
to sample 2 is more than DeltaValue.
2-ISignalAI-213
ISignalAI
Instructions
HighValue
Signal Value
LowValue
1
2
3
4
5
6
7
10
11
12
Samples
ISignalAI \Single, ai1, AIO_OUTSIDE, 6.1, 2,2, 1.0 \DPos, sig1int;
A new reference value is stored at sample 7, because the signal is within limits
and the absolute signal difference between the actual value and the last stored reference value is greater than 1.0
sample 8 will generate an interrupt, because the signal value is above HighValue
and the signal difference in the positive direction compared to sample 7 is more
than DeltaValue.
2-ISignalAI-214
Instructions
ISignalAI
HighValue
Signal Value
LowValue
1
2
3
4
5
6
7
10
11
12
Samples
ISignalAI ai1, AIO_ALWAYS, 6.1, 2,2, 1.0 \DPos, sig1int;
stored reference value is greater than 1.0
sample 6 will generate an interrupt, because the signal difference in the positive
direction compared to sample 2 is more than DeltaValue.
sample 7 and 8 will generate an interrupt, because the signal difference in the
positive direction compared to previous sample is more than DeltaValue.
stored reference value is greater than 1.0
Error handling
If there is a subscription of interrupt on an analog input signal, an interrupt will be
given for every change in the analog value that satisfies the condition specified when
ordering the interrupt subscription. If the analog value is noisy, many interrupts can be
generated, even if only one or two bits in the analog value are changed.
2-ISignalAI-215
ISignalAI
Instructions
To avoid generating interrupts for small changes of the analog input value, set the
DeltaValue to a level greater than 0. Then no interrupts will be generated until a change
of the analog value is greater than the specified DeltaValue.
Limitations
The HighValue and LowValue arguments should be in the range: logical maximum
value, logical minimum value defined for the signal.
HighValue must be above LowValue.
DeltaValue must be 0 or positive.
The limitations for the interrupt identity are the same as for ISignalDI.
Syntax
ISignalAI
[ \Single,]
[ Signal:= ]<variable (VAR) of signalai>,
[ Condition:= ]<expression (IN) of aiotrigg>,
[ HighValue:= ]<expression (IN) of num>,
[ LowValue:= ]<expression (IN) of num>,
[ DeltaValue:= ]<expression (IN) of num>
[ \DPos] | [ \DNeg] ,
[ Interrupt:= ]<variable (VAR) of intnum>;
Related information
Described in:
Definition of constants
Data Types - aiotrigg
Interrupt from analog output signal
Instructions - ISignalAO
Interrupt from digital input signal
Instructions - ISignalDI
Interrupt from digital output signal
Instructions - ISignalDO
Basic Characteristics - Interrupts
More examples
Data Types - intnum
Related system parameters (filter)
2-ISignalAI-216
Instructions
ISignalAO
ISignalAO
Interrupts from analog output signal
ISignalAO (Interrupt Signal Analog Output) is used to order and enable interrupts from
an analog output signal.
Example
VAR intnum sig1int;
ISignalAO \Single, ao1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
output signal ao1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap
routine.
ISignalAO ao1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;
output signal ao1 is between 0.5 and 1.5, and the absolute signal difference compared to the previous stored reference value is bigger than 0.1.
ISignalAO ao1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;
output signal ao1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the previous stored reference value is bigger than 0.1.
Arguments
ISignalAO [\Single] Signal Condition HighValue LowValue
DeltaValue [\DPos] | [\DNeg] Interrupt
[\Single]
Data type: switch

Signal
Data type: signalao
2-ISignalAO-217
ISignalAO
Instructions
Condition
Data type: aiotrigg
Specifies how HighValue and LowValue define the condition to be satisfied:

- AIO_ABOVE_HIGH:
logical value of the signal is above HighValue
- AIO_BELOW_HIGH:
logical value of the signal is below HighValue
- AIO_ABOVE_LOW:
logical value of the signal is above LowValue
- AIO_BELOW_LOW:
logical value of the signal is below LowValue
- AIO_BETWEEN:
logical value of the signal is between LowValue

and HighValue
- AIO_OUTSIDE:
logical value of the signal is above HighValue or

below LowValue
- AIO_ALWAYS:
independently of HighValue and LowValue
HighValue
Data type: num
High logical value to define the condition.
LowValue
Data type: num
Low logical value to define the condition.
DeltaValue
Data type: num
Defines the minimum logical signal difference before generation of a new interrupt. The actual signal value compared to the previous stored reference value
must be greater than the specified DeltaValue before generation of a new interrupt.
[\DPos]
Data type: switch
Specifies that only positive logical signal differences will give new interrupts.
[\DNeg]
Data type: switch
Specifies that only negative logical signal differences will give new interrupts.
If neither of the \DPos and \DNeg arguments are used, both positive and negative
differences will generate new interrupts.
Interrupt
Data type: intnum
The interrupt identity. This interrupt should have previously been connected to a
trap routine by means of the instruction CONNECT.
2-ISignalAO-218
Instructions
ISignalAO
Program execution
See instruction ISignalAI for information about:
- Program execution
- Condition for interrupt generation
- More examples
Same principles are valid for ISignalAO as for ISignalAI.
Limitations
The HighValue and LowValue arguments should be in the range: logical maximum
value, logical minimum value, defined for the signal.
HighValue must be above LowValue.
DeltaValue must be 0 or positive.
The limitations for the interrupt identity are the same as for ISignalDO.
Syntax
ISignalAO
[ \Single,]
[ Signal:= ]<variable (VAR) of signalao>,
[ Condition:= ]<expression (IN) of aiotrigg>,
[ HighValue:= ]<expression (IN) of num>,
[ LowValue:= ]<expression (IN) of num>,
[ DeltaValue:= ]<expression (IN) of num>
[ \DPos] | [ \DNeg] ,
[ Interrupt:= ]<variable (VAR) of intnum>;
2-ISignalAO-219
ISignalAO
Instructions
Related information
Described in:
Definition of constants
Data Types - aiotrigg
Interrupt from analog input signal
Instructions - ISignalAI
Interrupt from digital input signal
Interrupt from digital output signal
More examples
Data Types - intnum
Related system parameters (filter)
2-ISignalAO-220
Instructions
ISignalDI
ISignalDI
Orders interrupts from a digital input signal
ISignalDI (Interrupt Signal Digital In) is used to order and enable interrupts from a
digital input signal.
System signals can also generate interrupts.
Examples
VAR intnum sig1int;
ISignalDI di1,1,sig1int;
Orders an interrupt which is to occur each time the digital input signal di1 is set
to 1. A call is then made to the iroutine1 trap routine.
Orders an interrupt which is to occur each time the digital input signal di1 is set
to 0.
ISignalDI \Single, di1,1,sig1int;
Orders an interrupt which is to occur only the first time the digital input signal
di1 is set to 1.
Arguments
ISignalDI
[ \Single ]
Data type: switch

Signal
Data type: signaldi
2-ISignalDI-221
ISignalDI
Instructions
TriggValue
Data type: dionum
The value to which the signal must change for an interrupt to occur.
The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal
is edge-triggered upon changeover to 0 or 1.
TriggValue 2 or symbolic value edge can be used for generation of interrupts on
both positive flank (0 -> 1) and negative flank (1 -> 0).
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT.
Program execution
When the signal assumes the specified value, a call is made to the corresponding trap
routine. When this has been executed, program execution continues from where the
interrupt occurred.
If the signal changes to the specified value before the interrupt is ordered, no interrupt
occurs (see Figure 20).
:
1
Signal level
0
Interrupt ordered
Interrupt ordered
1
Signal level
0
Interrupt occurs
Interrupt occurs
Figure 20 Interrupts from a digital input signal at signal level 1.
2-ISignalDI-222
Instructions
ISignalDI
Limitations
The same variable for interrupt identity cannot be used more than once, without first
deleting it. Interrupts should therefore be handled as shown in one of the alternatives
below.
PROC main ( )
VAR intnum sig1int;
ISignalDI di1, 1, sig1int;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
All activation of interrupts is done at the beginning of the program. These
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
ISignalDI di1, 1, sig1int;
:
:
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program, and is then reactivated. It
should be noted, in this case, that the interrupt is inactive for a short period.
Syntax
ISignalDI
[ \ Single,]
[ Signal := ] < variable (VAR) of signaldi > ,
[ TriggValue := ] < expression (IN) of dionum >,
2-ISignalDI-223
ISignalDI
Instructions
Related information
Described in:
Interrupt from an output signal
More examples
Data Types - intnum
2-ISignalDI-224
Instructions
ISignalDO
ISignalDO
Interrupts from a digital output signal
ISignalDO (Interrupt Signal Digital Out) is used to order and enable interrupts from a
digital output signal.
System signals can also generate interrupts.
Examples
VAR intnum sig1int;
ISignalDO do1,1,sig1int;
Orders an interrupt which is to occur each time the digital output signal do1 is
set to 1. A call is then made to the iroutine1 trap routine.
ISignalDO do1,0,sig1int;
Orders an interrupt which is to occur each time the digital output signal do1 is
set to 0.
ISignalDO\Single, do1,1,sig1int;
Orders an interrupt which is to occur only the first time the digital output signal
do1 is set to 1.
Arguments
ISignalDO
[ \Single ]
Data type: switch

Signal
Data type: signaldo
2-ISignalDO-225
ISignalDO
Instructions
TriggValue
Data type: dionum
The value to which the signal must change for an interrupt to occur.
The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal
is edge-triggered upon changeover to 0 or 1.
TriggValue 2 or symbolic value edge can be used for generation of interrupts on
both positive flank (0 -> 1) and negative flank (1 -> 0).
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT.
Program execution
When the signal assumes the specified value 0 or 1, a call is made to the corresponding
trap routine. When this has been executed, program execution continues from where
the interrupt occurred.
If the signal changes to the specified value before the interrupt is ordered, no interrupt
occurs (see Figure 21).
:
1
Signal level
0
Interrupt ordered
Interrupt ordered
1
Signal level
0
Interrupt occurs
Interrupt occurs
Figure 21 Interrupts from a digital output signal at signal level 1.
2-ISignalDO-226
System Data Types and Routinesl
Instructions
ISignalDO
Limitations
The same variable for interrupt identity cannot be used more than once, without first
deleting it. Interrupts should therefore be handled as shown in one of the alternatives
below.
PROC main ( )
VAR intnum sig1int;
ISignalDO do1, 1, sig1int;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
All activation of interrupts is done at the beginning of the program. These
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
ISignalDO do1, 1, sig1int;
:
:
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program, and is then reactivated. It
should be noted, in this case, that the interrupt is inactive for a short period.
Syntax
ISignalDO
[ \ Single,]
[ Signal := ] < variable (VAR) of signaldo > ,
[ TriggValue := ] < expression (IN) of dionum >,
2-ISignalDO-227
ISignalDO
Instructions
Related information
Described in:
Interrupt from an input signal
More examples
Data Types - intnum
2-ISignalDO-228
Instructions
ISleep
ISleep
Deactivates an interrupt
ISleep (Interrupt Sleep) is used to deactivate an individual interrupt temporarily.
During the deactivation time, any generated interrupts of the specified type are
discarded without any trap execution.
Example
ISleep sig1int;
The interrupt sig1int is deactivated.
Arguments
ISleep
Interrupt
Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt.
Program execution
Any generated interrupts of the specified type are discarded without any trap
execution, until the interrupt has been re-activated by means of the instruction IWatch.
Interrupts which are generated while ISleep is in effect are ignored.
Example
VAR intnum timeint;
CONNECT timeint WITH check_serialch;
ITimer 60, timeint;
.
ISleep timeint;
WriteBin ch1, buffer, 30;
IWatch timeint;
.
TRAP check_serialch
IF ReadBin(ch1\Time:=5) < 0 THEN
TPWrite The serial communication is broken;
EXIT;
ENDIF
2-ISleep-229
ISleep
Instructions
ENDTRAP
Communication across the ch1 serial channel is monitored by means of interrupts
which are generated every 60 seconds. The trap routine checks whether the communication is working. When, however, communication is in progress, these
interrupts are not permitted.
Error handling
Interrupts which have neither been ordered nor enabled are not permitted. If the interrupt number is unknown, the system variable ERRNO will be set to ERR_UNKINO
(see Data types - errnum). The error can be handled in the error handler.
Syntax
ISleep
Related information
Described in:
Enabling an interrupt
Instructions - IWatch
Disabling all interrupts
Cancelling an interrupt
Instructions - IDelete
2-ISleep-230
Instructions
ITimer
ITimer
Orders a timed interrupt

ITimer (Interrupt Timer) is used to order and enable a timed interrupt.
This instruction can be used, for example, to check the status of peripheral equipment
once every minute.
Examples
VAR intnum timeint;
CONNECT timeint WITH iroutine1;
ITimer 60, timeint;
Orders an interrupt that is to occur cyclically every 60 seconds. A call is then
made to the trap routine iroutine1.
ITimer \Single, 60, timeint;
Orders an interrupt that is to occur once, after 60 seconds.
Arguments
ITimer
[ \Single ] Time Interrupt
[ \Single ]
Data type: switch

If the argument Single is set, the interrupt occurs only once. If the argument is
omitted, an interrupt will occur each time at the specified time.
Time
Data type: num

The amount of time that must lapse before the interrupt occurs.
The value is specified in second if Single is set, this time may not be less than
0.05 seconds. The corresponding time for cyclical interrupts is 0.25 seconds.
Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt. This should have previously
been connected to a trap routine by means of the instruction CONNECT.
2-ITimer-231
ITimer
Instructions
Program execution
The corresponding trap routine is automatically called at a given time following the
interrupt order. When this has been executed, program execution continues from where
If the interrupt occurs cyclically, a new computation of time is started from when the
interrupt occurs.
Example
VAR intnum timeint;
CONNECT timeint WITH check_serialch;
ITimer 60, timeint;
.
TRAP check_serialch
IF ReadBin(ch1\Time:=5) < 0 THEN
TPWrite The serial communication is broken;
EXIT;
ENDIF
ENDTRAP
Communication across the ch1 serial channel is monitored by means of interrupts
which are generated every 60 seconds. The trap routine checks whether the communication is working. If it is not, program execution is interrupted and an error
message appears.
Limitations
The same variable for interrupt identity cannot be used more than once, without being
first deleted. See Instructions - ISignalDI.
Syntax
ITimer
[ \Single ,]
[ Time := ] < expression (IN) of num >,
2-ITimer-232
Instructions
ITimer
Related information
Described in:
2-ITimer-233
ITimer
2-ITimer-234
Instructions
Instructions
IVarValue
IVarValue
Orders a variable value interrupt
IVarVal(Interrupt Variable Value) is used to order and enable an interrupt when the
value of a variable accessed via the serial sensor interface has been changed.
This instruction can be used, for example, to get seam volume or gap values from a
seam tracker.
Examples
LOCAL PERS num adtVlt{25}:=[1,1.2,1.4,1.6,1.8,2,2.16667,2.33333,2.5,...];
LOCAL PERS num adptWfd{25}:=[2,2.2,2.4,2.6,2.8,3,3.16667,3.33333,3.5,...];
LOCAL PERS num adptSpd{25}:=10,12,14,16,18,20,21.6667,23.3333,25[,...];
LOCAL CONST num GAP_VARIABLE_NO:=11;
PERS num gap_value;
VAR intnum IntAdap;
PROC main()
! Setup the interrupt. The trap routine AdapTrp will be called
! when the gap variable with number GAP_VARIABLE_NO in
! the sensor interface has been changed. The new value will be available
! in the PERS gp_value variable.
CONNECT IntAdap WITH AdapTrp;
IVarValue GAP_VARIABLE_NO, gap_value, IntAdap;
! Start welding
ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track;
ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track;
ENDPROC
TRAP AdapTrap
VAR num ArrInd;
!Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active welddata PERS variable adaptWd with
! new data from the arrays of predefined parameter arrays.
! The scaled gap value is used as index in the voltage, wirefeed and speed arrays.
adaptWd.weld_voltage:=adptVlt{ArrInd};
adaptWd.weld_wirefeed:=adptWfd{ArrInd};
adaptWd.weld_speed:=adptSpd{ArrInd};
!Request a refresh of AW parameters using the new data i adaptWd
ArcRefresh;
ENDTRAP
2-IVarValue-235
IVarValue
Instructions
Arguments
IVarValue
VarNo Value, Interrupt
VarNo
Data type: num
The number of the variable to be supervised.

Value
Data type: num
A PERS variable which will hold the new value of Varno.

Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt. This should have previously
been connected to a trap routine by means of the instruction CONNECT.
Program execution
The corresponding trap routine is automatically called at a given time following the
interrupt order. When this has been executed, program execution continues from where
Limitations
The same variable for interrupt identity cannot be used more than five times, without
first being deleted.
Syntax
IVarValue
[ VarNo := ] < expression (IN) of num >,
[ Value := ] < persistent(PERS) of num >,
Related information
Described in:
2-IVarValue-236
Instructions
IWatch
IWatch
Activates an interrupt
IWatch (Interrupt Watch) is used to activate an interrupt which was previously ordered
but was deactivated with ISleep.
Example
IWatch sig1int;
The interrupt sig1int that was previously deactivated is activated.
Arguments
IWatch
Interrupt
Interrupt
Data type: intnum
Variable (interrupt identity) of the interrupt.
Program execution
Re-activates interrupts of the specified type once again. However, interrupts generated
during the time the ISleep instruction was in effect, are ignored.
Example
VAR intnum sig1int;
.
ISleep sig1int;
weldpart1;
IWatch sig1int;
During execution of the weldpart1 routine, no interrupts are permitted from the
signal di1.
Error handling
Interrupts which have not been ordered are not permitted. If the interrupt number is
unknown, the system variable ERRNO is set to ERR_UNKINO (see Date types - errnum). The error can be handled in the error handler.
2-IWatch-237
IWatch
Instructions
Syntax
IWatch
Related information
Described in:
Deactivating an interrupt
Instructions - ISleep
2-IWatch-238
Instructions
label
label
Line name
Label is used to name a line in the program. Using the GOTO instruction, this name
can then be used to move program execution.
Example
GOTO next;
.
next:
Program execution continues with the instruction following next.
Arguments
Label:
Label
Identifier
The name you wish to give the line.
Program execution
Nothing happens when you execute this instruction.
Limitations
The label must not be the same as
- any other label within the same routine,
- any data name within the same routine.
A label hides global data and routines with the same name within the routine it is
located in.
Syntax
(EBNF)
<identifier>:
2-label-239
label
Instructions
Related information
Described in:
2-label-240
Identifiers
Moving program execution to a label
Instructions - GOTO
Instructions
Load
Load

Load is used to load a program module into the program memory during execution.
The loaded program module will be added to the already existing modules in the program memory.
A program or system module can be loaded in static (default) or dynamic mode:
Static mode
Table 1 How different operations affects static loaded program or system modules
Set PP to main from TP
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Dynamic mode
Table 2 How different operations affects dynamic loaded program or system modules
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad.
Example
Load \Dynamic, ram1disk \File:="PART_A.MOD";
Load the program module PART_A.MOD from the ram1disk into the program
memory. ( ram1disk is a predefined string constant "ram1disk:"). Load program
module in dynamic mode.
Arguments
Load [\Dynamic] FilePath [\File]
[\Dynamic]
Data type: switch
The switch enables load of a program module in dynamic mode. Otherwise the
load is in static mode.
2-Load-241
Load
Instructions
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program
memory. The file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath then it must be defined
with this argument.
Program execution
Program execution waits for the program module to finish loading before proceeding
with the next instruction.
To obtain a good program structure, that is easy to understand and maintain, all loading
and unloading of program modules should be done from the main module which is
always present in the program memory during execution.
After the program module is loaded it will be linked and initialised. The initialisation
of the loaded module sets all variables at module level to their init values. Unresolved
references will be accepted if the system parameter for Tasks is set (BindRef = NO).
However, when the program is started or the teach pendant function Program/File/
Check is used, no check for unresolved references will be done if the parameter BindRef = NO. There will be a run time error on execution of an unresolved reference.
Examples
Load \Dynamic, "ram1disk:DOORDIR/DOOR1.MOD";
Loads the program module DOOR1.MOD from the ram1disk at the directory
DOORDIR into the program memory. The program module is loaded in dynamic
mode.
Load \Dynamic, "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
Same as above but another syntax.
Load "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
Same as the two examples above but the module is loaded in static mode.
2-Load-242
Instructions
Load
Limitations
Loading a program module that contains a main routine is not allowed.
Avoid ongoing robot movements during the loading.
Avoid using the floppy disk for loading since reading from the floppy drive is very time
consuming.
Error handling
If the file in the Load instructions cannot be found, then the system variable ERRNO
is set to ERR_FILNOTFND. If the module already is loaded into the program memory
then the system variable ERRNO is set to ERR_LOADED (see "Data types - errnum").
The errors above can be handled in an error handler.
Syntax
Load
[\Dynamic ,]
[FilePath:=]<expression (IN) of string>
[\File:= <expression (IN) of string>];
Related information
Described in:
Unload a program module
Instructions - UnLoad
Load a program module in parallel

with another program execution
Instructions - StartLoad-WaitLoad
Accept unresolved references
System Parameters - Controller /

Tasks / BindRef
2-Load-243
Load
2-Load-244
Instructions
Instructions
MechUnitLoad
MechUnitLoad Defines a payload for a mechanical unit

MechUnitLoad is used to define a payload for an external mechanical unit.
(The payload for the robot is defined with instruction GripLoad)
This instruction should be used for all mechanical units with dynamic model in servo
to achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the
instruction ActUnit.
Example
IRBP_L
axis 1
Figure 22 A mechanical unit named IRBP_L of type IRBP L.
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, load0;
Activate mechanical unit IRBP_L and define the payload load0 corresponding to
no load (at all) mounted on axis 1.
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, fixture1;
Activate mechanical unit IRBP_L and define the payload fixture1 corresponding
to fixture fixture1 mounted on axis 1.
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, workpiece1;
Activate mechanical unit IRBP_L and define the payload workpiece1 corresponding to fixture and work piece named workpiece1 mounted on axis 1.
2-MechUnitLoad-245
MechUnitLoad
Instructions
Arguments
MechUnitLoad MechUnit AxisNo Load
MechUnit
(Mechanical Unit)
Data type: mecunit
The name of the mechanical unit.

AxisNo
(Axis Number)
Data type: num
The axis number, within the mechanical unit, that holds the load.
Load
Data type: loaddata

The load data that describes the current payload to be defined.
Program execution
After execution of MechUnitLoad, when the robot and external axes have come to a
standstill, the specified load is defined for the specified mechanical unit and axis. This
means that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the predefined maximal payload for this mechanical unit type.
When some other payload is used, the actual payload for the mechanical unit and axis
should be redefined with this instruction. This should always be done after activation
of the mechanical unit.
The defined payload will survive a power failure restart.
The defined payload will also survive a restart of the program after manual activation
of some other mechanical units from the jogging window.
X
Fixture
End-effector coordinate system
for the mechanical unit
Z
Work piece
The centre of gravity for the payload (fixture + work piece)

Mechanical unit
Figure 23 Payload mounted on the end-effector of a mechanical unit.
2-MechUnitLoad-246
Instructions
MechUnitLoad
Example
IRBP_K
axis 2
axis 1
axis 3
Figure 24 A mechanical unit named IRBP_K of type IRBP K with three axes.
MoveL homeside1, v1000, fine, gun1;

...
ActUnit IRBP_K;
The whole mechanical unit IRBP_K is activated.
MechUnitLoad IRBP_K, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit IRBP_K axis 2.
MechUnitLoad IRBP_K, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit IRBP_K axis 3.
MoveL homeside2, v1000, fine, gun1
The axes of the mechanical unit IRBP_K move to the switch position homeside2
with mounted payload on both axes 2 and 3.
Limitations
The movement instruction previous to this instruction should be terminated with a stop
point in order to make a restart in this instruction possible following a power failure.
Syntax
MechUnitLoad
[MechUnit := ] < variable (VAR) of mecunit> ,
[AxisNo := ] <expression (IN) of num ,
[ Load := ] < persistent (PERS) of loaddata > ;
2-MechUnitLoad-247
MechUnitLoad
Instructions
Related information
Described in:
Identification of payload for external
mechanical units
LoadID&CollDetect
- Program muloadid.prg
Mechanical units
Definition of load data
Data Types - loaddata
Definition of payload for the robot
Instructions - GripLoad
2-MechUnitLoad-248
Instructions
MoveCSync
MoveCSync

MoveCSync (Move Circular Synchronously) is used to move the tool centre point (TCP)
circularly to a given destination. The specified RAPID procedure is executed at the middle of the corner path in the destination point. During the movement, the orientation normally remains unchanged relative to the circle.
Examples
MoveCSync p1, p2, v500, z30, tool2, proc1;
The TCP of the tool, tool2, is moved circularly to the position p2, with speed data
v500 and zone data z30. The circle is defined from the start position, the circle
point p1 and the destination point p2. Procedure proc1 is executed in the middle
of the corner path at p2.
Arguments
MoveCSync

ProcName
CirPoint
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction). The position of the external axes are not used.
ToPoint
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the
TCP, the tool reorientation and external axes.
[ \T ]
(Time)
Data type: num
This argument is used to specify the total time in seconds during which the robot
and external axes move. It is then substituted for the corresponding speed data.
2-MoveCSync-249
MoveCSync
Instructions
Zone
Data type: zonedata

Zone data for the movement. Zone data describes the size of the generated corner
path.
Tool
Data type: tooldata

The tool in use when the robot moves. The tool centre point is the point that is
moved to the specified destination point.
[ \WObj]
(Work Object)
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified.
ProcName
(Procedure Name)
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in
the destination point.
Program execution
See the instruction MoveC for more information about circular movements.
The specified RAPID procedure is executed when the TCP reaches the middle of the
corner path in the destination point of the MoveCSync instruction, as shown in Figure
25:
MoveCSync p2, p3, v1000, z30, tool2, my_proc;

When TCP is here,
my_proc is executed
p4
p1
Zone
p3
p2
Figure 25 Execution of user-defined RAPID procedure at the middle of the corner path.
For stop points, we recommend the use of normal programming sequence with
2-MoveCSync-250
Instructions
MoveCSync
MoveC + other RAPID instructions in sequence.

Execution of the specified RAPID procedure in different execution modes:
Execution mode:
Execution of RAPID procedure:
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Limitation
General limitations according to instruction MoveC.
Switching execution mode after program stop from continuously or cycle to stepwise
forward or backward results in an error. This error tells the user that the mode switch
can result in missed execution of a RAPID procedure in the queue for execution on the
path. This error can be avoided if the program is stopped with StopInstr before the
mode switch.
Instruction MoveCSync cannot be used on TRAP level.
The specified RAPID procedure cannot be tested with stepwise execution.
Syntax
MoveCSync
[ CirPoint := ] < expression (IN) of robtarget > ,
[ ToPoint := ] < expression (IN) of robtarget > ,
[ Speed := ] < expression (IN) of speeddata >
[ \ T := < expression (IN) of num > ] ,
[ Zone := ] < expression (IN) of zonedata > ,
[ Tool := ] < persistent (PERS) of tooldata >
[ \ WObj := < persistent (PERS) of wobjdata > ] ,
[ ProcName := ] < expression (IN) of string > ] ;
2-MoveCSync-251
MoveCSync
Instructions
Related information
Described in:
Other positioning instructions
Definition of velocity
Definition of zone data
Definition of tools
Motion in general
Coordinate systems
2-MoveCSync-252
Instructions
MoveAbsJ
MoveAbsJ
Moves the robot to an absolute

joint position
MoveAbsJ (Move Absolute Joint) is used to move the robot to an absolute position,
defined in axes positions.
This instruction need only be used when:
- the end point is a singular point
- for ambiguous positions on the IRB 6400C, e.g. for movements with the tool
over the robot.
The final position of the robot, during a movement with MoveAbsJ, is neither affected
by the given tool and work object, nor by active program displacement. However, the
robot uses these data to calculating the load, TCP velocity, and the corner path. The
same tools can be used as in adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path.
All axes reach the destination position at the same time.
Examples
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute
axis position, p50, with velocity data v1000 and zone data z50.
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3, is moved along a non-linear path to a stop point
which is stored as an absolute axis position in the instruction (marked with an *).
The entire movement takes 5 s.
Arguments
MoveAbsJ
[ \Conc ] ToJointPos [\NoEOffs] Speed [ \V ] | [ \T ]

Zone [ \Z ] Tool [ \WObj ]
[ \Conc ]
(Concurrent)
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is
used to shorten the cycle time when, for example, communicating with external
equipment, if synchronisation is not required.
Using the argument \Conc, the number of movement instructions in succession
is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted.
2-MoveAbsJ-253
MoveAbsJ
Instructions
If this argument is omitted and the ToPoint is not a stop point, the subsequent
instruction is executed some time before the robot has reached the programmed
zone.
ToJointPos
(To Joint Position)
Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined
as a named position or stored directly in the instruction (marked with an * in the
instruction).
[ \NoEOffs ]
(No External Offsets)
Data type: switch
If the argument NoEOffs is set, then the movement with MoveAbsJ is not affected
by active offsets for external axes.
Speed
tool centre point, the tool reorientation and external axes.
[ \V ]
(Velocity)
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the
instruction. It is then substituted for the corresponding velocity specified in the
speed data.
[ \T ]
(Time)
Data type: num
moves. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata

path.
[ \Z ]
(Zone)
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly
in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone specified in the zone data.
Tool
Data type: tooldata

The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The
TCP position is used to decide the velocity and the corner path for the movement.
2-MoveAbsJ-254
Instructions
MoveAbsJ
[ \WObj]
(Work Object)
Data type: wobjdata
The work object used during the movement.

This argument can be omitted if the tool is held by the robot. However, if the
robot holds the work object, i.e. the tool is stationary, or with coordinated external axes, then the argument must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the
system to decide the velocity and the corner path for the movement, is defined in
the work object.
Program execution
A movement with MoveAbsJ is not affected by active program displacement and if
executed with switch \NoEOffs, there will be no offset for external axes.
Without switch \NoEOffs, the external axes in the destination target are affected by
active offset for external axes.
The tool is moved to the destination absolute joint position with interpolation of the
axis angles. This means that each axis is moved with constant axis velocity and that all
axes reach the destination joint position at the same time, which results in a non-linear
path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool
is reoriented and the external axes are moved at the same time as the TCP moves. If
the programmed velocity for reorientation, or for the external axes, cannot be attained,
the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of
the path. If a stop point is specified in the zone data, program execution only continues
when the robot and external axes have reached the appropriate joint position.
Examples
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3, is moved along a non-linear path to a absolute joint position
stored in the instruction. The movement is carried out with data set to v2000 and
z40, the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3, is moved along a non-linear path to a absolute joint position
stored in the instruction. Subsequent logical instructions are executed while the
robot moves.
2-MoveAbsJ-255
MoveAbsJ
Instructions
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;

Same movement as above but the movement is not affected by active offsets for
external axes.
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a
non-linear path to an absolute axis position start.
Error handling
When running the program, a check is made that the arguments Tool and \WObj do not
contain contradictory data with regard to a movable or a stationary tool respectively.
Limitations
In order to be able to run backwards with the instruction MoveAbsJ involved, and
avoiding problems with singular points or ambiguous areas, it is essential that the subsequent instructions fulfil certain requirements, as follows (see Figure 1).
Singular point
MoveJ
MoveAbsJ
Ambiguous area
Any Move instr.
MoveAbsJ
MoveAbsJ
Figure 1 Limitation for backward execution with MoveAbsJ.
2-MoveAbsJ-256
Instructions
MoveAbsJ
Syntax
MoveAbsJ
[ \ Conc , ]
[ ToJointPos := ] < expression (IN) of jointtarget >
[ \ NoEoffs ] ,
[ \ V := < expression (IN) of num > ]
| [ \ T := < expression (IN) of num > ] ,
[Zone := ] < expression (IN) of zonedata >
[ \ Z := < expression (IN) of num > ] ,
[ \ WObj := < persistent (PERS) of wobjdata > ] ;
Related information
Described in:
Definition of jointtarget
Definition of tools
Motion in general
Motion and I/O Principles Synchronisation Using Logical Instructions
2-MoveAbsJ-257
MoveAbsJ
2-MoveAbsJ-258
Instructions
Instructions
MoveC
MoveC

MoveC is used to move the tool centre point (TCP) circularly to a given destination.
During the movement, the orientation normally remains unchanged relative to the circle.
Examples
MoveC p1, p2, v500, z30, tool2;
point p1 and the destination point p2.
MoveC *, *, v500 \T:=5, fine, grip3;
The TCP of the tool, grip3, is moved circularly to a fine point stored in the
instruction (marked by the second *). The circle point is also stored in the
instruction (marked by the first *). The complete movement takes 5 seconds.
MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;
A complete circle is performed if the positions are the same as those shown in
Figure 2.
p1
p2
p4
p3
Figure 2 A complete circle is performed by two MoveC instructions.
Arguments
MoveC
[ \Conc ] CirPoint ToPoint Speed [ \V ] | [ \T ] Zone [ \Z]

Tool [ \WObj ] [ \Corr ]
[ \Conc ]
(Concurrent)
Data type: switch
Subsequent instructions are executed at once. This argument is used to shorten

the cycle time when, for example, communicating with external equipment, if
synchronisation is not required.
2-MoveC-259
MoveC
Instructions
Using the argument \Conc, the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
If this argument is omitted, and the ToPoint is not a Stop point the subsequent
zone.
CirPoint
ToPoint
Speed
[ \V ]
(Velocity)
Data type: num
speed data.
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
[ \Z ]
(Zone)
Data type: num
in the instruction. The length of the corner path is given in mm, which is
substituted for the corresponding zone specified in the zone data.
Tool
Data type: tooldata

2-MoveC-260
Instructions
MoveC
[ \WObj]
(Work Object)
Data type: wobjdata
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated
external axes are used, this argument must be specified in order for a circle
relative to the work object to be executed.
[ \Corr]
(Correction)
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will

be added to the path and destination position, if this argument is present.
Program execution
The robot and external units are moved to the destination point as follows:
- The TCP of the tool is moved circularly at constant programmed velocity.
- The tool is reoriented at a constant velocity, from the orientation at the start
position to the orientation at the destination point.
- The reorientation is performed relative to the circular path. Thus, if the
orientation relative to the path is the same at the start and the destination points,
the relative orientation remains unchanged during the movement (see Figure 3).
.
CirPoint
Tool orientation
Start point
ToPoint
Figure 3 Tool orientation during circular movement.
- The orientation at the circle point is not critical; it is only used to distinguish
between two possible directions of reorientation. The accuracy of the
reorientation along the path depends only on the orientation at the start and
destination points.
- Uncoordinated external axes are executed at constant velocity in order for them
to arrive at the destination point at the same time as the robot axes. The position
in the circle position is not used.
If it is not possible to attain the programmed velocity for the reorientation or for the
external axes, the velocity of the TCP will be reduced.
2-MoveC-261
MoveC
Instructions
a path. If a stop point is specified in the zone data, program execution only continues
when the robot and external axes have reached the appropriate position.
Examples
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved circularly to a position stored in the
instruction. The movement is carried out with data set to v500 and z40; the
velocity and zone size of the TCP are 550 mm/s and 45 mm respectively.
MoveC \Conc, *, *, v500, z40, grip3;
The TCP of the tool, grip3, is moved circularly to a position stored in the
instruction. The circle point is also stored in the instruction. Subsequent logical
instructions are executed while the robot moves.
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved circularly to a position, p15, via the circle
point cir1. These positions are specified in the object coordinate system for
fixture.
Limitations
A change of execution mode from forward to backward or vice versa, while the robot
is stopped on a circular path, is not permitted and will result in an error message.
The instruction MoveC (or any other instruction including circular movement) should
never be started from the beginning, with TCP between the circle point and the end
point. Otherwise the robot will not take the programmed path (positioning around the
circular path in another direction compared with that programmed).
Make sure that the robot can reach the circle point during program execution and divide
the circle segment if necessary.
2-MoveC-262
Instructions
MoveC
Syntax
MoveC
[ \ Conc , ]
[ \ WObj := < persistent (PERS) of wobjdata > ]
[ \ Corr ];
Related information
Described in:
Definition of tools
Writes to a corrections entry
Instructions - CorrWrite
Motion in general
Coordinate systems
Motion and I/O Principles Synchronisation Using Logical

Instructions
2-MoveC-263
MoveC
2-MoveC-264
Instructions
Instructions
MoveCDO
MoveCDO

MoveCDO (Move Circular Digital Output) is used to move the tool centre point (TCP)
circularly to a given destination. The specified digital output is set/reset in the middle of
the corner path at the destination point. During the movement, the orientation normally
remains unchanged relative to the circle.
Examples
MoveCDO p1, p2, v500, z30, tool2, do1,1;
point p1 and the destination point p2. Output do1 is set in the middle of the corner
path at p2.
Arguments
MoveCDO

Signal Value
CirPoint
ToPoint
Speed
[ \T ]
(Time)
Data type: num
2-MoveCDO-265
MoveCDO
Instructions
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
axes are used, this argument must be specified in order for a circle relative to the
work object to be executed.
Signal
Data type: signaldo
The name of the digital output signal to be changed.

Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveC for more information about circular movement.
The digital output signal is set/reset in the middle of the corner path for flying points,
as shown in Figure 4.
.
CirPoint
Set/Reset
the signal
Start point
Next
point
ToPoint
Zone
Figure 4 Set/Reset of digital output signal in the corner path with MoveCDO.
MoveC + SetDO. But when using stop point in instruction MoveCDO, the digital output
signal is set/reset when the robot reaches the stop point.
2-MoveCDO-266
Instructions
MoveCDO
The specified I/O signal is set/reset in execution mode continuously and stepwise forward but not in stepwise backward.
Limitations
General limitations according to instruction MoveC.
Syntax
MoveCDO
[ Signal := ] < variable (VAR) of signaldo>] ,
[ Value := ] < expression (IN) of dionum > ] ;
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
Movements with I/O settings
Motion and I/O Principles - Synchronisation Using Logical Instructions
2-MoveCDO-267
MoveCDO
2-MoveCDO-268
Instructions
Instructions
MoveJDO
MoveJDO Moves the robot by joint movement

MoveJDO (Move Joint Digital Output) is used to move the robot quickly from one
point to another when that movement does not have to be in a straight line. The specified digital output signal is set/reset at the middle of the corner path.
Examples
MoveJDO p1, vmax, z30, tool2, do1, 1;
The tool centre point (TCP) of the tool, tool2, is moved along a non-linear path
to the position, p1, with speed data vmax and zone data z30. Output do1 is set in
the middle of the corner path at p1.
Arguments
MoveJDO ToPoint Speed [ \T ] Zone Tool
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

The tool in use when the robot moves. The tool centre point is the point moved
to the specified destination point.
2-MoveJDO-269
MoveJDO
Instructions
[ \WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction
is related.
Signal
Data type: signaldo

Value
Data type: dionum
Program execution
See the instruction MoveJ for more information about joint movement.
p3
Sets the signal do1 to 1

MoveJDO p2, v1000, z30, tool2, do1, 1;
p1
p2
Zone
Figure 5 Set/Reset of digital output signal in the corner path with MoveJDO.
MoveJ + SetDO. But when using stop point in instruction MoveJDO, the digital output
2-MoveJDO-270
Instructions
MoveJDO
Syntax
MoveJDO
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
2-MoveJDO-271
MoveJDO
2-MoveJDO-272
Instructions
Instructions
MoveJ
MoveJ

MoveJ is used to move the robot quickly from one point to another when that movement does not have to be in a straight line.
Examples
MoveJ p1, vmax, z30, tool2;
to the position, p1, with speed data vmax and zone data z30.
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a stop point
stored in the instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ

[ \WObj ]
[ \Conc ]
(Concurrent)
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is
used to shorten the cycle time when, for example, communicating with external
equipment, if synchronisation is not required.
zone.
ToPoint
2-MoveJ-273
MoveJ
Instructions
Speed
[ \V ]
(Velocity)
Data type: num
speed data.
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
[ \Z ]
(Zone)
Data type: num
in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone specified in the zone data.
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
is related.
Program execution
The tool centre point is moved to the destination point with interpolation of the axis
angles. This means that each axis is moved with constant axis velocity and that all axes
reach the destination point at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at the approximate programmed velocity
(regardless of whether or not the external axes are coordinated). The tool is reoriented
and the external axes are moved at the same time as the TCP moves. If the programmed
velocity for reorientation, or for the external axes, cannot be attained, the velocity of
the TCP will be reduced.
2-MoveJ-274
Instructions
MoveJ
the path. If a stop point is specified in the zone data, program execution only continues
Examples
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a position stored
in the instruction. The movement is carried out with data set to v2000 and z40;
the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveJ \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a position stored
in the instruction. Subsequent logical instructions are executed while the robot
moves.
MoveJ start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved along a non-linear path to a position, start.
This position is specified in the object coordinate system for fixture.
Syntax
MoveJ
[ \ Conc , ]
2-MoveJ-275
MoveJ
Instructions
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
Motion and I/O Principles Synchronisation Using Logical Instructions
2-MoveJ-276
Instructions
MoveLDO
MoveLDO

MoveLDO (Move Linearly Digital Output) is used to move the tool centre point (TCP)
linearly to a given destination. The specified digital output signal is set/reset at the middle of the corner path.
When the TCP is to remain stationary, this instruction can also be used to reorient the
tool.
Example
MoveLDO p1, v1000, z30, tool2, do1,1;
The TCP of the tool, tool2, is moved linearly to the position p1, with speed data
v1000 and zone data z30. Output do1 is set in the middle of the corner path at p1.
Arguments
MoveLDO ToPoint Speed [ \T ] Zone Tool
ToPoint
Speed
The speed data that applies to movements. Speed data defines the velocity for the
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

to the specified destination position.
2-MoveLDO-277
MoveLDO
Instructions
[ \WObj]
(Work Object)
Data type: wobjdata
is related.
Signal
Data type: signaldo

Value
Data type: dionum
Program execution
See the instruction MoveL for more information about linear movements.
p3
Sets the signal do1 to 1

MoveLDO p2, v1000, z30, tool2, do1, 1;
p1
p2
Zone
Figure 6 Set/Reset of digital output signal in the corner path with MoveLDO.
MoveL + SetDO. But when using stop point in instruction MoveLDO, the digital output
2-MoveLDO-278
Instructions
MoveLDO
Syntax
MoveLDO
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
2-MoveLDO-279
MoveLDO
2-MoveLDO-280
Instructions
Instructions
MoveL
MoveL

MoveL is used to move the tool centre point (TCP) linearly to a given destination.
When the TCP is to remain stationary, this instruction can also be used to reorientate
the tool.
Example
v1000 and zone data z30.
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3, is moved linearly to a fine point stored in the
instruction (marked with an *). The complete movement takes 5 seconds.
Arguments
MoveL

[ \WObj ] [ \Corr ]
[ \Conc ]
(Concurrent)
Data type: switch

synchronisation is not required.
is limited to 5. In a program section that includes StorePath-RestoPath,
movement instructions with the argument \Conc are not permitted.
zone.
ToPoint
Speed
2-MoveL-281
MoveL
Instructions
[ \V ]
(Velocity)
Data type: num
speed data.
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
[ \Z ]
(Zone)
Data type: num
in the instruction. The length of the corner path is given in mm, which is
substituted for the corresponding zone specified in the zone data.
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
is related.
coordinate system. If, on the other hand, a stationary tool or coordinated external
axes are used, this argument must be specified in order to perform a linear
movement relative to the work object.
[ \Corr]
(Correction)
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be

added to the path and destination position, if this argument is present.
Program execution
The robot and external units are moved to the destination position as follows:
- The TCP of the tool is moved linearly at constant programmed velocity.
- The tool is reoriented at equal intervals along the path.
- Uncoordinated external axes are executed at a constant velocity in order for
them to arrive at the destination point at the same time as the robot axes.
2-MoveL-282
Instructions
MoveL
If it is not possible to attain the programmed velocity for the reorientation or for the
external axes, the velocity of the TCP will be reduced.
a path. If a stop point is specified in the zone data, program execution only continues
Examples
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved linearly to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40; the
velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveL \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3, is moved linearly to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
MoveL start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved linearly to a position, start. This position is
specified in the object coordinate system for fixture.
Syntax
MoveL
[ \ Conc , ]
[ \ Corr ];
2-MoveL-283
MoveL
Instructions
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
Motion and I/O Principles Synchronisation Using Logical

Instructions
2-MoveL-284
Instructions
MoveJSync
MoveJSync Moves the robot by joint movement

MoveJSync (Move Joint Synchronously) is used to move the robot quickly from one
point to another when that movement does not have to be in a straight line. The specified RAPID procedure is executed at the middle of the corner path in the destination
point.
Examples
MoveJSync p1, vmax, z30, tool2, proc1;
to the position, p1, with speed data vmax and zone data z30. Procedure proc1 is
executed in the middle of the corner path at p1.
Arguments
MoveJSync
ToPoint Speed [ \T ] Zone Tool [ \WObj ]

ProcName
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

2-MoveJSync-285
MoveJSync
Instructions
[ \WObj]
(Work Object)
Data type: wobjdata
is related.
ProcName
(Procedure Name)
Data type: string
Program execution
See the instruction MoveJ for more information about joint movements.
corner path in the destination point of the MoveJSync instruction, as shown in Figure 7:
MoveJSync p2, v1000, z30, tool2, my_proc;

p3
When TCP is here,
my_proc is executed
Zone
p2
p1
Figure 7 Execution of user-defined RAPID procedure in the middle of the corner path.
MoveJ + other RAPID instructions in sequence.
2-MoveJSync-286
Instructions
MoveJSync

Execution mode:
Forward step
In the stop point
Backward step
Not at all
Limitation
mode switch.
Instruction MoveJSync cannot be used on TRAP level.
Syntax
MoveJSync
[ Zone := ] < expression (IN) of zonedata >
[ ProcName:= ] < expression (IN) of string > ] ;
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
2-MoveJSync-287
MoveJSync
2-MoveJSync-288
Instructions
Instructions
MoveLSync
MoveL Sync

MoveLSync (Move Linearly Synchronously) is used to move the tool centre point
(TCP) linearly to a given destination.The specified RAPID procedure is executed at the
middle of the corner path in the destination point.
When the TCP is to remain stationary, this instruction can also be used to reorient the
tool.
Example
MoveLSync p1, v1000, z30, tool2, proc1;
v1000 and zone data z30. Procedure proc1 is executed in the middle of the corner
path at p1.
Arguments
MoveLSync ToPoint Speed [ \T ] Zone Tool
[ \WObj ] ProcName
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

2-MoveLSync-289
MoveLSync
Instructions
[ \WObj]
(Work Object)
Data type: wobjdata
is related.
ProcName
(Procedure Name)
Data type: string
Program execution
See the instruction MoveL for more information about linear movements.
corner path in the destination point of the MoveLSync instruction, as shown in Figure 8:
MoveLSync p2, v1000, z30, tool2, my_proc;

p3
When TCP is here,
my_proc is executed
Zone
p2
p1
Figure 8 Execution of user-defined RAPID procedure in the middle of the corner path.
MoveL + other RAPID instructions in sequence.
2-MoveLSync-290
Instructions
MoveLSync

Execution mode:
Forward step
In the stop point
Backward step
Not at all
Limitation
mode switch.
Instruction MoveLSync cannot be used on TRAP level.
Syntax
MoveLSync
[ ProcName:= ] < expression (IN) of string > ] ;
Related information
Described in:
Definition of tools
Motion in general
Coordinate systems
2-MoveLSync-291
MoveLSync
2-MoveLSync-292
Instructions
Instructions
Open
Open
Opens a file or serial channel

Open is used to open a file or serial channel for reading or writing.
Example
VAR iodev logfile;
...
Open "flp1:" \File:= "LOGDIR/LOGFILE1.DOC", logfile;
The file LOGFILE1.DOC in unit flp1: (diskette), directory LOGDIR, is opened
for writing. The reference name logfile is used later in the program when writing
to the file.
Arguments
Open
Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]
Object
Data type: string
The I/O object that is to be opened, e.g. "flp1:", "ram1disk:" or "sio1:"

[\File]
Data type: string
The name of the file to be opened, e.g. "LOGDIR/LOGFILE1.DOC"

The complete path can also be specified in the argument Object,
e.g. "flp1:LOGDIR/LOGFILE.DOC".
IODevice
Data type: iodev
A reference to the file or serial channel to open. This reference is then used for
reading from and writing to the file or serial channel.
[\Read]
Data type: switch
Opens a file or serial channel for reading. When reading from a file, the reading
is started from the beginning of the file.
[\Write]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists, its
contents are deleted. Anything subsequently written is written at the start of the
file.
2-Open-293
Open
Instructions
[\Append]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists, anything subsequently written is written at the end of the file.
Open a file or serial channel with \Append and without the \Bin arguments. The
instruction opens a character-based file or serial channel for writing.
Open a file or serial channel with \Append and \Bin arguments. The instruction
opens a binary file or serial channel for both reading and writing.
The arguments \Read, \Write, \Append are mutually exclusive. If none of these are specified, the instruction acts in the same way as the \Write argument for character-based
files or a serial channel (instruction without \Bin argument) and in the same way as the
\Append argument for binary files or a serial channel (instruction with \Bin argument).
[\Bin]
Data type: switch
The file or serial channel is opened in a binary mode.

If none of the arguments \Read, \Write or \Append are specified, the instruction
opens a binary file or serial channel for both reading and writing, with the file
pointer at the end of the file
The set of instructions to access a binary file or serial channel is different from the set
of instructions to access a character-based file.
Example
VAR iodev printer;
...
Open "sio1:", printer \Bin;
WriteStrBin printer, "This is a message to the printer\0D";
Close printer;
The serial channel sio1: is opened for binary reading and writing.
The reference name printer is used later when writing to and closing the serial
channel.
Program execution
The specified file or serial channel is opened so that it is possible to read from or write
to it.
It is possible to open the same physical file several times at the same time, but each
invocation of the Open instruction will return a different reference to the file (data type
iodev). E.g. it is possible to have one write pointer and one different read pointer to the
same file at the same time.
2-Open-294
Instructions
Open
The iodev variable used when opening a file or serial channel must be free from use. If
it has been used previously to open a file, this file must be closed prior to issuing a new
Open instruction with the same iodev variable.
Error handling
If a file cannot be opened, the system variable ERRNO is set to ERR_FILEOPEN. This
error can then be handled in the error handler.
Syntax
Open
[Object :=] <expression (IN) of string>
[\File:= <expression (IN) of string>] ,
[IODevice :=] <variable (VAR) of iodev>
[\Read] | [\Write] | [\Append]
[\Bin] ;
Related information
Described in:
Writing to and reading from
files or serial channels
2-Open-295
Open
2-Open-296
Instructions
Instructions
PathResol
PathResol
Override path resolution
PathResol (Path Resolution) is used to override the configured geometric path sample
time defined in the system parameters for the manipulator.
Description
The path resolution affects the accuracy of the interpolated path and the program cycle
time. The path accuracy is improved and the cycle time is often reduced when the
parameter PathSampleTime is decreased. A value for parameter PathSampleTime
which is too low, may however cause CPU load problems in some demanding applications. However, use of the standard configured path resolution (PathSampleTime
100%) will avoid CPU load problems and provide sufficient path accuracy in most situations.
Example of PathResol usage:
Dynamically critical movements (max payload, high speed, combined joint motions
close to the border of the work area) may cause CPU load problems. Increase the
parameter PathSampleTime.
Low performance external axes may cause CPU load problems during coordination.
Increase the parameter PathSampleTime.
Arc-welding with high frequency weaving may require high resolution of the interpolated path. Decrease the parameter PathSampleTime.
Small circles or combined small movements with direction changes can decrease the
path performance quality and increase the cycle time. Decrease the parameter PathSampleTime.
Gluing with large reorientations and small corner zones can cause speed variations.
Decrease the parameter PathSampleTime.
Example
MoveJ p1,v1000,fine,tool1;
PathResol 150;
With the robot at a stop point, the path sample time is increased to 150% of the
configured.
2-PathResol-297
PathResol
Instructions
Arguments
PathResol PathSampleTime
PathSampleTime
Data type: num
Override as a percent of the configured path sample time.

100% corresponds to the configured path sample time.
Within the range 25-400%.
A lower value of the parameter PathSampleTime improves the path resolution
(path accuracy).
Program execution
The path resolutions of all subsequent positioning instructions are affected until a new
PathResol instruction is executed. This will affect the path resolution during all program execution of movements (default path level and path level after StorePath) and
also during jogging.
The default value for override of path sample time is 100%. This value is automatically
set
The current override of path sample time can be read from the variable C_MOTSET
(data type motsetdata) in the component pathresol.
Limitations
The robot must be standing still at a stop point before overriding the path sample time.
When there is a corner path in the program, the system will instead create a stop point
(warning 50146) and it is not possible to restart in this instruction following a power
failure.
Syntax
PathResol
[PathSampleTime := ] < expression (IN) of num> ;
2-PathResol-298
Instructions
PathResol
Related information
Described in:
Motion and I/O Principles- Movements
Motion settings
Configuration of path resolution
System Parameters CPU Optimization
2-PathResol-299
PathResol
2-PathResol-300
Instructions
Instructions
PDispOff
PDispOff
Deactivates program displacement
PDispOff (Program Displacement Off) is used to deactivate a program displacement.

Program displacement is activated by the instruction PDispSet or PDispOn and applies
to all movements until some other program displacement is activated or until program
displacement is deactivated.
Examples
PDispOff;
Deactivation of a program displacement.
PDispOn \ExeP:=p10, p11, tool1;
PDispOff;
A program displacement is defined as the difference between the positions p10
and p11. This displacement affects the movement to p20 and p30, but not to p40.
Program execution
Active program displacement is reset. This means that the program displacement coordinate system is the same as the object coordinate system, and thus all programmed
positions will be related to the latter.
Syntax
PDispOff ;
Related information
Described in:
Definition of program displacement
using two positions
Definition of program displacement using

values
2-PDispOff-301
PDispOff
2-PDispOff-302
Instructions
Instructions
PDispOn
PDispOn
Activates program displacement
PDispOn (Program Displacement On) is used to define and activate a program

displacement using two robot positions.
Program displacement is used, for example, after a search has been carried out, or
when similar motion patterns are repeated at several different places in the program.
Examples
PDispOn \ExeP:=p10, p20, tool1;
Activation of a program displacement (parallel movement). This is calculated
based on the difference between positions p10 and p20.
PDispOn *, tool1;
Activation of a program displacement (parallel movement). Since a stop point
has been used in the previous instruction, the argument \ExeP does not have to
be used. The displacement is calculated on the basis of the difference between
the robots actual position and the programmed point (*) stored in the instruction.
PDispOn \Rot \ExeP:=p10, p20, tool1;
Activation of a program displacement including a rotation. This is calculated
based on the difference between positions p10 and p20.
Arguments
PDispOn [ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ]
[\Rot ]
(Rotation)
Data type: switch
The difference in the tool orientation is taken into consideration and this involves
a rotation of the program.
[\ExeP ]
(Executed Point)
The robots new position at the time of the program execution.

If this argument is omitted, the robots current position at the time of the program
execution is used.
ProgPoint
(Programmed Point)
The robots original position at the time of programming.
2-PDispOn-303
PDispOn
Instructions
Tool
Data type: tooldata

The tool used during programming, i.e. the TCP to which the ProgPoint position
is related.
[ \WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the ProgPoint position is related.
This argument can be omitted and, if it is, the position is related to the world
coordinate system. However, if a stationary TCP or coordinated external axes are
used, this argument must be specified.
The arguments Tool and \WObj are used both to calculate the ProgPoint during
programming and to calculate the current position during program execution if
no ExeP argument is programmed.
Program execution
Program displacement means that the ProgDisp coordinate system is translated in
relation to the object coordinate system. Since all positions are related to the ProgDisp
coordinate system, all programmed positions will also be displaced. See Figure 9.
y
New
position, ExeP
y
Original
position, ProgPoint
x
Program Displacement Coordinate System

(ProgDisp)
Object Coordinate System
Figure 9 Displacement of a programmed position using program displacement.
Program displacement is activated when the instruction PDispOn is executed and

remains active until some other program displacement is activated (the instruction
PDispSet or PDispOn) or until program displacement is deactivated (the instruction
PDispOff).
Only one program displacement can be active at any one time. Several PDispOn
instructions, on the other hand, can be programmed one after the other and, in this case,
the different program displacements will be added.
Program displacement is calculated as the difference between ExeP and ProgPoint. If
ExeP has not been specified, the current position of the robot at the time of the program
execution is used instead. Since it is the actual position of the robot that is used, the
robot should not move when PDispOn is executed.
2-PDispOn-304
Instructions
PDispOn
If the argument \Rot is used, the rotation is also calculated based on the tool orientation
at the two positions. The displacement will be calculated in such a way that the new
position (ExeP) will have the same position and orientation in relation to the displaced
coordinate system, ProgDisp, as the old position (ProgPoint) had in relation to the
original coordinate system (see Figure 10).
y
y
New
position, ExeP
New
orientation
Original
position, ProgPoint
Original
orientation Program displacement

(ProgDisp)
x
Figure 10 Translation and rotation of a programmed position.
The program displacement is automatically reset

Example
PROC draw_square()
PDispOn *, tool1;
MoveL *, v500, z10, tool1;
PDispOff;
ENDPROC
.
draw_square;
draw_square;
draw_square;
The routine draw_square is used to execute the same motion pattern at three
different positions, based on the positions p10, p20 and p30. See Figure 11.
2-PDispOn-305
PDispOn
Instructions
p30
p10
p20
Figure 11 Using program displacement, motion patterns can be reused.
SearchL sen1, psearch, p10, v100, tool1\WObj:=fixture1;

PDispOn \ExeP:=psearch, *, tool1 \WObj:=fixture1;
A search is carried out in which the robots searched position is stored in the
position psearch. Any movement carried out after this starts from this position
using a program displacement (parallel movement). The latter is calculated based
on the difference between the searched position and the programmed point (*)
stored in the instruction. All positions are based on the fixture1 object coordinate
system.
Syntax
PDispOn
[ [ \ Rot ]
[ \ ExeP := < expression (IN) of robtarget >] ,]
[ ProgPoint := ] < expression (IN) of robtarget > ,
[ Tool := ] < persistent (PERS) of tooldata>
[ \WObj := < persistent (PERS) of wobjdata> ] ;
Related information
Described in:
Deactivation of program displacement
Definition of program displacement using

values
Coordinate systems
Motion Principles - Coordinate Systems
Definition of tools
More examples
2-PDispOn-306
Instructions
PDispSet
PDispSet
Activates program displacement using a value
PDispSet (Program Displacement Set) is used to define and activate a program displacement using values.
Program displacement is used, for example, when similar motion patterns are repeated
at several different places in the program.
Example
VAR pose xp100 := [ [100, 0, 0], [1, 0, 0, 0] ];
.
PDispSet xp100;
Activation of the xp100 program displacement, meaning that:
- The ProgDisp coordinate system is displaced 100 mm from the object coordinate system, in the direction of the positive x-axis (see Figure 12).
- As long as this program displacement is active, all positions will be displaced
100 mm in the direction of the x-axis.
Object
ProgDisp
100
Figure 12 A 100 mm-program displacement along the x-axis.
Arguments
PDispSet DispFrame
DispFrame
(Displacement Frame)
Datatyp: pose
The program displacement is defined as data of the type pose.
Program execution
Program displacement involves translating and/or rotating the ProgDisp coordinate
system relative to the object coordinate system. Since all positions are related to the
ProgDisp coordinate system, all programmed positions will also be displaced.
See Figure 13.
2-PDispSet-307
PDispSet
Instructions
.
y
y
New
position
New
orientation
Original
position
Original
orientation Program displacement

(ProgDisp)
x
Figure 13 Translation and rotation of a programmed position.
Program displacement is activated when the instruction PDispSet is executed and

remains active until some other program displacement is activated (the instruction
PDispSet or PDispOn) or until program displacement is deactivated (the instruction
PDispOff).
Only one program displacement can be active at any one time. Program displacements
cannot be added to one another using PDispSet.
The program displacement is automatically reset
Syntax
PDispSet
[ DispFrame := ] < expression (IN) of pose> ;
Related information
Described in:
Deactivation of program displacement
Definition of program displacement

using two positions
Definition of data of the type pose
Data Types - pose
Coordinate systems
Motion Principles- Coordinate Systems
Examples of how program displacement

can be used
2-PDispSet-308
Instructions
PulseDO
PulseDO
Generates a pulse on a digital output signal
PulseDO is used to generate a pulse on a digital output signal.
Examples
PulseDO do15;
A pulse with a pulse length of 0.2 s is generated on the output signal do15.
PulseDO \PLength:=1.0, ignition;
A pulse of length 1.0 s is generated on the signal ignition.
Arguments
PulseDO
[ \PLength ] Signal
[ \PLength ]
(Pulse Length)
Data type: num
The length of the pulse in seconds (0.1 - 32s).

If the argument is omitted, a 0.2 second pulse is generated.
Signal
Data type: signaldo
The name of the signal on which a pulse is to be generated.
Program execution
A pulse is generated with a specified pulse length (see Figure 14).
:
Pulse length
1
Signal level
0
Execution of the instruction PulseDO
Execution of the instruction PulseDO
1
Signal level
0
Figure 14 Generation of a pulse on a digital output signal.
2-PulseDO-309
PulseDO
Instructions
The next instruction is executed directly after the pulse starts. The pulse can then be set/
reset without affecting the rest of the program execution.
Limitations
The length of the pulse has a resolution of 0.01 seconds. Programmed values that differ
from this are rounded off.
Syntax
PulseDO
[ \ PLength := < expression (IN) of num > , ]
Related information
Described in:
2-PulseDO-310
Instructions
RAISE
RAISE
Calls an error handler

RAISE is used to create an error in the program and then to call the error handler of the
routine. RAISE can also be used in the error handler to propagate the current error to
the error handler of the calling routine.
This instruction can, for example, be used to jump back to a higher level in the structure
of the program, e.g. to the error handler in the main routine, if an error occurs at a lower
level.
Example
IF ...
IF ...
IF ...
RAISE escape1;
.
ERROR
IF ERRNO=escape1 RAISE;
The routine is interrupted to enable it to remove itself from a low level in the
program. A jump occurs to the error handler of the called routine.
Arguments
RAISE
[ Error no. ]
Error no.
Data type: errnum
Error number: Any number between 1 and 90 which the error handler can use to
locate the error that has occurred (the ERRNO system variable).
It is also possible to book an error number outside the range 1-90 with the
instruction BookErrNo.
The error number must be specified outside the error handler in a RAISE
instruction in order to be able to transfer execution to the error handler of that
routine.
If the instruction is present in a routines error handler, the error number may not
be specified. In this case, the error is propagated to the error handler of the calling
routine.
2-RAISE-311
RAISE
Instructions
Program execution
Program execution continues in the routines error handler. After the error handler has
been executed, program execution can continue with:
- the routine that called the routine in question (RETURN),
- the error handler of the routine that called the routine in question (RAISE).
If the RAISE instruction is present in a routines error handler, program execution
continues in the error handler of the routine that called the routine in question. The
same error number remains active.
If the RAISE instruction is present in a trap routine, the error is dealt with by the
systems error handler.
Error handling
If the error number is out of range, the system variable ERRNO is set to
ERR_ILLRAISE (see "Data types - errnum"). This error can be handled in the error
handler.
Syntax
(EBNF)
RAISE [<error number>] ;
<error number> ::= <expression>
Related information
Described in:
Error handling
Basic Characteristics Error Recovery
Booking error numbers
Instructions - BookErrNo
2-RAISE-312
Instructions
ReadAnyBin
ReadAnyBin
Read data from a binary

ReadAnyBin (Read Any Binary) is used to read any type of data from a binary serial
channel or file.
Example
VAR iodev channel2;
VAR robtarget next_target;
...
ReadAnyBin channel2, next_target;
The next robot target to be executed, next_target, is read from the channel
referred to by channel2.
Arguments
ReadAnyBin
IODevice Data [\Time])
IODevice
Data type: iodev
The name (reference) of the binary serial channel or file to be read.

Data
Data type: ANYTYPE

The VAR or PERS to which the read data will be stored.
[\Time]
Data type: num
The max. time for the reading operation (timeout) in seconds. If this argument is
not specified, the max. time is set to 60 seconds.
If this time runs out before the read operation is finished, the error handler will
be called with the error code ERR_DEV_MAXTIME. If there is no error 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.
Program execution
As many bytes as required for the specified data are read from the specified binary
serial channel or file.
2-ReadAnyBin-313
ReadAnyBin
Instructions
Limitations
This instruction can only be used for serial channels or files that have been opened for
binary reading.
The data to be read by this instruction must have a value data type of atomic, string, or
record data type. Semi-value and non-value data types cannot be used.
Array data cannot be used.
Note that the VAR or PERS variable, for storage of the data read, can be updated in several steps. Therefore, always wait until the whole data structure is updated before using
read data from a TRAP or another program task.
Error handling
If an error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC. This error can then be handled in the error handler.
If the end of the file is detected before all the bytes are read, the system variable
ERRNO is set to ERR_RANYBIN_EOF. This error can then be handled in the error
handler.
Example
CONST num NEW_ROBT:=12;
CONST num NEW_WOBJ:=20;
VAR iodev channel;
VAR num input;
VAR robtarget cur_robt;
VAR wobjdata cur_wobj;
Open "sio1:", channel\Bin;
! Wait for the opcode character
input := ReadBin (channel \Time:= 0.1);
TEST input
CASE NEW_ROBT:
ReadAnyBin channel, cur_robt;
CASE NEW_WOBJ:
ReadAnyBin channel, cur_wobj;
ENDTEST
Close channel;
As a first step, the opcode of the message is read from the serial channel. According to this opcode a robtarget or a wobjdata is read from the serial channel.
2-ReadAnyBin-314
Instructions
ReadAnyBin
Syntax
ReadAnyBin
[IODevice:=] <variable (VAR) of iodev>,
[Data:=] <var or pers (INOUT) of ANYTYPE>
[\Time:= <expression (IN) of num>];
Related information
Described in:
Opening (etc.) of serial channels
or files
Write data to a binary serial channel

or file
Instructions - WriteAnyBin
2-ReadAnyBin-315
ReadAnyBin
2-ReadAnyBin-316
Instructions
Instructions
Reset
Reset
Resets a digital output signal

Reset is used to reset the value of a digital output signal to zero.
Examples
Reset do15;
The signal do15 is set to 0.
Reset weld;
The signal weld is set to 0.
Arguments
Reset
Signal
Signal
Data type: signaldo
The name of the signal to be reset to zero.
Program execution
The true value depends on the configuration of the signal. If the signal is inverted in
the system parameters, this instruction causes the physical channel to be set to 1.
Syntax
Reset
2-Reset-317
Reset
Instructions
Related information
Described in:
Setting a digital output signal
Instructions - Set
System Parameters
2-Reset-318
Instructions
RestoPath
RestoPath
Restores the path after an interrupt
RestoPath is used to restore a path that was stored at a previous stage using the instruction StorePath.
Example
RestoPath;
Restores the path that was stored earlier using StorePath.
Program execution
The current movement path of the robot and the external axes is deleted and the path
stored earlier using StorePath is restored. Nothing moves, however, until the instruction StartMove is executed or a return is made using RETRY from an error handler.
Example
ArcL p100, v100, seam1, weld5, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
RETRY;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL pclean, v100, fine, gun1;
...
MoveL p1, v100, fine, gun1;
RestoPath;
ENDPROC
In the event of a welding error, program execution continues in the error handler
of the routine, which, in turn, calls gun_cleaning. The movement path being executed at the time is then stored and the robot moves to the position pclean where
the error is rectified. When this has been done, the robot returns to the position
where the error occurred, p1, and stores the original movement once again. The
weld then automatically restarts, meaning that the robot is first reversed along
the path before welding starts and ordinary program execution can continue.
2-RestoPath-319
RestoPath
Instructions
Limitations
Only the movement path data is stored with the instruction StorePath.
If the user wants to order movements on the new path level, the actual stop position
must be stored directly after StorePath and before RestoPath make a movement to the
stored stop position on the path.
The movement instruction which precedes this instruction should be terminated with a
stop point.
Syntax
RestoPath;
Related information
Described in:
Storing paths
Instructions - StorePath
More examples
2-RestoPath-320
Instructions
RETRY
RETRY
Restarts following an error
RETRY is used to restart program execution after an error has occurred.
Example
reg2 := reg3/reg4;
.
ERROR
reg4 := 1;
RETRY;
ENDIF
An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero),
a jump is made to the error handler, which initialises reg4. The RETRY
instruction is then used to jump from the error handler and another attempt is
made to complete the division.
Program execution
Program execution continues with (re-executes) the instruction that caused the error.
Error handling
If the maximum number of retries (4 retries) is exceeded, the program execution stops
with an error message and the system variable ERRNO is set to ERR_EXCRTYMAX
(see "Data types - errnum").
Limitations
The instruction can only exist in a routines error handler. If the error was created using
a RAISE instruction, program execution cannot be restarted with a RETRY instruction,
then the instruction TRYNEXT should be used.
Syntax
RETRY ;
2-RETRY-321
RETRY
Instructions
Related information
Described in:
Error handlers
Basic CharacteristicsError Recovery
Continue with the next instruction
Instructions - TRYNEXT
2-RETRY-322
Instructions
RETURN
RETURN
Finishes execution of a routine
RETURN is used to finish the execution of a routine. If the routine is a function, the
function value is also returned.
Examples
errormessage;
Set do1;
.
PROC errormessage()
TPWrite "ERROR";
RETURN;
ENDPROC
The errormessage procedure is called. When the procedure arrives at the
RETURN instruction, program execution returns to the instruction following the
procedure call, Set do1.
FUNC num abs_value(num value)
IF value<0 THEN
RETURN -value;
ELSE
RETURN value;
ENDIF
ENDFUNC
The function returns the absolute value of a number.
Arguments
RETURN
[ Return value ]
Return value
ration
Data type: According to the function decla-
The return value of a function.

The return value must be specified in a RETURN instruction present in a function.
If the instruction is present in a procedure or trap routine, a return value may not
be specified.
2-RETURN-323
RETURN
Instructions
Program execution
The result of the RETURN instruction may vary, depending on the type of routine it is
used in:
- Main routine: If a program stop has been ordered at the end of the cycle, the
program stops. Otherwise, program execution continues with
the first instruction of the main routine.
- Procedure:
Program execution continues with the instruction following the

procedure call.
- Function:
Returns the value of the function.
- Trap routine:
Program execution continues from where the interrupt

occurred.
- Error handler: In a procedure:

Program execution continues with the routine that called the
routine with the error handler (with the instruction following
the procedure call).
In a function:
The function value is returned.
Syntax
(EBNF)
RETURN [ <expression> ];
Related information
Described in:
Functions and Procedures
Trap routines
Error handlers
Basic Characteristics - Error Recovery
2-RETURN-324
Instructions
Rewind
Rewind
Rewind file position
Rewind sets the file position to the beginning of the file.
Example
Rewind iodev1;
The file referred to by iodev1 will have the file position set to the beginning of
the file.
Arguments
Rewind
IODevice
IODevice
Data type: iodev
Name (reference) of the file to be rewound.
Program execution
The specified file is rewound to the beginning.
2-Rewind-325
Rewind
Instructions
Example
! IO device and numeric variable for use together with a binary file
VAR iodev dev;
VAR num bindata;
! Open the binary file with \Write switch to erase old contents
Open "flp1:"\File := "bin_file",dev \Write;
Close dev;
! Open the binary file with \Bin switch for binary read and write access
Open "flp1:"\File := "bin_file",dev \Bin;
WriteStrBin dev,"Hello world";
! Rewind the file pointer to the beginning of the binary file
! Read contents of the file and write the binary result on TP
! (gives 72 101 108 108 111 32 119 111 114 108 100 )
Rewind dev;
bindata := ReadBin(dev);
WHILE bindata <> EOF_BIN DO
TPWrite " " \Num:=bindata;
bindata := ReadBin(dev);
ENDWHILE
! Close the binary file
Close dev;
The instruction Rewind is used to rewind a binary file to the beginning so that the
contents of the file can be read back with ReadBin.
Syntax
Rewind
Related information
Described in:
Opening (etc.) of files
2-Rewind-326
Instructions
Save
Save

Save is used to save a program module.
The specified program module in the program memory will be saved with the original
(specified in Load or StartLoad) or specified file path.
It is also possible to save a system module at the specified file path.
Example
Load "ram1disk:PART_B.MOD";
...
Save "PART_B";
Load the program module with the file name PART_B.MOD from the ram1disk
into the program memory.
Save the program module PART_B with the original file path ram1disk with the
original file name PART_B.MOD.
Arguments
Save
[\Task] ModuleName [\FilePath] [\File]
[\Task]
Data type: taskid
The program task in which the program module should be saved.

If this argument is omitted, the specified program module in the current (executing) program task will be saved.
For all program tasks in the system, predefined variables of the data type taskid
will be available. The variable identity will be "taskname"+"Id", e.g. for the
MAIN task the variable identity will be MAINId, TSK1 - TSK1Id etc.
ModuleName
Data type: string
The program module to save.
[\FilePath]
Data type: string
The file path and the file name to the place where the program module is to be
saved. The file name shall be excluded when the argument \File is used.
2-Save-327
Save
Instructions
[\File]
Data type: string
When the file name is excluded in the argument \FilePath, it must be specified
with this argument.
The argument \FilePath can only be omitted for program modules loaded with Load or
StartLoad-WaitLoad and the program module will be stored at the same destination as
specified in these instructions. To store the program module at another destination it is
also possible to use the argument \FilePath.
To be able to save a program module that previously was loaded from the teach pendant, external computer, or system configuration, the argument \FilePath must be used.
Program execution
Program execution waits for the program module to finish saving before proceeding
with the next instruction.
Example
Save "PART_A" \FilePath:="ram1disk:DOORDIR/PART_A.MOD";
Save the program module PART_A to the ram1disk in the file PART_A.MOD
and in the directory DOORDIR.
Save "PART_A" \FilePath:="ram1disk: \File:=DOORDIR/PART_A.MOD";
Save \Task:=TSK1Id, "PART_A" \FilePath:="ram1disk:DOORDIR/PART_A.MOD";
Save program module PART_A in program task TSK1 to the specified destination. This is an example where the instruction Save is executing in one program
task and the saving is done in another program task.
Limitations
TRAP routines, system I/O events and other program tasks cannot execute during the
saving operation. Therefore, any such operations will be delayed.
The save operation can interrupt update of PERS data done step by step from other program tasks. This will result in inconsistent whole PERS data.
A program stop during execution of the Save instruction can result in a guard stop with
motors off and the error message "20025 Stop order timeout" will be displayed on the
Teach Pendant.
Avoid ongoing robot movements during the saving.
2-Save-328
Instructions
Save
Error handling
If the program module cannot be saved because there is no module name, unknown, or
ambiguous module name, the system variable ERRNO is set to ERR_MODULE.
If the save file cannot be opened because of permission denied, no such directory, or
no space left on device, the system variable ERRNO is set to ERR_IOERROR.
If argument \FilePath is not specified for program modules loaded from the Teach Pendant, System Parameters, or an external computer, the system variable ERRNO is set
to ERR_PATH.
The errors above can be handled in the error handler.
Syntax
Save
[ \ Task := <variable (VAR) of taskid> , ]
[ ModuleName := ] <expression (IN) of string>
[ \ FilePath :=<expression (IN) of string> ]
[ \ File := <expression (IN) of string>] ;
Related information
Described in:
Program tasks
Data Types - taskid
2-Save-329
Save
2-Save-330
Instructions
Instructions
SearchC
SearchC
Searches circularly using the robot
SearchC (Search Circular) is used to search for a position when moving the tool centre
point (TCP) circularly.
During the movement, the robot supervises a digital input signal. When the value of
the signal changes to the requested one, the robot immediately reads the current
position.
This instruction can typically be used when the tool held by the robot is a probe for
surface detection. Using the SearchC instruction, the outline coordinates of a work
object can be obtained.
Examples
SearchC sen1, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10 at a speed of
v100. When the value of the signal do1 changes to active, the position is stored
in sp.
SearchC \Stop, sen1, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10. When the
value of the signal do1 changes to active, the position is stored in sp and the robot
stops immediately.
Arguments
SearchC [ \Stop ] | [ \PStop ] | [ \SStop ] | [ \Sup ] Signal [ \Flanks ]
SearcPoint CirPoint ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ] [ \Corr
]
[ \Stop ]
(Stiff Stop)
Data type: switch
The robot movement is stopped, as quickly as possible, without keeping the TCP
on the path (hard stop), when the value of the search signal changes to active.
However, the robot is moved a small distance before it stops and is not moved
back to the searched position, i.e. to the position where the signal changed.
[ \PStop ]
(Path Stop)
Data type: switch
The robot movement is stopped as quickly as possible, while keeping the TCP
on the path (soft stop), when the value of the search signal changes to active.
However, the robot is moved a distance before it stops and is not moved back to
the searched position, i.e. to the position where the signal changed.
8-SearchC-331
SearchC
Instructions
[ \SStop ]
(Smooth Stop)
Data type: switch
close to or on the path (smooth stop), when the value of the search signal changes
to active. However, the robot is moved only a small distance before it stops and
is not moved back to the searched position, i.e. to the position where the signal
changed. SStop is faster then PStop. But when the robot is running faster than 100
mm/s, it stops in the direction of the tangent of the movement which causes it to
marginally slide of the path.
[ \Sup ]
(Supervision)
Data type: switch
The search instruction is sensitive to signal activation during the complete

movement (flying search), i.e. even after the first signal change has been
reported. If more than one match occurs during a search, program execution
stops.
If the argument \Stop, \PStop, \SStop or \Sup is omitted, the movement continues
(flying search) to the position specified in the ToPoint argument (same as with
argument \Sup),
Signal
Data type: signaldi
The name of the signal to supervise.

[\Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for
a search hit and a signal supervision will be activated at the beginning of a search
process. This means that if the signal has a positive value already at the beginning
of a search process, the robot movement is stopped as quickly as possible, while
keeping the TCP on the path (soft stop). However, the robot is moved a small
distance before it stops and is not moved back to the start position. A user
recovery error (ERR_SIGSUPSEARCH) will be generated and can be dealt with
by the error handler.
SearchPoint
The position of the TCP and external axes when the search signal has been
triggered. The position is specified in the outermost coordinate system, taking the
specified tool, work object and active ProgDisp/ExtOffs coordinate system into
consideration.
CirPoint
The circle point of the robot. See the instruction MoveC for a more detailed
description of circular movement. The circle point is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
8-SearchC-332
Instructions
SearchC
ToPoint
SearchC always uses a stop point as zone data for the destination.
Speed
tool centre point, the external axes and of the tool reorientation.
[ \V ]
(Velocity)
Data type: num
speed data.
[ \T ]
(Time)
Data type: num
Tool
Data type: tooldata

moved to the specified destination position.
[ \WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot positions in the
instruction are related.
external axes are used, this argument must be specified for a linear movement
relative to the work object to be performed.
[ \Corr]
(Correction)
Data type: switch

be added to the path and destination position, when this argument is present.
Program execution
See the instruction MoveC for information about circular movement.
The movement is always ended with a stop point, i.e. the robot is stopped at the
destination point.
8-SearchC-333
SearchC
Instructions
When a flying search is used, i.e. the \Sup argument is specified, the robot movement
always continues to the programmed destination point. When a search is made using
the switch \Stop, \PStop or \SStop, the robot movement stops when the first signal is
detected.
The SearchC instruction returns the position of the TCP when the value of the digital
signal changes to the requested one, as illustrated in Figure 15.
Without switch \Flanks

1
0
With switch \Flanks

time
1
0
time
= Instruction reaction when

the signal changes
Figure 15 Flank-triggered signal detection (the position is stored when the signal is changed the
first time only).
Example
SearchC \Sup, sen1\Flanks, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10. When the
value of the signal do1 changes to active or passive, the position is stored in sp.
If the value of the signal changes twice, program execution stops.
Limitations
Zone data for the positioning instruction that precedes SearchC must be used carefully.
The start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction, but a point along
the real robot path. Figure 16 illustrates an example of something that may go wrong
when zone data other than fine is used.
The instruction SearchC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around the
circular path in another direction compared with that programmed).
8-SearchC-334
Instructions
SearchC
Start point with

zone data z10
Search object
End point
Start point with
zone data fine
Figure 16 A match is made on the wrong side of the object because the wrong zone data was
used.
Typical stop distance using a search velocity of 50 mm/s:

- without TCP on path (switch \Stop) 1-3 mm
- with TCP on path (switch \PStop) 12-16 mm
- with TCP near path (switch \SStop) 7-10 mm
Error handling
An error is reported during a search when:
- no signal detection occurred - this generates the error ERR_WHLSEARCH.
- more than one signal detection occurred this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
- the signal has already a positive value at the beginning of the search process this generates the error ERR_SIGSUPSEARCH only if the \Flanks argument
is omitted.
Errors can be handled in different ways depending on the selected running mode:
Continuous forward / ERR_WHLSEARCH
No position is returned and the movement always continues to the programmed
destination point. The system variable ERRNO is set to ERR_WHLSEARCH
and the error can be handled in the error handler of the routine.
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH
No position is returned and the movement always stops as quickly as possible at
the beginning of the search path. The system variable ERRNO is set to
ERR_SIGSUPSEARCH and the error can be handled in the error handler of the
routine.
8-SearchC-335
SearchC
Instructions
Instruction forward / ERR_WHLSEARCH
destination point. Program execution stops with an error message.
Instruction backward
During backward execution, the instruction just carries out the movement
without any signal supervision.
Syntax
SearchC
[ \ Stop, ] | [ \ PStop ,] | [ \ SStop , ] | [ \ Sup , ]
[ Signal := ] < variable (VAR) of signaldi >
[\ Flanks],
[ SearchPoint := ] < var or pers (INOUT) of robtarget > ,
[ \ Corr ];
Related information
Described in:
Linear searches
Instructions - SearchL
Circular movement
Motion and I/O Principles Positioning during Program Execution
Definition of tools
Using error handlers
Motion in general
More searching examples
Instructions - SearchL
8-SearchC-336
Instructions
SearchL
SearchL
Searches linearly using the robot
SearchL (Search Linear) is used to search for a position when moving the tool centre
point (TCP) linearly.
During the movement, the robot supervises a digital input signal. When the value of
the signal changes to the requested one, the robot immediately reads the current
position.
This instruction can typically be used when the tool held by the robot is a probe for
surface detection. Using the SearchL instruction, the outline coordinates of a work
object can be obtained.
Examples
SearchL do1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of
v100. When the value of the signal do1 changes to active, the position is stored
in sp.
SearchL \Stop, sen1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10. When the
value of the signal do1changes to active, the position is stored in sp and the robot
stops immediately.
Arguments
SearchL [ \Stop ] | [ \PStop ] | [ \SStop ] | [ \Sup ] Signal
[ \Flanks ] SearchPoint ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ]
[ \Corr ]
[ \Stop ]
(Stiff Stop)
Data type: switch
The robot movement is stopped as quickly as possible, without keeping the TCP
on the path (hard stop), when the value of the search signal changes to active.
However, the robot is moved a small distance before it stops and is not moved
back to the searched position, i.e. to the position where the signal changed.
[ \PStop ]
(Path Stop)
Data type: switch
on the path (soft stop), when the value of the search signal changes to active.
However, the robot is moved a distance before it stops and is not moved back to
the searched position, i.e. to the position where the signal changed.
8-SearchL-337
SearchL
Instructions
[ \SStop ]
(Smooth Stop)
Data type: switch
close to or on the path (smooth stop), when the value of the search signal changes
to active. However, the robot is moved only a small distance before it stops and
is not moved back to the searched position, i.e. to the position where the signal
changed. SStop is faster then PStop. But when the robot is running faster than 100
mm/s it stops in the direction of the tangent of the movement which causes it to
marginally slide off the path.
[\Sup ]
(Supervision)
Data type: switch
The search instruction is sensitive to signal activation during the complete

movement (flying search), i.e. even after the first signal change has been
reported. If more than one match occurs during a search, program execution
stops.
If the argument \Stop, \PStop, \SStop or \Sup is omitted, the movement continues
(flying search) to the position specified in the ToPoint argument (same as with
argument \Sup).
Signal
Data type: signaldi
The name of the signal to supervise.

[\Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for
a search hit and a signal supervision will be activated at the beginning of a search
process. This means that if the signal has the positive value already at the
beginning of a search process, the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be handled in the error
handler.
SearchPoint
The position of the TCP and external axes when the search signal has been
triggered. The position is specified in the outermost coordinate system, taking the
specified tool, work object and active ProgDisp/ExtOffs coordinate system into
consideration.
ToPoint
SearchL always uses a stop point as zone data for the destination.
8-SearchL-338
Instructions
SearchL
Speed
[ \V ]
(Velocity)
Data type: num
speed data.
[ \T ]
(Time)
Data type: num
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot position in the
[ \Corr]
(Correction)
Data type: switch

Program execution
See the instruction MoveL for information about linear movement.
The movement always ends with a stop point, i.e. the robot stops at the destination
point.
If a flying search is used, i.e. the \Sup argument is specified, the robot movement
always continues to the programmed destination point. If a search is made using the
switch \Stop, \PStop or \SStop, the robot movement stops when the first signal is
detected.
The SearchL instruction stores the position of the TCP when the value of the digital
signal changes to the requested one, as illustrated in Figure 17.
8-SearchL-339
SearchL
Instructions
Without switch \Flanks

1
0
With switch \Flanks

time
1
0
time
= Instruction reaction when

the signal changes
Figure 17 Flank-triggered signal detection (the position is stored when the signal is changed the
first time only).
Examples
SearchL \Sup, sen1\Flanks, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10. When the value
of the signal do1changes to active or passive, the position is stored in sp. If the
value of the signal changes twice, program execution stops after the search
process is finished.
SearchL \Stop, sen1, sp, p10, v100, tool1;
MoveL sp, v100, fine, tool1;
PDispOn *, tool1;
PDispOff;
At the beginning of the search process, a check on the signal do1will be done and
if the signal already has a positive value, the program execution stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10. When the
value of the signal do1changes to active, the position is stored in sp and the robot
is moved back to this point. Using program displacement, the robot then moves
relative to the searched position, sp.
Limitations
Zone data for the positioning instruction that precedes SearchL must be used carefully.
The start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction, but a point along
the real robot path. Figure 18 to Figure 20 illustrate examples of things that may go
wrong when zone data other than fine is used.
8-SearchL-340
Instructions
SearchL
Start point with

zone data fine
Start point with
zone data z10
Search object
End point
Figure 18 A match is made on the wrong side of the object because the wrong zone data was
used.
Start point with

zone data fine
Start point with
zone data z10
Search object
End point
Figure 19 No match detected because the wrong zone data was used.
Start point with

zone data fine
Start point with
zone data z10
Search object
End point
Figure 20 No match detected because the wrong zone data was used.
Typical stop distance using a search velocity of 50 mm/s:

- without TCP on path (switch \Stop) 1-3 mm
- with TCP on path (switch \PStop) 12-16 mm
- with TCP near path (switch \SStop) 7-10 mm
Error handling
An error is reported during a search when:
- no signal detection occurred - this generates the error ERR_WHLSEARCH.
- more than one signal detection occurred this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
- the signal already has a positive value at the beginning of the search process this generates the error ERR_SIGSUPSEARCH only if the \Flanks argument
is omitted.
8-SearchL-341
SearchL
Instructions
Errors can be handled in different ways depending on the selected running mode:
Continuous forward / ERR_WHLSEARCH
destination point. The system variable ERRNO is set to ERR_WHLSEARCH
and the error can be handled in the error handler of the routine.
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH
No position is returned and the movement always stops as quickly as possible at
the beginning of the search path.The system variable ERRNO is set to
ERR_SIGSUPSEARCH and the error can be handled in the error handler of the
routine.
Instruction forward / ERR_WHLSEARCH
No position is returned and the movement continues to the programmed
destination point. Program execution stops with an error message.
Instruction backward
During backward execution, the instruction just carries out the movement
without any signal supervision.
Example
VAR num fk;
.
SearchL \Stop, sen1, sp, p20, v100, tool1;
.
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
RETRY;
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite The signal of the SearchL instruction is already high!;
TPReadFK fk,Try again after manual reset of signal ?,YES,,,,NO;
IF fk = 1 THEN
RETRY;
ELSE
Stop;
ENDIF
ENDIF
If the signal is already active at the beginning of the search process, a user dialog
will be activated (TPReadFK ...;). Reset the signal and push YES on the user
dialog and the robot moves back to p10 and tries once more. Otherwise program
execution will stop.
If the signal is passive at the beginning of the search process, the robot searches
from position p10 to p20. If no signal detection occurs, the robot moves back to
p10 and tries once more.
8-SearchL-342
Instructions
SearchL
Syntax
SearchL
[ \ Stop , ] | [ \ PStop ,] | [ \ SStop ,] | [ \ Sup , ]
[ Signal := ] < variable (VAR) of signaldi >
[\ Flanks] ,
[ SearchPoint := ] < var or pers (INOUT) of robtarget > ,
[ \ Corr ];
Related information
Described in:
Circular searches
Instructions - SearchC
Linear movement
Motion and I/O Principles Positioning during Program

Execution
Definition of tools
Using error handlers
Motion in general
8-SearchL-343
SearchL
8-SearchL-344
Instructions
Instructions
Set
Set
Sets a digital output signal

Set is used to set the value of a digital output signal to one.
Examples
Set do15;
Set weldon;
The signal weldon is set to 1.
Arguments
Set
Signal
Signal
Data type: signaldo
The name of the signal to be set to one.
Program execution
The true value depends on the configuration of the signal. If the signal is inverted in
the system parameters, this instruction causes the physical channel to be set to zero.
Syntax
Set
2-Set-345
Set
Instructions
Related information
Described in:
2-Set-346
Setting a digital output signal to zero
Instructions - Reset
System Parameters
Instructions
SetAO
SetAO
Changes the value of an analog output signal

SetAO is used to change the value of an analog output signal.
Example
SetAO ao2, 5.5;
The signal ao2 is set to 5.5.
Arguments
SetAO
Signal Value
Signal
Data type: signalao
The name of the analog output signal to be changed.

Value
Data type: num
The desired value of the signal.
Program execution
The programmed value is scaled (in accordance with the system parameters) before it
is sent on the physical channel. See Figure 21.
Physical value of the
output signal (V, mA, etc.)
MAX SIGNAL
MAX PROGRAM
Logical value in the
program
MIN PROGRAM
MIN SIGNAL
Figure 21 Diagram of how analog signal values are scaled.
2-SetAO-347
SetAO
Instructions
Example
SetAO weldcurr, curr_outp;
The signal weldcurr is set to the same value as the current value of the variable
curr_outp.
Syntax
SetAO
[ Signal := ] < variable (VAR) of signalao > ,
[ Value := ] < expression (IN) of num > ;
Related information
Described in:
System Parameters
2-SetAO-348
Instructions
SetDO
SetDO
Changes the value of a digital output signal

SetDO is used to change the value of a digital output signal, with or without a timedelay.
Examples
SetDO do15, 1;
SetDO weld, off;
The signal weld is set to off.
SetDO \SDelay := 0.2, weld, high;
The signal weld is set to high with a delay of 0.2 s. Program execution, however,
continues with the next instruction.
Arguments
SetDO
[ \SDelay ]
(Signal Delay)
Data type: num
Delays the change for the amount of time given in seconds (0.1 - 32s).
Program execution continues directly with the next instruction. After the given
time-delay, the signal is changed without the rest of the program execution being
affected.
If the argument is omitted, the value of the signal is changed directly.
Signal
Data type: signaldo
The name of the signal to be changed.

Value
Data type: dionum

The value is specified as 0 or 1.
2-SetDO-349
SetDO
Instructions
Program execution
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters, the value of the physical channel is the opposite.
Syntax
SetDO
[ \ SDelay := < expression (IN) of num > , ]
[ Value := ] < expression (IN) of dionum > ;
Related information
Described in:
2-SetDO-350
Instructions
SetGO
SetGO
Changes the value of a group

of digital output signals
SetGO is used to change the value of a group of digital output signals, with or without
a time delay.
Example
SetGO go2, 12;
The signal go2 is set to 12. If go2 comprises 4 signals, e.g. outputs 6-9, outputs
6 and 7 are set to zero, while outputs 8 and 9 are set to one.
SetGO \SDelay := 0.4, go2, 10;
The signal go2 is set to 10. If go2 comprises 4 signals, e.g. outputs 6-9, outputs
6 and 8 are set to zero, while outputs 7 and 9 are set to one, with a delay of 0.4 s.
Program execution, however, continues with the next instruction.
Arguments
SetGO
[ \SDelay ]
(Signal Delay)
Data type: num
Delays the change for the period of time stated in seconds (0.1 - 32s).
Program execution continues directly with the next instruction. After the
specified time delay, the value of the signals is changed without the rest of the
program execution being affected.
If the argument is omitted, the value is changed directly.
Signal
Data type: signalgo
The name of the signal group to be changed.

Value
Data type: num
The desired value of the signal group (a positive integer).

The permitted value is dependent on the number of signals in the group:
2-SetGO-351
SetGO
Instructions
No. of signals
Permitted value
No. of signals
Permitted 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
Program execution
The programmed value is converted to an unsigned binary number. This binary number
is sent on the signal group, with the result that individual signals in the group are set to
0 or 1. Due to internal delays, the value of the signal may be undefined for a short
period of time.
Syntax
SetDO
[ \ SDelay := < expression (IN) of num > , ]
[ Signal := ] < variable (VAR) of signalgo > ,
[ Value := ] < expression (IN) of num > ;
Related information
Described in:
Other input/output instructions
Configuration of I/O (system parameters)
System Parameters
2-SetGO-352
Instructions
SingArea
SingArea
Defines interpolation around singular points
SingArea is used to define how the robot is to move in the proximity of singular points.
SingArea is also used to define linear and circular interpolation for robots with less
than six axes.
Examples
SingArea \Wrist;
The orientation of the tool may be changed slightly in order to pass a singular
point (axes 4 and 6 in line).
Robots with less than six axes may not be able to reach an interpolated tool orientation. By using SingArea \Wrist, the robot can achieve the movement but the
orientation of the tool will be slightly changed.
SingArea \Off;
The tool orientation is not allowed to differ from the programmed orientation. If
a singular point is passed, one or more axes may perform a sweeping movement,
resulting in a reduction in velocity.
Robots with less than six axes may not be able to reach a programmed tool orientation. As a result the robot will stop.
Arguments
SingArea
[ \Wrist] | [ \Off]
[ \Wrist ]
Data type: switch
The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for
linear and circular interpolation of robots with less than six axes where the tool
orientation is allowed to differ.
[\Off ]
Data type: switch
The tool orientation is not allowed to differ. Used when no singular points are
passed, or when the orientation is not permitted to be changed.
If none of the arguments are specified, program execution automatically uses the
robots default argument. For robots with six axes the default argument is \Off.
2-SingArea-353
SingArea
Instructions
Program execution
If the arguments \Wrist is specified, the orientation is joint-interpolated to avoid singular points. In this way, the TCP follows the correct path, but the orientation of the tool
deviates somewhat. This will also happen when a singular point is not passed.
The specified interpolation applies to all subsequent movements until a new SingArea
instruction is executed.
The movement is only affected on execution of linear or circular interpolation.
By default, program execution automatically uses the /Off argument for robots with six
axes. Robots with less than six axes may use either the /Off argument (IRB640) or the
/Wrist argument by default. This is automatically set in event routine SYS_RESET.
Syntax
SingArea
[ \ Wrist ] | [ \ Off ] ;
Related information
Described in:
Singularity
Motion Principles- Singularity
Interpolation
Motion Principles - Positioning during

Program Execution
2-SingArea-354
Instructions
SoftAct
SoftAct
SoftAct (Soft Servo Activate) is used to activate the so called soft servo on any axis
of the robot or external mechanical unit.
Example
SoftAct 3, 20;
Activation of soft servo on robot axis 3, with softness value 20%.
SoftAct 1, 90 \Ramp:=150;
Activation of the soft servo on robot axis 1, with softness value 90% and ramp
factor 150%.
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;
Activation of soft servo on axis 1 for the mechanical unit orbit1, with softness
value 40% and ramp factor 120%.
Arguments
SoftAct [\MechUnit] Axis Softness [\Ramp ]
[\MechUnit]
(Mechanical Unit
Data type: mecunit
The name of the mechanical unit. If this argument is omitted, it means activation
of the soft servo for specified robot axis.
Axis
Data type: num

Number of the robot or external axis to work with soft servo.
Softness
Data type: num
Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness),

and 100% denotes max. softness.
Ramp
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the
engagement of the soft servo. A factor 100% denotes the normal value; with
greater values the soft servo is engaged more slowly (longer ramp). The default
value for ramp factor is 100 %.
2-SoftAct-355
SoftAct
Instructions
Program execution
Softness is activated at the value specified for the current axis. The softness value is
valid for all movements, until a new softness value is programmed for the current axis,
or until the soft servo is deactivated by an instruction.
Limitations
Soft servo for any robot or external axis is always deactivated when there is a power
failure. This limitation can be handled in the user program when restarting after a
power failure.
The same axis must not be activated twice, unless there is a moving instruction in
between. Thus, the following program sequence should be avoided, otherwise there
will be a jerk in the robot movement:
SoftAct n , x ;
SoftAct n , y ;
(n = robot axis n, x and y softness values)
Syntax
SoftAct
[\MechUnit := < variable (VAR) of mecunit> ,]
[Axis := ] < expression (IN) of num> ,
[Softness := ] < expression (IN) of num>
[ \Ramp := < expression (IN) of num> ];
Related information
Described in:
Behaviour with the soft servo engaged
2-SoftAct-356
Motion and I/O Principles- Positioning

during program execution
Instructions
SoftDeact
SoftDeact
Deactivating the soft servo
SoftDeact (Soft Servo Deactivate) is used to deactivate the so called soft servo on all
robot and external axes.
Example
SoftDeact;
Deactivating the soft servo on all axes.
SoftDeact \Ramp:=150;
Deactivating the soft servo on all axes, with ramp factor 150%.
Arguments
SoftDeact [\Ramp ]
Ramp
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the deactivating of the soft servo. A factor 100% denotes the normal value; with greater
values the soft servo is deactivated more slowly (longer ramp). The default value
for ramp factor is 100 %.
Program execution
The soft servo is deactivated for all robot and external axes.
Syntax
SoftDeact
[ \Ramp := < expression (IN) of num> ];
Related information
Described in:
Instructions - SoftAct
2-SoftDeact-357
SoftDeact
2-SoftDeact-358
Instructions
Instructions
SpyStart
SpyStart
Start recording of execution time data
SpyStart is used to start the recording of instruction and time data during execution.
The execution data will be stored in a file for later analysis.
The stored data is intended for debugging RAPID programs, specifically for multitasking systems (only necessary to have SpyStart - SpyStop in one program task).
Example
SpyStart "ram1disk:spy.log";
Starts recording the execution time data in the file spy.log on the ramdisk.
Arguments
SpyStart File
File
Data type: string

The file path and the file name to the file that will contain the execution data.
Program execution
The specified file is opened for writing and the execution time data begins to be
recorded in the file.
Recording of execution time data is active until:
- execution of instruction SpyStop
- starting program execution from the beginning
- loading a new program
- next warm start-up
Limitations
Avoid using the floppy disk for recording since writing to the floppy is very time consuming.
Never use the spy function in production programs because the function increases the
cycle time and consumes memory on the mass memory device (ramdisk) in use.
2-SpyStart-359
SpyStart
Instructions
Error handling
If the file in the SpyStart instruction cant be opened then the system variable ERRNO
is set to ERR_FILEOPEN (see Data types - errnum). This error can then be handled
in the error handler.
File format
TASK
INSTR
IN
MAIN ConfJ\Off;
----- SYSTEM TRAP----MAIN ConfL\Off;
MAIN def_wz;
MAIN WZSphDef\Inside,volume,[p1.trans.x+xtrans
MAIN WZDOSet\Temp,wz1\Inside,volume,do1,1;
----- SYSTEM TRAP----MAIN WZSphDef\Inside,volume,[p2.trans.x+xtrans,
MAIN WZDOSet\Temp,wz2\Inside,volume,do2,1;
...
MAIN MoveL home,s,z,toolx\WObj:=wobjx;
----- SYSTEM TRAP ----MAIN MoveL home,s,z,toolx\WObj:=wobjx;
----- SYSTEM TRAP ----MAIN MoveL home,s,z,toolx\WObj:=wobjx;
MAIN writepos;
...
MAIN SpyStop;
CODE OUT
691310:READY :691310
691450:READY :691450
691450:READY :691450
691450:READY :691450
691460:READY :691460
691460:READY :691460
691860:READY :691860
693910:WAIT :694010
726820:WAIT :726820
740300:READY :740300
740300:READY :740300
827610:
TASK column shows executed program task

INSTR column shows executed instruction in specified program task
IN column shows the time in ms at enter of the executed instruction
CODE column shows if the instruction is READY or
if the instruction WAIT for completion at OUT time
OUT column shows the time in ms at leave of the executed instruction
All time is given in ms (relative values) with resolution 10 ms.
----- SYSTEM TRAP----- means that the system is doing something else than execution of RAPID instructions.
If procedure call to some NOSTEPIN procedure (module) the output list shows only
the name of the called procedure. This is repeated for every executed instruction in the
NOSTEPIN routine.
2-SpyStart-360
Instructions
SpyStart
Syntax
SpyStart
[File:=]<expression (IN) of string>;
Related information
Described in:
Stop recording of execution data
Instructions - SpyStop
2-SpyStart-361
SpyStart
2-SpyStart-362
Instructions
Instructions
SpyStop
SpyStop
Stop recording of time execution data
SpyStop is used to stop the recording of time data during execution.

The data, which can be useful for optimising the execution cycle time, is stored in a
file for later analysis.
Example
SpyStop;
Stops recording the execution time data in the file specified by the previous
SpyStart instruction.
Program execution
The execution data recording is stopped and the file specified by the previous SpyStart
instruction is closed.
If no SpyStart instruction has been executed before, the SpyStop instruction is ignored.
Examples
IF debug = TRUE SpyStart "ram1disk:spy.log";
produce_sheets;
IF debug = TRUE SpyStop;
If the debug flag is true, start recording execution data in the file spy.log on the
ramdisk; perform actual production; stop recording and close the file spy.log.
Limitations
Avoid using the floppy disk for recording since writing to the floppy is very time consuming.
Never use the spy function in production programs because the function increases the
cycle time and consumes memory on the mass memory device (ramdisk) in use.
Syntax
SpyStop;
2-SpyStop-363
SpyStop
Instructions
Related information
Described in:
Start recording of execution data
2-SpyStop-364
Instructions - SpyStart
Instructions
StartLoad
StartLoad Load a program module during execution

The loaded program module will be added to the modules already existing in the program memory.
A program or system module can be loaded in static (default) or dynamic mode:
Static mode
Table 3 How different operations affect static loaded program or system modules
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Dynamic mode
Table 4 How different operations affect dynamic loaded program or system modules
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad.
Example
VAR loadsession load1;
! Start loading of new program module PART_B containing routine routine_b
! in dynamic mode
StartLoad \Dynamic, ram1disk \File:="PART_B.MOD", load1;
! Executing in parallel in old module PART_A containing routine_a
%"routine_a"%;
! Unload of old program module PART_A
UnLoad ram1disk \File:="PART_A.MOD";
! Wait until loading and linking of new program module PART_B is ready
WaitLoad load1;
! Execution in new program module PART_B
%"routine_b"%;
2-StartLoad-365
StartLoad
Instructions
Starts the loading of program module PART_B.MOD from ram1disk into the program memory with instruction StartLoad. In parallel with the loading, the program executes routine_a in module PART_A.MOD. Then instruction WaitLoad
waits until the loading and linking is finished. The module is loaded in dynamic
mode.
Variable load1 holds the identity of the load session, updated by StartLoad and
referenced by WaitLoad.
To save linking time, the instruction UnLoad and WaitLoad can be combined in
the instruction WaitLoad by using the option argument \UnLoadPath.
Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo
[\Dynamic]
Data type: switch
The switch enables load of a program module in dynamic mode. Otherwise the
loading is in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program
memory. The file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath, then it must be defined
with this argument.
LoadNo
Data type: loadsession
This is a reference to the load session that should be used in the instruction WaitLoad to connect the loaded program module to the program task.
Program execution
Execution of StartLoad will only order the loading and then proceed directly with the
next instruction, without waiting for the loading to be completed.
The instruction WaitLoad will then wait at first for the loading to be completed, if it is
not already finished, and then it will be linked and initialised. The initialisation of the
loaded module sets all variables at module level to their init values.
Unsolved references will be accepted if the system parameter for Tasks/BindRef is set
to NO. However, when the program is started or the teach pendant function Program
Window/File/Check Program is used, no check for unsolved references will be made if
BindRef = NO. There will be a run time error on execution of an unsolved reference.
2-StartLoad-366
Instructions
StartLoad
Another way to use references to instructions, that are not in the task from the beginning, is to use Late Binding. This makes it possible to specify the routine to call with a
string expression, quoted between two %%. In this case the BindRef parameter could
be set to YES (default behaviour). The Late Binding way is preferable.
and unloading of program modules should be done from the main module, which is
Examples
StartLoad \Dynamic, "ram1disk:DOORDIR/DOOR1.MOD", load1;
Loads the program module DOOR1.MOD from the ram1disk at the directory
DOORDIR into the program memory. The program module is loaded in dynamic
mode.
StartLoad \Dynamic, "ram1disk:" \File:="DOORDIR/DOOR1.MOD", load1;
Same as above but with another syntax.
StartLoad "ram1disk:" \File:="DOORDIR/DOOR1.MOD", load1;
Same as the two examples above but the module is loaded in static mode.
StartLoad \Dynamic, "ram1disk:" \File:="DOORDIR/DOOR1.MOD", load1;
...
WaitLoad load1;
is the same as
Load \Dynamic, "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
Limitations
It is not allowed to load a system module or a program module that contains a main
routine.
Syntax
StartLoad
[\Dynamic ,]
[FilePath :=] <expression (IN) of string>
[\File := <expression (IN) of string> ] ,
[LoadNo :=] <variable (VAR) of loadsession> ;
2-StartLoad-367
StartLoad
Instructions
Related information
Described in:
Instructions - WaitLoad
Load session
Data Types - loadsession
Load a program module
Instructions - Load
Accept unsolved references
System Parameters - Controller/Task/

BindRef
2-StartLoad-368
Instructions
StartMove
StartMove
Restarts robot motion
StartMove is used to resume robot and external axes motion when this has been
stopped by the instruction StopMove.
Example
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot starts to move again when the input ready_input is set.
Program execution
Any processes associated with the stopped movement are restarted at the same time as
motion resumes.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a start
of the interrupted movement, the system variable ERRNO is set to ERR_PATHDIST.
This error can then be handled in the error handler.
Syntax
StartMove;
Related information
Described in:
Stopping movements
More examples
2-StartMove-369
StartMove
2-StartMove-370
Instructions
Instructions
Stop
Stop
Stops program execution

Stop is used to temporarily stop program execution.
Program execution can also be stopped using the instruction EXIT. This, however,
should only be done if a task is complete, or if a fatal error occurs, since program
execution cannot be restarted with EXIT.
Example
TPWrite "The line to the host computer is broken";
Stop;
Program execution stops after a message has been written on the teach pendant.
Arguments
Stop
[ \NoRegain ]
[ \NoRegain ]
Data type: switch
Specifies for the next program start in manual mode, whether or not the robot and
external axes should regain to the stop position. In automatic mode the robot and
external axes always regain to the stop position.
If the argument NoRegain is set, the robot and external axes will not regain to the
stop position (if they have been jogged away from it).
If the argument is omitted and if the robot or external axes have been jogged
away from the stop position, the robot displays a question on the teach pendant.
The user can then answer, whether or not the robot should regain to the stop
position.
Program execution
The instruction stops program execution as soon as the robot and external axes reach
the programmed destination point for the movement it is performing at the time.
Program execution can then be restarted from the next instruction.
If there is a Stop instruction in some event routine, the routine will be executed from
the beginning in the next event.
2-Stop-371
Stop
Instructions
Example
TPWrite Jog the robot to the position for pallet corner 1;
Stop \NoRegain;
p1_read := CRobT();
Program execution stops with the robot at p1. The operator jogs the robot to
p1_read. For the next program start, the robot does not regain to p1, so the
position p1_read can be stored in the program.
Limitations
The movement instruction which precedes this instruction should be terminated with a
stop point, in order to be able to restart in this instruction following a power failure.
Syntax
Stop
[ \ NoRegain ];
Related information
Described in:
2-Stop-372
Instructions - EXIT
Instructions - EXIT
Only stopping robot movements
Instructions
StopMove
StopMove
Stops robot motion
StopMove is used to stop robot and external axes movements temporarily. If the
instruction StartMove is given, movement resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily
when an interrupt occurs.
Example
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot movement is stopped until the input, ready_input, is set.
Program execution
The movements of the robot and external axes stop without the brakes being engaged.
Any processes associated with the movement in progress are stopped at the same time
as the movement is stopped.
Program execution continues without waiting for the robot and external axes to stop
(standing still).
Examples
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT();
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
2-StopMove-373
StopMove
Instructions
When the input di1 is set to 1, an interrupt is activated which in turn activates the
interrupt routine go_to_home_pos. The current movement is stopped
immediately and the robot moves instead to the home position. When di1 is set
to 0, the robot returns to the position at which the interrupt occurred and
continues to move along the programmed path.
VAR intnum intno1;

...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos ()
VAR robtarget p10;
StorePath;
p10:=CRobT();
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Similar to the previous example, but the robot does not move to the home position
until the current movement instruction is finished.
Syntax
StopMove;
Related information
Described in:
Continuing a movement
Instructions - StartMove
Interrupts

2-StopMove-374
Instructions
StorePath
StorePath
Stores the path when an interrupt occurs
StorePath is used to store the movement path being executed when an error or interrupt
occurs. The error handler or trap routine can then start a new movement and, following
this, restart the movement that was stored earlier.
This instruction can be used to go to a service position or to clean the gun, for example,
when an error occurs.
Example
StorePath;
The current movement path is stored for later use.
Program execution
The current movement path of the robot and external axes is saved. After this, another
movement can be started in a trap routine or an error handler. When the reason for the
error or interrupt has been rectified, the saved movement path can be restarted.
Example
TRAP machine_ready
VAR robtarget p1;
StorePath;
p1 := CRobT();
...
RestoPath;
StartMove;
ENDTRAP
When an interrupt occurs that activates the trap routine machine_ready, the
movement path which the robot is executing at the time is stopped at the end of
the instruction (ToPoint) and stored. After this, the robot remedies the interrupt
by, for example, replacing a part in the machine and the normal movement is
restarted.
2-StorePath-375
StorePath
Instructions
Limitations
Only the movement path data is stored with the instruction StorePath.
If the user wants to order movements on the new path level, the actual stop position
must be stored directly after StorePath and before RestoPath make a movement to the
stored stop position on the path.
Only one movement path can be stored at a time.
Syntax
StorePath;
Related information
Described in:
Restoring a path
Instructions - RestoPath
More examples
Instructions - RestoPath
2-StorePath-376
Instructions
TEST
TEST
Depending on the value of an expression ...

TEST is used when different instructions are to be executed depending on the value of
an expression or data.
If there are not too many alternatives, the IF..ELSE instruction can also be used.
Example
TEST reg1
CASE 1,2,3 :
routine1;
CASE 4 :
routine2;
DEFAULT :
TPWrite "Illegal choice";
Stop;
ENDTEST
Different instructions are executed depending on the value of reg1. If the value
is 1-3 routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an
error message is printed and execution stops.
Arguments
TEST Test data {CASE Test value {, Test value} : ...}
[ DEFAULT: ...] ENDTEST
Test data
Data type: All
The data or expression with which the test value will be compared.
Test value
Data type: Same as test data
The value which the test data must have for the associated instructions to be executed.
Program execution
The test data is compared with the test values in the first CASE condition. If the comparison is true, the associated instructions are executed. After that, program execution
continues with the instruction following ENDTEST.
If the first CASE condition is not satisfied, other CASE conditions are tested, and so
on. If none of the conditions are satisfied, the instructions associated with DEFAULT
are executed (if this is present).
2-TEST-377
TEST
Instructions
Syntax
(EBNF)
TEST <expression>
{( CASE <test value> { , <test value> } :
<instruction list> ) | <CSE> }
[ DEFAULT : <instruction list> ]
ENDTEST
<test value> ::= <expression>
Related information
Described in:
Expressions
2-TEST-378
Instructions
TestSign
TestSign
Output of test signals
TestSign is used when output of test signals from the robot system is needed. A test signals mirror the resolver angle for an axis, for example. The test signal is an analogue
output to one of the two test output connection points.
The test signals for the master robot cannot be reached.
Example
TestSign 1, resolver_angle, Orbit, 2, 4, 0;
Test signal connection point 1 will give the value of the resolver_angle for Orbit
axis 2, scaled 4 times the nominal value and sampled at maximum rate (indicated
by 0).
Arguments
TestSign
Output SignalId MechUnit Axis Scale Stime
Output
Data type: num
This argument specifies which of the two test signal output connector points that
the test signal will be available at. Possible values are 1 or 2.
SignalId
Data type: testsignal
The name of the test signal to send to the output.

MechUnit
(Mechanical Unit)
Data type: mecunit
Argument that holds the name of the mechanical unit to retrieve test signal from.
Axis
Data type: num

Argument that holds the axis number of the mechanical unit to retrieve test signal
from.
Scale
Data type: num

The scaling factor for output. Possible values are 1, 2, 4, 8, 16, and so on.
Stime
(Sample Time)
Data type: num
Sample time in seconds. The output signal is updated with a new value at every
sample. A value of 1 updates the output every second and a value of 0 performs
an update as often as possible. The value 0.01 corresponds to a sampling of 100
times per second.
2-TestSign-379
TestSign
Instructions
Program execution
The TestSign instruction mirrors a signal in the robot system to an output. The mirroring of a specified test signal is active until a new TestSign instruction for the output is
performed. A warm start of the robot system removes currently activated test signals.
Error handling
If there is an error in the parameter MechUnit, the system parameter ERRNO is set to
ERR_UNIT_PAR. If there is an error in the parameter Axis, ERRNO is set to
ERR_AXIS_PAR.
Syntax
TestSign
[ Output := ] < expression (IN) of num> ,
[ SignalId := ] < expression (IN) of testsignal>
[ MechUnit := ] < variable (VAR) of mecunit> ,
[ Scale := ] < expression (IN) of num > ,
[ Stime := ] < expression (IN) of num> ;
2-TestSign-380
Instructions
TPErase
TPErase
Erases text printed on the teach pendant
TPErase (Teach Pendant Erase) is used to clear the display of the teach pendant.
Example
TPErase;
TPWrite "Execution started";
The teach pendant display is cleared before Execution started is written.
Program execution
The teach pendant display is completely cleared of all text. The next time text is written, it will be entered on the uppermost line of the display.
Syntax
TPErase;
Related information
Described in:
Writing on the teach pendant
2-TPErase-381
TPErase
2-TPErase-382
Instructions
Instructions
TPReadFK
TPReadFK
Reads function keys
TPReadFK (Teach Pendant Read Function Key) is used to write text above the
functions keys and to find out which key is depressed.
Example
TPReadFK reg1, More ?, stEmpty, stEmpty, stEmpty, Yes, No;
The text More ? is written on the teach pendant display and the function keys 4
and 5 are activated by means of the text strings Yes and No respectively (see
Figure 22). Program execution waits until one of the function keys 4 or 5 is
pressed. In other words, reg1 will be assigned 4 or 5 depending on which of the
keys is depressed.
More?
Yes
No
Figure 22 The operator can input information via the function keys.
Arguments
TPReadFK Answer Text FK1 FK2 FK3 FK4 FK5 [\MaxTime]
[\DIBreak] [\BreakFlag]
Answer
Data type: num
The variable for which, depending on which key is pressed, the numeric value
1..5 is returned. If the function key 1 is pressed, 1 is returned, and so on.
Text
Data type: string

The information text to be written on the display (a maximum of 80 characters).
FKx
(Function key text)
Data type: string
The text to be written as a prompt for the appropriate function key (a maximum
of 7 characters). FK1 is the left-most key.
Function keys without prompts are specified by the predefined string constant
stEmpty with value empty string ().
2-TPReadFK-383
TPReadFK
Instructions
[\MaxTime]
Data type: num
The maximum amount of time [s] that program execution waits. If no function key
is depressed within this time, the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can
be used to test whether or not the maximum time has elapsed.
[\DIBreak]
(Digital Input Break)
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no function key is
depressed when the signal is set to 1 (or is already 1), the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The
constant ERR_TP_DIBREAK can be used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if maxtime or dibreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME and ERR_TP_ DIBREAK can be used to select the reason.
Program execution
The information text is always written on a new line. If the display is full of text, this
body of text is moved up one line first. Strings longer than the width of the teach pendant
(40 characters) are split into two lines.
Prompts are written above the appropriate function keys. Keys without prompts are
deactivated.
Program execution waits until one of the activated function keys is depressed.
Description of concurrent TPReadFK or TPReadNum request on Teach Pendant (TP
request) from same or other program tasks:
New TP request from other program task will not take focus (new put in queue)
New TP request from TRAP in the same program task will take focus (old put in queue)
Program stop take focus (old put in queue)
New TP request in program stop state takes focus (old put in queue)
2-TPReadFK-384
Instructions
TPReadFK
Example
VAR errnum errvar;
...
TPReadFK reg1, Go to service position?, stEmpty, stEmpty, stEmpty, Yes, No
\MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 or OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;
ENDIF
IF errvar = ERR_TP_MAXTIME EXIT;
The robot is moved to the service position if the forth function key (Yes) is
pressed, or if the input 5 is activated. If no answer is given within 10 minutes, the
execution is terminated.
Predefined data
CONST string stEmpty := ;
The predefined constant stEmpty should be used for Function Keys without prompts.
Using stEmpty instead of saves about 80 bytes for every Function Key without
prompts.
Syntax
TPReadFK
[Answer:=] <var or pers (INOUT) of num>,
[Text:=] <expression (IN) of string>,
[FK1 :=] <expression (IN) of string>,
[FK5 :=] <expression (IN) of string>
[\MaxTime := <expression (IN) of num>]
[\DIBreak := <variable (VAR) of signaldi>]
[\BreakFlag := <var or pers (INOUT) of errnum>];
2-TPReadFK-385
TPReadFK
Instructions
Related information
Described in:
the teach pendant
Replying via the teach pendant
Running Production
2-TPReadFK-386
Instructions
TPReadNum
TPReadNum
Reads a number from the teach pendant
TPReadNum (Teach Pendant Read Numerical) is used to read a number from the teach
pendant.
Example
TPReadNum reg1, How many units should be produced?;
The text How many units should be produced? is written on the teach pendant
display. Program execution waits until a number has been input from the numeric
keyboard on the teach pendant. That number is stored in reg1.
Arguments
TPReadNum Answer String [\MaxTime] [\DIBreak]
[\BreakFlag]
Answer
Data type: num
The variable for which the number input via the teach pendant is returned.
String
Data type: string
The information text to be written on the teach pendant (a maximum of 80

characters).
[\MaxTime]
Data type: num
The maximum amount of time that program execution waits. If no number is

input within this time, the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME
can be used to test whether or not the maximum time has elapsed.
[\DIBreak]
(Digital Input Break)
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input
when the signal is set to 1 (or is already 1), the program continues to execute in
the error handler unless the BreakFlag is used (see below). The constant
ERR_TP_DIBREAK can be used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if maxtime or dibreak is used. If this
optional variable is omitted, the error handler will be executed.The constants
ERR_TP_MAXTIME and ERR_TP_ DIBREAK can be used to select the
reason.
2-TPReadNum-387
TPReadNum
Instructions
Program execution
The information text is always written on a new line. If the display is full of text, this
body of text is moved up one line first. Strings longer than the width of the teach
pendant (40 characters) are split into two lines.
Program execution waits until a number is typed on the numeric keyboard (followed by
Enter or OK).
Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum
request on Teach Pendant from same or other program tasks.
Example
TPReadNum reg1, How many units should be produced?;
FOR i FROM 1 TO reg1 DO
produce_part;
ENDFOR
The text How many units should be produced? is written on the teach pendant
display. The routine produce_part is then repeated the number of times that is
input via the teach pendant.
Syntax
TPReadNum
[Answer:=] <var or pers (INOUT) of num>,
[\MaxTime := <expression (IN) of num>]
[\DIBreak := <variable (VAR) of signaldi>]
[\BreakFlag := <var or pers (INOUT) of errnum>] ;
Related information
Described in:
the teach pendant
Entering a number on the teach pendant
Production Running
Examples of how to use the arguments

MaxTime, DIBreak and BreakFlag
Instructions - TPReadFK
2-TPReadNum-388
Instructions
TPShow
TPShow
TPShow (Teach Pendant Show) is used to select Teach Pendant Window from RAPID.
Examples
TPShow TP_PROGRAM;
The Production Window will be active if the system is in AUTO mode and the
Program Window will be active if the system is in MAN mode after execution of
this instruction.
TPShow TP_LATEST;
The latest used Teach Pendant Window before the current Teach Pendant
Window will be active after execution of this instruction.
Arguments
TPShow
Window
Window
Data type: tpnum
The window to show:

TP_PROGRAM
= Production Window if in AUTO mode.

Program Window if in MAN mode.
TP_LATEST
= Latest used Teach Pendant Window before current

Teach Pendant Window.
TP_SCREENVIEWER = Screen Viewer Window, if the Screen Viewer

option is active.
Predefined data
CONST tpnum TP_PROGRAM := 1;
CONST tpnum TP_LATEST := 2;
CONST tpnum TP_SCREENVIEWER := 3;
Program execution
The selected Teach Pendant Window will be activated.
2-TPShow-389
TPShow
Instructions
Syntax
TPShow
[Window:=] <expression (IN) of tpnum> ;
Related information
Described in:
Communicating using
the teach pendant
Data Types - tpnum
2-TPShow-390
Instructions
TPWrite
TPWrite
Writes on the teach pendant
TPWrite (Teach Pendant Write) is used to write text on the teach pendant. The value of
certain data can be written as well as text.
Examples
TPWrite "Execution started";
The text Execution started is written on the teach pendant.
TPWrite "No of produced parts="\Num:=reg1;
If, for example, the answer to No of produced parts=5, enter 5 instead of reg1 on
the teach pendant.
Arguments
TPWrite
String
Data type: string
The text string to be written (a maximum of 80 characters).

[\Num]
(Numeric)
Data type: num
The data whose numeric value is to be written after the text string.
[\Bool]
(Boolean)
Data type: bool
The data whose logical value is to be written after the text string.
[\Pos]
(Position)
Data type: pos
The data whose position is to be written after the text string.

[\Orient]
(Orientation)
Data type: orient
The data whose orientation is to be written after the text string.
Program execution
Text written on the teach pendant always begins on a new line. When the display is full
of text, this text is moved up one line first. Strings that are longer than the width of the
teach pendant (40 characters) are divided up into two lines.
2-TPWrite-391
TPWrite
Instructions
If one of the arguments \Num, \Bool, \Pos or \Orient is used, its value is first converted
to a text string before it is added to the first string. The conversion from value to text
string takes place as follows:
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
The value is converted to a string with standard RAPID format. This means in principle
6 significant digits. If the decimal part is less than 0.000005 or greater than 0.999995,
the number is rounded to an integer.
Limitations
The arguments \Num, \Bool, \Pos and \Orient are mutually exclusive and thus cannot
be used simultaneously in the same instruction.
Syntax
TPWrite
[\Num:= <expression (IN) of num> ]
| [\Bool:= <expression (IN) of bool> ]
| [\Pos:= <expression (IN) of pos> ]
| [\Orient:= <expression (IN) of orient> ];
Related information
Described in:
Clearing and reading
the teach pendant
2-TPWrite-392
Instructions
TriggC
TriggC
Circular robot movement with events

TriggC (Trigg Circular) is used to set output signals and/or run interrupt routines at
fixed positions, at the same time as the robot is moving on a circular path.
One or more (max. 4) events can be defined using the instructions TriggIO,
TriggEquip or TriggInt and afterwards these definitions are referred to in the
instruction TriggC.
Examples
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, on;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robots TCP passes the midpoint of
the corner path of the point p1.
Start point p1
TriggC p2, p3, v500,gunon, fine, gun1;
End point p3
Circle point p2
The output signal gun is set to on
when the TCP of the robot is here
Figure 23 Example of fixed-position IO event.
Arguments
TriggC
[\Conc] CirPoint ToPoint Speed [ \T ]

Trigg_1 [ \T2 ] [ \T3 ] [ \T4] Zone Tool [ \WObj ] [ \Corr ]
[ \Conc ]
(Concurrent)
Data type: switch

the cycle time when, for example, communicating with external equipment, and
synchronisation is not required. It can also be used
to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc, the number of movement instructions in
succession is limited to 5. In a program section that includes StorePathRestoPath, movement instructions with the argument \Conc are not permitted.
2-TriggC-393
TriggC
Instructions
zone.
CirPoint
The circle point of the robot. See the instruction MoveC for a more detailed
description of circular movement. The circle point is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggIO, TriggEquip or TriggInt.
[ \T2]
(Trigg 2)
[ \T3 ]
(Trigg 3)
[ \T4 ]
(Trigg 4)
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

2-TriggC-394
Instructions
TriggC
[ \WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot position in the
[ \Corr]
(Correction)
Data type: switch

Program execution
See the instruction MoveC for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to
the end point, the defined trigger activities are carried out. The trigger conditions are
fulfilled either at a certain distance before the end point of the instruction, or at a
certain distance after the start point of the instruction, or at a certain point in time
(limited to a short time) before the end point of the instruction.
During stepping execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.
Examples
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position
0.1 s before the point p2 or p4 respectively.
2-TriggC-395
TriggC
Instructions
Limitations
If the current start point deviates from the usual, so that the total positioning length of
the instruction TriggC is shorter than usual, it may happen that several or all of the
trigger conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program
logic in the user program may not be based on a normal sequence of trigger activities
for an incomplete movement.
The instruction TriggC should never be started from the beginning with the robot in
position after the circle point. Otherwise the robot will not take the programmed path
(positioning around the circular path in another direction compared with that
programmed).
Syntax
TriggC
[\ Conc ,]
[Trigg_1 := ] < variable (VAR) of triggdata >
[ \ T2 := < variable (VAR) of triggdata > ]
[ \ T4 := < variable (VAR) of triggdata > ] ,
[Zone := ] < expression (IN) of zonedata > ,
[ \ Corr ];
2-TriggC-396
Instructions
TriggC
Related information
Described in:
Linear movement with triggers
Instructions - TriggL
Joint movement with triggers
Instructions - TriggJ
Definition of triggers
Instructions - TriggIO, TriggEquip

TriggInt
Circular movement

Program Execution
Definition of tools
Motion in general
Motion Principles
2-TriggC-397
TriggC
2-TriggC-398
Instructions
Instructions
TriggEquip
TriggEquip
Defines a fixed position-time I/O event
TriggEquip (Trigg Equipment) is used to define conditions and actions for setting a
digital, a group of digital, or an analog output signal at a fixed position along the
robots movement path with possibility to do time compensation for the lag in the
external equipment.
The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.
Examples
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 opens in point p2, when the TCP is 10 mm before the point p1. To
reach this, the digital output signal gun is set to the value 1, when TCP is 0.1 s
before the point p2. The gun is full open when TCP reach point p2.
Start point
End point p1
10 mm
Point p2 for open of the gun
Figure 24 Example of fixed position-time I/O event.
Arguments
TriggEquip TriggData Distance [ \Start ] EquipLag
[ \DOp ] | [ \GOp ] | [\AOp ] | [\ProcID ] SetValue [ \Inhib ]
TriggData
Variable for storing the triggdata returned from this instruction. These triggdata
are then used in the subsequent TriggL, TriggC or TriggJ instructions.
Distance
Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the
movement path (applicable if the argument \ Start is not set).
2-TriggEquip-399
TriggEquip
Instructions
See the section entitled Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start
point instead of the end point.
EquipLag
(Equipment Lag)
Data type: num
Specify the lag for the external equipment in s.

For compensation of external equipment lag, use positive argument value.
Positive argument value means that the I/O signal is set by the robot system at
specified time before the TCP physical reach the specified distance in relation to
the movement start or end point.
Negative argument value means that the I/O signal is set by the robot system at
specified time after that the TCP physical has passed the specified distance in
relation to the movement start or end point.
End point
Start point
Distance
\Start
Distance
EquipLag
Figure 25 Use of argument EquipLag.
[ \DOp ]
(Digital OutPut)
Data type: signaldo
The name of the signal, when a digital output signal shall be changed.
[ \GOp ]
(Group OutPut)
Data type: signalgo
The name of the signal, when a group of digital output signals shall be changed.
[ \AOp ]
(Analog Output)
Data type: signalao
The name of the signal, when a analog output signal shall be changed.
[ \ProcID]
(Process Identity)
Data type: num
Not implemented for customer use.

(The identity of the IPM process to receive the event. The selector is specified in
the argument SetValue.)
2-TriggEquip-400
Instructions
TriggEquip
SetValue
Data type: num
Desired value of output signal (within the allowed range for the current signal).
[ \Inhib ]
(Inhibit)
Data type: bool
The name of a persistent variable flag for inhibit the setting of the signal at
runtime.
If this optional argument is used and the actual value of the specified flag is
TRUE at the position-time for setting of the signal then the specified signal
(DOp, GOp or AOp) will be set to 0 in stead of specified value.
Program execution
When running the instruction TriggEquip, the trigger condition is stored in the
specified variable for the argument TriggData.
Afterwards, when one of the instructions TriggL, TriggC or TriggJ is executed, the
following are applicable, with regard to the definitions in TriggEquip:
The distance specified in the argument Distance:
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path

(to obtain adequate accuracy, the distance should
not exceed one half of the arc length).
End point with
corner path
If the Distance is 0, the output signal is

set when the robots TCP is here
Figure 26 Fixed position-time I/O on a corner path.
The position-time related event will be generated when the start point (end point) is
passed, if the specified distance from the end point (start point) is not within the length
of movement of the current instruction (Trigg...). With use of argument EquipLag with
negative time (delay), the I/O signal can be set after the end point.
2-TriggEquip-401
TriggEquip
Instructions
Examples
VAR triggdata glueflow;
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the TCP passes a point
located 1 mm after the start point p1 with compensation for equipment lag 0.05 s.
...
The analog output signal glue is set once more to the value 5.3 when the TCP
passes a point located 1 mm after the start point p2.
Limitations
I/O events with distance (without the argument \Time) is intended for flying points
(corner path). I/O events with distance, using stop points, results in worse accuracy than
specified below.
Regarding the accuracy for I/O events with distance and using flying points, the
following is applicable when setting a digital output at a specified distance from the
start point or end point in the instruction TriggL or TriggC:
- Accuracy specified below is valid for positive EquipLag parameter < 60 ms,
equivalent to the lag in the robot servo (without changing the system parameter
Event Preset Time).
- Accuracy specified below is valid for positive EquipLag parameter <
configured Event Preset Time (system parameter).
- Accuracy specified below is not valid for positive EquipLag parameter >
configured Event Preset Time (system parameter). In this case, an approximate
method is used in which the dynamic limitations of the robot are not taken into
consideration. SingArea \Wrist must be used in order to achieve an acceptable
accuracy.
- Accuracy specified below is valid for negative EquipLag.
I/O events with time (with the argument \Time) is intended for stop points. I/O events
with time, using flying points, results in worse accuracy than specified below.
I/O events with time can only be specified from the end point of the movement. This
time cannot exceed the current braking time of the robot, which is max. approx. 0.5 s
(typical values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If
the specified time is greater that the current braking time, the event will be generated
anyhow, but not until braking is started (later than specified). However, the whole of
the movement time for the current movement can be utilised during small and fast
movements.
2-TriggEquip-402
Instructions
TriggEquip
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggEquip
[ TriggData := ] < variable (VAR) of triggdata> ,
[ Distance := ] < expression (IN) of num>
[ \ Start ] ,
[ EquipLag := ] < expression (IN) of num>
[ \ DOp := < variable (VAR) of signaldo> ]
| [ \ GOp := < variable (VAR) of signalgo> ]
| [ \ AOp := < variable (VAR) of signalao> ]
| [ \ ProcID := < expression (IN) of num> ] ,
[ SetValue := ] < expression (IN) of num>
[ \ Inhibit := < persistent (PERS) of bool> ] ,
Related information
Described in:
Use of triggers
Instructions - TriggL, TriggC, TriggJ
Definition of other triggs
Instruction - TriggIO, TriggInt
More examples
Data Types - triggdata
Set of I/O
Instructions - SetDO, SetGO, SetAO
Configuration of Event preset time
Users guide System Parameters Manipulator
2-TriggEquip-403
TriggEquip
2-TriggEquip-404
Instructions
Instructions
TriggInt
TriggInt
Defines a position related interrupt
TriggInt is used to define conditions and actions for running an interrupt routine at a
position on the robots movement path.
Examples
VAR intnum intno1;
...
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the TCP is at a position 5 mm
before the point p1 or p2 respectively.
Start point
End point p1 or p2
5 mm
The interrupt is generated
when the TCP is here
Figure 27 Example position related interrupt.
Arguments
TriggInt TriggData Distance [ \Start ] | [ \Time ]
Interrupt
TriggData
2-TriggInt-405
TriggInt
Instructions
Distance
Data type: num
Defines the position on the path where the interrupt shall be generated.
movement path (applicable if the argument \ Start or \Time is not set).
[ \Start ]
Data type: switch
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in
seconds (positive value) instead of a distance.
Position related interrupts in time can only be used for short times (< 0.5 s) before
the robot reaches the end point of the instruction. See the section entitled
Limitations for more details.
Interrupt
Data type: intnum
Variable used to identify an interrupt.
Program execution
When running the instruction TriggInt, data is stored in a specified variable for the
argument TriggData and the interrupt that is specified in the variable for the argument
Interrupt is activated.
following are applicable, with regard to the definitions in TriggInt:
2-TriggInt-406
Instructions
TriggInt

Linear movement
Circular movement
Non-linear movement

End point with
corner path
If the Distance is 0, the interrupt will be

generated when the robots TCP is here
Figure 28 Position related interrupt on a corner path.
The position related interrupt will be generated when the start point (end point) is
passed, if the specified distance from the end point (start point) is not within the length
of movement of the current instruction (Trigg...).
Examples
This example describes programming of the instructions that interact to generate
position related interrupts:
VAR intnum intno2;
- Declaration of the variables intno2 and trigg2 (shall not be initiated).
- Allocation of interrupt numbers that are stored in the variable intno2
- The interrupt number is coupled to the interrupt routine trap2
TriggInt trigg2, 0, intno2;
- The interrupt number in the variable intno2 is flagged as used
- The interrupt is activated
- Defined trigger conditions and interrupt number are stored in the variable
trigg2
- The robot is moved to the point p1.
- When the TCP reaches the point p1, an interrupt is generated and the interrupt
routine trap2 is run.
2-TriggInt-407
TriggInt
Instructions
- The robot is moved to the point p2
- When the TCP reaches the point p2, an interrupt is generated and the interrupt
routine trap2 is run once more.
IDelete intno2;
- The interrupt number in the variable intno2 is de-allocated.
Limitations
Interrupt events with distance (without the argument \Time) is intended for flying points
(corner path). Interrupt events with distance, using stop points, results in worse
accuracy than specified below.
Interrupt events with time (with the argument \Time) is intended for stop points.
Interrupt events with time, using flying points, results in worse accuracy than specified
below.
movements.
Typical absolute accuracy values for generation of interrupts +/- 5 ms.
Typical repeat accuracy values for generation of interrupts +/- 2 ms.
Normally there is a delay of 5 to 120 ms between interrupt generation and response,
depending on the type of movement being performed at the time of the interrupt.
(Ref. to Basic Characteristics RAPID - Interrupts).
To obtain the best accuracy when setting an output at a fixed position along the robots
path, use the instructions TriggIO or TriggEquip in preference to the instructions
TriggInt with SetDO/SetGO/SetAO in an interrupt routine.
Syntax
TriggInt
[ \ Start ] | [ \ Time ] ,
[ Interrupt := ] < variable (VAR) of intnum> ;
2-TriggInt-408
Instructions
TriggInt
Related information
Described in:
Use of triggers
Definition of position fix I/O
Instruction - TriggIO, TriggEquip
More examples
Interrupts
2-TriggInt-409
TriggInt
2-TriggInt-410
Instructions
Instructions
TriggIO
TriggIO
Defines a fixed position I/O event
TriggIO is used to define conditions and actions for setting a digital, a group of digital,
or an analog output signal at a fixed position along the robots movement path.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control
system (lag between robot and servo) but not for any lag in the external equipment. For
compensation of both lags use TriggEquip.
Examples
TriggIO gunon, 10 \DOp:=gun, 1;
The digital output signal gun is set to the value 1 when the TCP is 10 mm before
the point p1.
Start point
End point p1
10 mm
The output signal gun is set
when the TCP is here
Arguments
TriggIO TriggData Distance [ \Start ] | [ \Time ]
[ \DOp ] | [ \GOp ] | [\AOp ] | [\ProcID ] SetValue
[ \DODelay ]
TriggData
2-TriggIO-411
TriggIO
Instructions
Distance
Data type: num
Defines the position on the path where the I/O event shall occur.
movement path (applicable if the argument \ Start or \Time is not set).
[ \Start ]
Data type: switch
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in
seconds (positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the
robot reaches the end point of the instruction. See the section entitled Limitations
for more details.
[ \DOp ]
(Digital OutPut)
Data type: signaldo
The name of the signal, when a digital output signal shall be changed.
[ \GOp ]
(Group OutPut)
Data type: signalgo
The name of the signal, when a group of digital output signals shall be changed.
[ \AOp ]
(Analog Output)
Data type: signalao
The name of the signal, when a analog output signal shall be changed.
[ \ProcID]
(Process Identity)
Data type: num
Not implemented for customer use.

(The identity of the IPM process to receive the event. The selector is specified in
the argument SetValue.)
SetValue
Data type: num
Desired value of output signal (within the allowed range for the current signal).
[ \DODelay]
(Digital Output Delay)
Data type: num
Time delay in seconds (positive value) for a digital output signal or group of
digital output signals.
Only used to delay setting digital output signals, after the robot has reached the
specified position. There will be no delay if the argument is omitted.
The delay is not synchronised with the movement.
2-TriggIO-412
Instructions
TriggIO
Program execution
When running the instruction TriggIO, the trigger condition is stored in a specified
variable for the argument TriggData.
following are applicable, with regard to the definitions in TriggIO:
Linear movement
Circular movement
Non-linear movement

End point with
corner path
If the Distance is 0, the output signal is

set when the robots work point is here
Figure 30 Fixed position I/O on a corner path.
The fixed position I/O will be generated when the start point (end point) is passed, if
the specified distance from the end point (start point) is not within the length of
movement of the current instruction (Trigg...).
Examples
VAR triggdata glueflow;
TriggIO glueflow, 1 \Start \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
The analog output signal glue is set to the value 5.3 when the work point passes
a point located 1 mm after the start point p1.
...
The analog output signal glue is set once more to the value 5.3 when the work
point passes a point located 1 mm after the start point p2.
2-TriggIO-413
TriggIO
Instructions
Limitations
I/O events with distance (without the argument \Time) is intended for flying points
(corner path). I/O events with distance, using stop points, results in worse accuracy than
specified below.
I/O events with time (with the argument \Time) is intended for stop points. I/O events
with time, using flying points, results in worse accuracy than specified below.
movements.
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggIO
[ \ Start ] | [ \ Time ]
[ \ DOp := < variable (VAR) of signaldo> ]
| [ \ GOp := < variable (VAR) of signalgo> ]
| [ \ AOp := < variable (VAR) of signalao> ]
| [ \ ProcID := < expression (IN) of num> ] ,
[ SetValue := ] < expression (IN) of num>
[ \ DODelay := < expression (IN) of num> ] ;
Related information
Described in:
Use of triggers
Definition of position-time I/O event
Instruction - TriggEquip
Definition of position related interrupts
Instruction - TriggInt
More examples
Set of I/O
Instructions - SetDO, SetGO, SetAO
2-TriggIO-414
Instructions
TriggJ
TriggJ
Axis-wise robot movements with events

TriggJ (Trigg Joint) is used to set output signals and/or run interrupt routines at fixed
positions, at the same time as the robot is moving on a circular path.
One or more (max. 4) events can be defined using the instructions TriggIO, TriggEquip
or TriggInt and afterwards these definitions are referred to in the instruction TriggJ.
Examples
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
Start point p1
TriggJ p2, v500,gunon, fine, gun1;
End point p2

when the robots TCP is here
Arguments
TriggJ
[\Conc] ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]

Zone Tool [ \WObj ]
[ \Conc ]
(Concurrent)
Data type: switch

failure or error 40082 Deceleration limit.
2-TriggJ-415
TriggJ
Instructions
zone .
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Trigg_1
[ \T2]
(Trigg 2)
[ \T3 ]
(Trigg 3)
[ \T4 ]
(Trigg 4)
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
is related.
2-TriggJ-416
Instructions
TriggJ
coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used, this argument must be specified for a linear movement relative
to the work object to be performed.
Program execution
See the instruction MoveJ for information about joint movement.
fulfilled either at a certain distance before the end point of the instruction, or at a certain distance after the start point of the instruction, or at a certain point in time (limited
to a short time) before the end point of the instruction.
are carried out.
Examples
VAR intnum intno1;
...
TriggInt trigg1, 0.1 \Time , intno1;
...
TriggJ p1, v500, trigg1, fine, gun1;
TriggJ p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
Limitations
If the current start point deviates from the usual, so that the total positioning length of
the instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot
position at the end point), it may happen that several or all of the trigger conditions are
fulfilled immediately and at the same position. In such cases, the sequence in which
the trigger activities are carried will be undefined. The program logic in the user program may not be based on a normal sequences of trigger activities for an incomplete
movement.
2-TriggJ-417
TriggJ
Instructions
Syntax
TriggJ
[\ Conc ,]
Related information
Described in:
Linear movement with triggs
Instructions - TriggL
Circular movement with triggers
Instructions - TriggC
Instructions - TriggIO, TriggEquip or

TriggInt
Joint movement

Program Execution
Definition of tools
Motion in general
Motion Principles
2-TriggJ-418
Instructions
TriggL
TriggL
Linear robot movements with events

TriggL (Trigg Linear) is used to set output signals and/or run interrupt routines at fixed
positions, at the same time as the robot is making a linear movement.
One or more (max. 4) events can be defined using the instructions TriggIO,
TriggEquip or TriggInt and afterwards these definitions are referred to in the
instruction TriggL.
Examples
MoveJ p1, v500, z50, gun1;
TriggL p2, v500, gunon, fine, gun1;
Start point p1
TriggL p2, v500, gunon, fine, gun1;
End point p2

when the robots TCP is here
Arguments
TriggL [\Conc] ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ] [ \Corr ]
[ \Conc ]
(Concurrent)
Data type: switch

failure or error 40082 Deceleration limit.
is limited to 5. In a program section that includes StorePath-RestoPath,
movement instructions with the argument \Conc are not permitted.
2-TriggL-419
TriggL
Instructions
zone.
ToPoint
Speed
[ \T ]
(Time)
Data type: num
Trigg_1
[ \T2]
(Trigg 2)
[ \T3 ]
(Trigg 3)
[ \T4 ]
(Trigg 4)
Zone
Data type: zonedata

path.
Tool
Data type: tooldata

[ \WObj]
(Work Object)
Data type: wobjdata
is related.
2-TriggL-420
Instructions
TriggL
[ \Corr]
(Correction)
Data type: switch

Program execution
See the instruction MoveL for information about linear movement.
fulfilled either at a certain distance before the end point of the instruction, or at a
certain distance after the start point of the instruction, or at a certain point in time
(limited to a short time) before the end point of the instruction.
are carried out.
Examples
VAR intnum intno1;
...
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggL p1, v500, trigg1, fine, gun1;
TriggL p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
Limitations
If the current start point deviates from the usual, so that the total positioning length of the
instruction TriggL is shorter than usual (e.g. at the start of TriggL with the robot position
at the end point), it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried out will be undefined. The program logic in the user program may
not be based on a normal sequence of trigger activities for an incomplete movement.
2-TriggL-421
TriggL
Instructions
Syntax
TriggL
[\ Conc ,]
[ \ Corr ];
Related information
Described in:
Circular movement with triggers
Instructions - TriggC
Joint movement with triggers
Instructions - TriggJ
Instructions - TriggIO, TriggEquip or

TriggInt
Linear movement

Program Execution
Definition of tools
Motion in general
Motion Principles
2-TriggL-422
Instructions
TRYNEXT
TRYNEXT
Jumps over an instruction

which has caused an error
TRYNEXT is used to jump over an instruction which has caused an error. Instead, the
next instruction is run.
Example
reg2 := reg3/reg4;
.
ERROR
reg2:=0;
TRYNEXT;
ENDIF
An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero),
a jump is made to the error handler, where reg2 is set to 0. The TRYNEXT instruction is then used to continue with the next instruction.
Program execution
Program execution continues with the instruction subsequent to the instruction that
caused the error.
Limitations
The instruction can only exist in a routines error handler.
Syntax
TRYNEXT;
Related information
Described in:
Error handlers
Basic CharacteristicsError Recovery
2-TRYNEXT-423
TRYNEXT
2-TRYNEXT-424
Instructions
Instructions
TuneReset
TuneReset
Resetting servo tuning
TuneReset is used to reset the dynamic behaviour of all robot axes and external
mechanical units to their normal values.
Example
TuneReset;
Resetting tuning values for all axes to 100%.
Program execution
The tuning values for all axes are reset to 100%.
The default servo tuning values for all axes are automatically set by executing
instruction TuneReset
Syntax
TuneReset ;
Related information
Described in:
Tuning servos
Instructions - TuneServo
2-TuneReset-425
TuneReset
2-TuneReset-426
Instructions
Instructions
TuneServo
TuneServo
Tuning servos
TuneServo is used to tune the dynamic behaviour of separate axes on the robot. It is not
necessary to use TuneServo under normal circumstances, but sometimes tuning can be
optimised depending on the robot configuration and the load characteristics. For
external axes TuneServo can be used for load adaptation.
Incorrect use of the TuneServo can cause oscillating movements or torques that
can damage the robot. You must bear this in mind and be careful when using the
TuneServo.
Avoid doing TuneServo commands at the same time as the robot is moving. It can
result in momentary high CPU loads causing error indication and stops.
Note. To obtain optimal tuning it is essential that the correct load data is used.
Check on this before using TuneServo.
Generally, optimal tuning values often differ between different robots. Optimal tuning
may also change with time.
Improving path accuracy
For robots running at lower speeds, TuneServo can be used to improve the path
accuracy by:
- Tuning tune_kv and tune_ti (see the tune types description below).
- Tuning friction compensation parameters (see below).
These two methods can be combined.
Other possibilities to improve the path accuracy:
- Decreasing path resolution can improve the path. Note: a value of path
resolution which is too low will cause CPU load problems.
- The accuracy of straight lines can be improved by decreasing acceleration using
AccSet. Example: AccSet 20, 10.
2-TuneServo-427
TuneServo
Instructions
Description
Tune_df
Tune_df is used for reducing overshoots or oscillations along the path.
There is always an optimum tuning value that can vary depending on position and
movement length. This optimum value can be found by changing the tuning in small
steps (1 - 2%) on the axes that are involved in this unwanted behaviour. Normally the
optimal tuning will be found in the range 70% - 130%. Too low or too high tuning
values have a negative effect and will impair movements considerably.
When the tuning value at the start point of a long movement differs considerably from
the tuning value at the end point, it can be advantageous in some cases to use an
intermediate point with a corner zone to define where the tuning value will change.
Some examples of the use of TuneServo to optimise tuning follow below:
IRB 6400, in a press service application (extended and flexible load), axes 4 - 6:
Reduce the tuning value for the current wrist axis until the movement is acceptable. A
change in the movement will not be noticeable until the optimum value is approached.
A low value will impair the movement considerably. Typical tuning value 25%.
IRB 6400, upper parts of working area. Axis 1 can often be optimised with a tuning
value of 85% - 95%.
IRB 6400, short movement (< 80 mm). Axis 1 can often be optimised with a tuning
value of 94% - 98%.
IRB 2400, with track motion. In some cases axes 2 - 3 can be optimised with a tuning
value of 110% - 130%. The movement along the track can require a different tuning
value compared with movement at right angles to the track.
Overshoots and oscillations can be reduced by decreasing the acceleration or the
acceleration ramp (AccSet), which will however increase the cycle time. This is an
alternative method to the use of TuneServo.
Tune_dg
Tune_dg can reduce overshoots on rare occasions. Normally it should not be used.
Tune_df should always be tried first in cases of overshoots.
Tuning of tune_dg can be performed with large steps in tune value (eg. 50%, 100%,
200%, 400%).
Never use tune_dg when the robot is moving.
2-TuneServo-428
Instructions
TuneServo
Tune_dh
Tune_dh can be used for reducing vibrations and overshoots (eg. large flexible load).
Tune value must always be lower than 100. Tune_dh increases path deviation and
normally also increases cycle time.
Example:
IRB6400 with large flexible load which vibrates when the robot has stopped. Use
tune_dh with tune value 15.
Tune_dh should only be executed for one axis. All axes in the same mechanical
unit automatically get the same tune_value.
Never use tune_dh when the robot is moving.
Tune_di
Tune_di can be used for reducing path deviation at high speeds.
A tune value in the range 50 - 80 is recommended for reducing path deviation.
Overshoots can increase (lower tune value means larger overshoot).
A higher tune value than 100 can reduce overshoot (but increases path deviation at high
speed).
Tune_di should only be executed for one axis. All axes in the same mechanical unit
automatically get the same tune_value.
Tune_dk
For future use.
Tune_kp, tune_kv, tune_ti external axes
These tune types affect position control gain (kp), speed control gain (kv) and speed
control integration time (ti) for external axes. These are used for adapting external axes
to different load inertias. Basic tuning of external axes can also be simplified by using
these tune types.
Tune_kp, tune_kv, tune_ti robot axes
For robot axes, these tune types have another significance and can be used for reducing
path errors at low speeds (< 500 mm/s).
Recommended values: tune_kv 100 - 180%, tune_ti 50 - 100%. Tune_kp should not be
used for robot axes. Values of tune_kv/tune_ti which are too high or too low will cause
vibrations or oscillations. Be careful if trying to exceed these recommended values.
Make changes in small steps and avoid oscillating motors.
2-TuneServo-429
TuneServo
Instructions
Always tune one axis at a time. Change the tuning values in small steps. Try to
improve the path where this specific axis changes its direction of movement or where
it accelerates or deccelerates.
Never use these tune types at high speeds or when the required path accuracy is fulfilled.
Friction compensation: tune_fric_lev and tune_fric_ramp
These tune types can be used to reduce robot path errors caused by friction and backlash
at low speeds (10 - 200 mm/s). These path errors appear when a robot axis changes
direction of movement. Activate friction compensation for an axis by setting the system
parameter Friction ffw on to TRUE (topic: Manipulator, type: Control parameters).
The friction model is a constant level with opposite sign of the axis speed direction.
Friction ffw level (Nm) is the absolute friction level at (low) speeds and is greater than
Friction ffw ramp (rad/s) (see figure).
Low speed motor friction (Nm)

Friction ffw level (Nm)
Friction ffw ramp (rad/s)
Axis motor speed (rad/s)
Figure 33 Friction model
Tune_fric_lev overrides the value of the system parameter Friction ffw level.
Tuning Friction ffw level (using tune_fric_lev) for each robot axis can improve the
robots path accuracy considerably in the speed range 20 - 100 mm/s. For larger robots
(especially the IRB6400 family) the effect will however be minimal as other sources of
tracking errors dominate these robots.
Tune_fric_ramp overrides the value of the system parameter Friction ffw ramp. In most
cases there is no need to tune the Friction ffw ramp. The default setting will be
appropriate.
Tune one axis at a time. Change the tuning value in small steps and find the level that
minimises the robot path error at positions on the path where this specific axis changes
direction of movement. Repeat the same procedure for the next axis etc.
The final tuning values can be transferred to the system parameters. Example:
Friction ffw level = 1. Final tune value (tune_fric_lev) = 150%.
Set Friction ffw level = 1.5 and tune value = 100% (default value) which is
equivalent.
2-TuneServo-430
Instructions
TuneServo
Arguments
TuneServo MecUnit Axis TuneValue [\Type]
MecUnit
(Mechanical Unit)
Data type: mecunit
The name of the mechanical unit.

Axis
Data type: num

The number of the current axis for the mechanical unit (1 - 6).
TuneValue
Data type: num
Tuning value in percent (1 - 500). 100% is the normal value.

[\Type]
Data type: tunetype
Type of servo tuning. Available types are TUNE_DF, TUNE_KP, TUNE_KV,

TUNE_TI, TUNE_FRIC_LEV, TUNE_FRIC_RAMP, TUNE_DG, TUNE_DH,
TUNE_DI and TUNE_DK. These types are predefined in the system with
constants.
This argument can be omitted when using tuning type TUNE_DF.
Example
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
Activating of tuning type TUNE_KP with the tuning value 110% on axis 1 in the
mechanical unit MHA160R1.
Program execution
The specified tuning type and tuning value are activated for the specified axis. This
value is applicable for all movements until a new value is programmed for the current
axis, or until the tuning types and values for all axes are reset using the instruction
TuneReset.
The default servo tuning values for all axes are automatically set by executing
instruction TuneReset
2-TuneServo-431
TuneServo
Instructions
Limitations
Any active servo tuning are always set to default values at power fail.
This limitation can be handled in the user program at restart after power failure.
Syntax
TuneServo
[MecUnit := ] < variable (VAR) of mecunit> ,
[TuneValue := ] < expression (IN) of num>
[\ Type := <expression (IN) of tunetype>];
Related information
Described in:
Other motion settings
Summary Rapid - Motion Settings
Types of servo tuning
Data Types - tunetype
Reset of all servo tunings
Instructions - TuneReset
Tuning of external axes
System parameters - Manipulator
Friction compensation
System parameters - Manipulator
2-TuneServo-432
Instructions
UnLoad
UnLoad
UnLoad a program module during execution
UnLoad is used to unload a program module from the program memory during execution.
The program module must previously have been loaded into the program memory
using the instruction Load or StartLoad - WaitLoad.
Example
UnLoad ram1disk \File:="PART_A.MOD";
UnLoad the program module PART_A.MOD from the program memory, that
previously was loaded into the program memory with Load. (See instructions
Load). (ram1disk is a predefined string constant "ram1disk:").
Arguments
UnLoad [\Save] FilePath [\File]
[\Save]
Data type: switch
If this argument is used, the program module is saved before the unloading starts.
The program module will be saved at the original place specified in the Load or
StartLoad instruction.
FilePath
Data type: string
The file path and the file name to the file that will be unloaded from the program
memory. The file path and the file name must be the same as in the previously
executed Load or StartLoad instruction. The file name shall be excluded when
the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath, then it must be defined
with this argument. The file name must be the same as in the previously executed
Load or StartLoad instruction.
Program execution
To be able to execute an UnLoad instruction in the program, a Load or StartLoad WaitLoad instruction with the same file path and name must have been executed earlier
in the program.
2-UnLoad-433
UnLoad
Instructions
The program execution waits for the program module to finish unloading before the
execution proceeds with the next instruction.
After that the program module is unloaded and the rest of the program modules will be
linked.
For more information see the instructions Load or StartLoad-Waitload.
Examples
UnLoad "ram1disk:DOORDIR/DOOR1.MOD";
UnLoad the program module DOOR1.MOD from the program memory, that previously was loaded into the program memory with Load. (See instructions
Load).
UnLoad "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
Unload \Save, "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
Same as above but save the program module before unloading.
Limitations
It is not allowed to unload a program module that is executing.
TRAP routines, system I/O events and other program tasks cannot execute during the
unloading.
Avoid ongoing robot movements during the unloading.
Program stop during execution of UnLoad instruction results in guard stop with motors
off and error message "20025 Stop order timeout" on the Teach Pendant.
Error handling
If the file in the UnLoad instruction cannot be unloaded because of ongoing execution
within the module or wrong path (module not loaded with Load or StartLoad), the system variable ERRNO is set to ERR_UNLOAD. This error can then be handled in the
error handler.
2-UnLoad-434
Instructions
UnLoad
Syntax
UnLoad
[\Save ,]
[FilePath:=]<expression (IN) of string>
[\File:= <expression (IN) of string>];
Related information
Described in:
Instructions - Load
Instructions - StartLoad-WaitLoad
Accept unresolved references
System Parameters - Controller

System Parameters - Tasks
System Parameters - BindRef
2-UnLoad-435
UnLoad
2-UnLoad-436
Instructions
Instructions
WaitDI
WaitDI
Waits until a digital input signal is set
WaitDI (Wait Digital Input) is used to wait until a digital input is set.
Example
WaitDI di4, 1;
Program execution continues only after the di4 input has been set.
WaitDI grip_status, 0;
Program execution continues only after the grip_status input has been reset.
Arguments
WaitDI
Signal
Data type: signaldi
The name of the signal.

Value
Data type: dionum

[\MaxTime]
(Maximum Time)
Data type: num

time runs out before the condition is met, the error handler will be called, if there
is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler,
the execution will be stopped.
[\TimeFlag]
(Timeout Flag)
Data type: bool
The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before the condition is met. If this parameter is included in
the instruction, it is not considered to be an error if the max. time runs out.
This argument is ignored if the MaxTime argument is not included in the instruction.
Program Running
If the value of the signal is correct, when the instruction is executed, the program simply continues with the following instruction.
2-WaitDI-437
WaitDI
Instructions
If the signal value is not correct, the robot enters a waiting state and when the signal
changes to the correct value, the program continues. The change is detected with an
interrupt, which gives a fast response (not polled).
When the robot is waiting, the time is supervised, and if it exceeds the max time value,
the program will continue if a Time Flag is specified, or raise an error if its not. If a
Time Flag is specified, this will be set to true if the time is exceeded, otherwise it will
be set to false.
Syntax
WaitDI
[ Signal := ] < variable (VAR) of signaldi > ,
[ Value := ] < expression (IN) of dionum >
[\MaxTime :=<expression (IN) of num>]
[\TimeFlag:=<variable (VAR) of bool>] ;
Related information
Described in:
Waiting until a condition is satisfied
Instructions - WaitUntil
Waiting for a specified period of time
Instructions - WaitTime
2-WaitDI-438
Instructions
WaitDO
WaitDO
Waits until a digital output signal is set
WaitDO (Wait Digital Output) is used to wait until a digital output is set.
Example
WaitDO do4, 1;
Program execution continues only after the do4 output has been set.
WaitDO grip_status, 0;
Program execution continues only after the grip_status output has been reset.
Arguments
WaitDO
Signal
Data type: signaldo
The name of the signal.

Value
Data type: dionum

[\MaxTime]
(Maximum Time)
Data type: num

time runs out before the condition is met, the error handler will be called, if there
[\TimeFlag]
(Timeout Flag)
Data type: bool
the instruction, it is not considered to be an error if the max. time runs out.
This argument is ignored if the MaxTime argument is not included in the instruction.
Program Running
If the value of the signal is correct, when the instruction is executed, the program simply continues with the following instruction.
2-WaitDO-439
WaitDO
Instructions
If the signal value is not correct, the robot enters a waiting state and when the signal
changes to the correct value, the program continues. The change is detected with an
interrupt, which gives a fast response (not polled).
the program will continue if a Time Flag is specified, or raise an error if its not. If a
Time Flag is specified, this will be set to true if the time is exceeded, otherwise it will
be set to false.
Syntax
WaitDO
[ Value := ] < expression (IN) of dionum >
Related information
Described in:
Waiting until a condition is satisfied
Waiting for a specified period of time
2-WaitDO-440
Instructions
WaitLoad
WaitLoad
WaitLoad is used to connect the module, if loaded with StartLoad, to the program task.
The loaded module must be connected to the program task with the instruction WaitLoad before any of its symbol/routines can be used.
The loaded program module will be added to the modules already existing in the program memory.
This instruction can also be combined with the function to unload some other program
module, in order to minimise the number of links (1 instead of 2).
Example
VAR loadsession load1;
...
StartLoad "ram1disk:PART_A.MOD", load1;
MoveL p10, v1000, z50, tool1 \WObj:=wobj1;
WaitLoad load1;
%"routine_x"%;
UnLoad "ram1disk:PART_A.MOD";
Load the program module PART_A.MOD from the ram1disk into the program
memory. In parallel, move the robot. Then connect the new program module to
the program task and call the routine routine_x in the module PART_A.
Arguments
WaitLoad [\UnloadPath] [\UnloadFile] LoadNo
[\UnloadPath]
Data type: string
The file path and the file name to the file that will be unloaded from the program
memory. The file name should be excluded when the argument \UnloadFile is
used.
2-WaitLoad-441
WaitLoad
Instructions
[\UnloadFile]
Data type: string
When the file name is excluded in the argument \UnloadPath, then it must be
defined with this argument.
LoadNo
Data type: loadsession
This is a reference to the load session, fetched by the instruction StartLoad, to

connect the loaded program module to the program task.
Program execution
The instruction WaitLoad will first wait for the loading to be completed, if it is not
already done, and then it will be linked and initialised. The initialisation of the loaded
module sets all variables at module level to their init values.
Unsolved references will be accepted, if the system parameter for Tasks/BindRef is set
to NO. However, when the program is started or the teach pendant function Program
Window/File/Check Program is used, no check for unsolved references will be done if
BindRef = NO. There will be a run time error on execution of an unsolved reference.
Another way to use references to instructions, that are not in the task from the beginning, is to use Late Binding. This makes it possible to specify the routine to call with a
string expression, quoted between two %%. In this case the BindRef parameter could
be set to YES (default behaviour). The Late Binding way is preferable.
and unloading of program modules should be done from the main module, which is
Examples
StartLoad "ram1disk:DOORDIR/DOOR2.MOD", load1;
...
WaitLoad \UnloadPath:="ram1disk:DOORDIR/DOOR1.MOD", load1;
Load the program module DOOR2.MOD from the ram1disk at the directory
DOORDIR into the program memory and connect the new module to the task.
The program module DOOR1.MOD will be unloaded from the program memory.
StartLoad "ram1disk:" \File:="DOORDIR/DOOR2.MOD", load1;
! The robot can do some other work
WaitLoad \UnloadPath:="ram1disk:" \File:= "DOORDIR/DOOR1.MOD", load1;
is the same as the instructions below but the robot can do some other work during
the loading time and also do it faster (only one link).
Load "ram1disk:" \File:="DOORDIR/DOOR2.MOD";
UnLoad "ram1disk:" \File:="DOORDIR/DOOR1.MOD";
2-WaitLoad-442
Instructions
WaitLoad
Error handling
If the file specified in the StartLoad instruction cannot be found, the system variable
ERRNO is set to ERR_FILNOTFND at execution of WaitLoad.
If argument LoadNo refers to an unknown load session, the system variable ERRNO
is set to ERR_UNKPROC.
If the module is already loaded into the program memory, the system variable ERRNO
is set to ERR_LOADED.
The following errors can only occur when the argument \UnloadPath is used in the
instruction WaitLoad:
- If the program module specified in the argument \UnloadPath cannot be
unloaded because of ongoing execution within the module, the system variable
ERRNO is set to ERR_UNLOAD.
- If the program module specified in the argument \UnloadPath cannot be
unloaded because the program module is not loaded with Load or StartLoadWaitLoad from the RAPID program, the system variable ERRNO is also set to
ERR_UNLOAD.
These errors can then be handled in the error handler.
Syntax
WaitLoad
[ [ \ UnloadPath := <expression (IN) of string> ]
[ \ UnloadFile := <expression (IN) of string> ] , ]
[ LoadNo := ] <variable (VAR) of loadsession> ;
Related information
Instructions - StartLoad
Load session
Data Types - loadsession
Instructions - Load
Accept unsolved references
System Parameters - Controller/Task/

BindRef
2-WaitLoad-443
WaitLoad
2-WaitLoad-444
Instructions
Instructions
VelSet
VelSet
Changes the programmed velocity

VelSet is used to increase or decrease the programmed velocity of all subsequent positioning instructions. This instruction is also used to maximize the velocity.
Example
VelSet 50, 800;
All the programmed velocities are decreased to 50% of the value in the instruction. The TCP velocity is not, however, permitted to exceed 800 mm/s.
Arguments
VelSet
Override Max
Override
Data type: num
Desired velocity as a percentage of programmed velocity. 100% corresponds to

the programmed velocity.
Max
Data type: num

Maximum TCP velocity in mm/s.
Program execution
The programmed velocity of all subsequent positioning instructions is affected until a
new VelSet instruction is executed.
The argument Override affects:
- All velocity components (TCP, orientation, rotating and linear external axes) in
speeddata.
- The programmed velocity override in the positioning instruction (the
argument \V).
- Timed movements.
The argument Override does not affect:
- The welding speed in welddata.
- The heating and filling speed in seamdata.
The argument Max only affects the velocity of the TCP.
2-VelSet-445
VelSet
Instructions
The default values for Override and Max are 100% and 5000 mm/s respectively. These
values are automatically set
Example
VelSet 50, 800;
MoveL p3, v1000\T:=5, z10, tool1;
The speed is 500 mm/s to point p1 and 800 mm/s to p2. It takes 10 seconds to
move from p2 to p3.
Limitations
The maximum speed is not taken into consideration when the time is specified in the
positioning instruction.
Syntax
VelSet
[ Override := ] < expression (IN) of num > ,
[ Max := ] < expression (IN) of num > ;
Related information
Described in:
2-VelSet-446
Instructions
WHILE
WHILE
Repeats as long as ...
WHILE is used when a number of instructions are to be repeated as long as a given condition is met.
If it is possible to determine the number of repetitions in advance, the FOR instruction
can be used.
Example
WHILE reg1 < reg2 DO
...
reg1 := reg1 +1;
ENDWHILE
Repeats the instructions in the WHILE loop as long as reg1 < reg2.
Arguments
WHILE
Condition DO ... ENDWHILE
Condition
Data type: bool
The condition that must be met for the instructions in the WHILE loop to be executed.
Program execution
7. The condition is calculated. If the condition is not met, the WHILE loop terminates
and program execution continues with the instruction following ENDWHILE.
8. The instructions in the WHILE loop are executed.
9. The WHILE loop is repeated, starting from point 1.
Syntax
(EBNF)
WHILE <conditional expression> DO
<instruction list>
ENDWHILE
2-WHILE-447
WHILE
Instructions
Related information
Described in:
Expressions
2-WHILE-448
Instructions
Write
Write
Writes to a character-based file or serial channel

Write is used to write to a character-based file or serial channel. The value of certain
data can be written as well as text.
Examples
Write logfile, "Execution started";
The text Execution started is written to the file with reference name logfile.
Write logfile, "No of produced parts="\Num:=reg1;
The text No of produced parts=5, for example, is written to the file with the
reference name logfile (assuming that the contents of reg1 is 5).
Arguments
Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient]
[\NoNewLine]
IODevice
Data type: iodev
The name (reference) of the current file or serial channel.

String
Data type: string
The text to be written.

[\Num]
(Numeric)
Data type: num
The data whose numeric values are to be written after the text string.
[\Bool]
(Boolean)
Data type: bool
The data whose logical values are to be written after the text string.
[\Pos]
(Position)
Data type: pos
The data whose position is to be written after the text string.

[\Orient]
(Orientation)
Data type: orient
The data whose orientation is to be written after the text string.

[\NoNewLine]
Data type: switch
Omits the line-feed character that normally indicates the end of the text.
2-Write-449
Write
Instructions
Program execution
The text string is written to a specified file or serial channel. If the argument
\NoNewLine is not used, a line-feed character (LF) is also written.
If one of the arguments \Num, \Bool, \Pos or \Orient is used, its value is first converted
to a text string before being added to the first string. The conversion from value to text
string takes place as follows:
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
Example
VAR iodev printer;
.
Open "sio1:", printer\Write;
WHILE DInput(stopprod)=0 DO
produce_part;
Write printer, "Produced part="\Num:=reg1\NoNewLine;
Write printer, "
"\NoNewLine;
Write printer, CTime();
ENDWHILE
Close printer;
A line, including the number of the produced part and the time, is output to a
printer each cycle. The printer is connected to serial channel sio1:. The printed
message could look like this:
Produced part=473
09:47:15
Limitations
The arguments \Num, \Bool, \Pos and \Orient are mutually exclusive and thus cannot
be used simultaneously in the same instruction.
This instruction can only be used for files or serial channels that have been opened for
writing.
2-Write-450
Instructions
Write
Error handling
If an error occurs during writing, the system variable ERRNO is set to
Syntax
Write
[\Num:= <expression (IN) of num> ]
| [\Bool:= <expression (IN) of bool> ]
| [\Pos:= <expression (IN) of pos> ]
| [\Orient:= <expression (IN) of orient> ]
[\NoNewLine];
Related information
Described in:
Opening a file or serial channel
2-Write-451
Write
2-Write-452
Instructions
Instructions
WriteBin
WriteBin
Writes to a binary serial channel
WriteBin is used to write a number of bytes to a binary serial channel.
Example
WriteBin channel2, text_buffer, 10;
10 characters from the text_buffer list are written to the channel referred to by
channel2.
Arguments
WriteBin
IODevice Buffer NChar
IODevice
Data type: iodev
Name (reference) of the current serial channel.

Buffer
Data type: array of num
The list (array) containing the numbers (characters) to be written.

NChar
(Number of Characters)
Data type: num
The number of characters to be written from the Buffer.
Program execution
The specified number of numbers (characters) in the list is written to the serial channel.
Limitations
This instruction can only be used for serial channels that have been opened for binary
reading and writing.
Error handling
2-WriteBin-453
WriteBin
Instructions
Example
VAR iodev channel;
VAR num out_buffer{20};
VAR num input;
VAR num nchar;
out_buffer{1} := 5;
WriteBin channel, out_buffer, 1;
( enq )
IF input = 6 THEN
out_buffer{1} := 2;
out_buffer{2} := 72;
out_buffer{8} := StrToByte("w"\Char);
out_buffer{9} := StrToByte("o"\Char);
out_buffer{10} := StrToByte("r"\Char);
out_buffer{11} := StrToByte("l"\Char);
out_buffer{12} := StrToByte("d"\Char);
WriteBin channel, out_buffer, 13;
ENDIF
( ack )
( stx )
( H )
( e )
( l )
( l )
( o )
()
( w )
( o )
( r )
( l )
( d )
( etx )
The text string Hello world (with associated control characters) is written to a
serial channel. The function StrToByte is used in the same cases to convert a
string into a byte (num) data.
Syntax
WriteBin
[Buffer:=] <array {*} (IN) of num>,
[NChar:=] <expression (IN) of num>;
2-WriteBin-454
Instructions
WriteBin
Related information
Described in:
Convert a string to a byte data
Functions - StrToByte
Byte data
Data Types - byte
2-WriteBin-455
WriteBin
2-WriteBin-456
Instructions
Instructions
WriteAnyBin
WriteAnyBin
Writes data to a binary

WriteAnyBin (Write Any Binary) is used to write any type of data to a binary serial
channel or file.
Example
VAR iodev channel2;
VAR orient quat1 := [1, 0, 0, 0];
...
WriteAnyBin channel2, quat1;
The orient data quat1 is written to the channel referred to by channel2.
Arguments
WriteAnyBin
IODevice Data
IODevice
Data type: iodev
The name (reference) of the binary serial channel

or file for the writing operation.
Data
Data type: ANYTYPE

The VAR or PERS containing the data to be written.
Program execution
As many bytes as required for the specified data are written to the specified binary
serial channel or file.
Limitations
binary writing.
The data to be written by this instruction must have a value data type of atomic, string,
or record data type. Semi-value and non-value data types cannot be used.
Array data cannot be used.
2-WriteAnyBin-457
WriteAnyBin
Instructions
Error handling
If an error occurs during writing, the system variable ERRNO is set to ERR_FILEACC.
This error can then be handled in the error handler.
Example
VAR iodev channel;
VAR num input;
VAR robtarget cur_robt;
! Send the control character enq
WriteStrBin channel, "\05";
! Wait for the control character ack
IF input = 6 THEN
! Send current robot position
cur_robt := CRobT(\Tool:= tool1\WObj:= wobj1);
WriteAnyBin channel, cur_robt;
ENDIF
Close channel;
The current position of the robot is written to a binary serial channel.
Syntax
WriteAnyBin
[Data:=] <var or pers (INOUT) of ANYTYPE>;
Related information
Described in:
or files
Read data from a binary serial channel

or file
Functions - ReadAnyBin
2-WriteAnyBin-458
Instructions
WriteStrBin
WriteStrBin Writes a string to a binary serial channel

WriteStrBin (Write String Binary) is used to write a string to a binary serial channel or
binary file.
Example
WriteStrBin channel2, "Hello World\0A";
The string "Hello World\0A" is written to the channel referred to by channel2.
The string is in this case ended with new line \0A. All characters and hexadecimal values written with WriteStrBin will be unchanged by the system.
Arguments
WriteStrBin
IODevice Str
IODevice
Data type: iodev
Name (reference) of the current serial channel.

Str
(String)
Data type: string
The text to be written.
Program execution
The text string is written to the specified serial channel or file.
Limitations
binary reading and writing.
Error handling
2-WriteStrBin-459
WriteStrBin
Instructions
Example
VAR iodev channel;
VAR num input;
! Send the control character enq
WriteStrBin channel, "\05";
! Wait for the control character ack
IF input = 6 THEN
! Send a text starting with control character stx and ending with etx
WriteStrBin channel, "\02Hello world\03";
ENDIF
Close channel;
The text string Hello world (with associated control characters in hexadecimal)
is written to a binary serial channel.
Syntax
WriteStrBin
[Str:=] <expression (IN) of string>;
Related information
Described in:
2-WriteStrBin-460
Instructions
WaitTime
WaitTime
Waits a given amount of time
WaitTime is used to wait a given amount of time. This instruction can also be used to
wait until the robot and external axes have come to a standstill.
Example
WaitTime 0.5;
Program execution waits 0.5 seconds.
Arguments
WaitTime
[\InPos] Time
[\InPos]
Data type: switch
If this argument is used, the robot and external axes must have come to a
standstill before the waiting time starts to be counted.
Time
Data type: num

The time, expressed in seconds, that program execution is to wait.
Program execution
Program execution temporarily stops for the given amount of time. Interrupt handling
and other similar functions, nevertheless, are still active.
Example
WaitTime \InPos,0;
Program execution waits until the robot and the external axes have come to a
standstill.
Limitations
If the argument \Inpos is used, the movement instruction which precedes this
instruction should be terminated with a stop point, in order to be able to restart in this
instruction following a power failure.
Argument \Inpos cannot be used together with SoftServo.
2-WaitTime-461
WaitTime
Instructions
Syntax
WaitTime
[\InPos,]
[Time :=] <expression (IN) of num>;
Related information
Described in:
Waiting until a condition is met
Waiting until an I/O is set/reset
Instruction - WaitDI
2-WaitTime-462
Instructions
WaitUntil
WaitUntil
Waits until a condition is met
WaitUntil is used to wait until a logical condition is met; for example, it can wait until
one or several inputs have been set.
Example
WaitUntil di4 = 1;
Program execution continues only after the di4 input has been set.
Arguments
WaitUntil
[\InPos] Cond [\MaxTime] [\TimeFlag]
[\InPos]
Data type: switch
If this argument is used, the robot and external axes must have stopped moving
before the condition starts being evaluated.
Cond
Data type: bool

The logical expression that is to be waited for.
[\MaxTime]
Data type: num

time runs out before the condition is set, the error handler will be called, if there
[\TimeFlag]
(Timeout Flag)
Data type: bool
the instruction, it is not considered to be an error if the max. time runs out. This
argument is ignored if the MaxTime argument is not included in the instruction.
Program execution
If the programmed condition is not met on execution of a WaitUntil instruction, the
condition is checked again every 100 ms.
the program will continue if a TimeFlag is specified, or raise an error if its not. If a
TimeFlag is specified, this will be set to TRUE if the time is exceeded, otherwise it will
be set to false.
2-WaitUntil-463
WaitUntil
Instructions
Examples
VAR bool timeout;
WaitUntil start_input = 1 AND grip_status = 1\MaxTime := 60
\TimeFlag := timeout;
IF timeout THEN
TPWrite "No start order received within expected time";
ELSE
start_next_cycle;
ENDIF
If the two input conditions are not met within 60 seconds, an error message will
be written on the display of the teach pendant.
WaitUntil \Inpos, di4 = 1;
Program execution waits until the robot has come to a standstill and the di4 input
has been set.
Limitation
If the argument \Inpos is used, the movement instruction which precedes this instruction should be terminated with a stop point, in order to be able to restart in this instruction following a power failure.
Syntax
WaitUntil
[\InPos,]
[Cond :=] <expression (IN) of bool>
Related information
Described in:
Waiting until an input is set/reset
Instructions - WaitDI
Waiting a given amount of time
Expressions
2-WaitUntil-464
Instructions
WZBoxDef
WZBoxDef
Define a box-shaped world zone
WZBoxDef (World Zone Box Definition) is used to define a world zone that has the
shape of a straight box with all its sides parallel to the axes of the World Coordinate
System.
Example
.
corner2
Z
Y
Box
corner1
World Coordinate System
Min. 10 mm

CONST pos corner1:=[200,100,100];
CONST pos corner2:=[600,400,400];
...
WZBoxDef \Inside, volume, corner1, corner2;
Define a straight box with coordinates parallel to the axes of the world coordinate
system and defined by the opposite corners corner1 and corner2.
Arguments
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint
\Inside
Data type: switch
Define the volume inside the box.
\Outside
Data type: switch
Define the volume outside the box (inverse volume).

One of the arguments \Inside or \Outside must be specified.
Shape
Data type: shapedata
Variable for storage of the defined volume (private data for the system).
2-WZBoxDef-465
WZBoxDef
Instructions
LowPoint
Data type: pos
Position (x,y,x) in mm defining one lower corner of the box.
HighPoint
Data type: pos
Position (x,y,z) in mm defining the corner diagonally opposite to the previous

one.
Program execution
The definition of the box is stored in the variable of type shapedata (argument Shape),
for future use in WZLimSup or WZDOSet instructions.
Limitations
The LowPoint and HighPoint positions must be valid for opposite corners (with
different x, y and z coordinate values).
If the robot is used to point out the LowPoint or HighPoint, work object wobj0 must be
active (use of component trans in robtarget e.g. p1.trans as argument).
Syntax
WZBoxDef
[\Inside] | [\Outside] ,
[Shape:=]<variable (VAR) of shapedata>,
[LowPoint:=]<expression (IN) of pos>,
[HighPoint:=]<expression (IN) of pos>;
Related information
Described in:
World Zones
World zone shape
2-WZBoxDef-466
Instructions
WZCylDef
WZCylDef
Define a cylinder-shaped world zone
WZCylDef (World Zone Cylinder Definition) is used to define a world zone that has the
shape of a cylinder with the cylinder axis parallel to the z-axis of the World Coordinate
System.
Example
R2 (min. 5 mm)
H2 (min. 10 mm)
Z
Y
C2

CONST pos C2:=[300,200,200];
CONST num R2:=100;
CONST num H2:=200;
...
WZCylDef \Inside, volume, C2, R2, H2;
Define a cylinder with the centre of the bottom circle in C2, radius R2 and height
H2.
Arguments
WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius Height
\Inside
Data type: switch
Define the volume inside the cylinder.
\Outside
Data type: switch
Define the volume outside the cylinder (inverse volume).

2-WZCylDef-467
WZCylDef
Instructions
Shape
CentrePoint
Data type: pos
Position (x,y,z) in mm defining the centre of one circular end of the cylinder.
Radius
Data type: num
The radius of the cylinder in mm.
Height
Data type: num
The height of the cylinder in mm.

If it is positive (+z direction), the CentrePoint argument is the centre of the lower
end of the cylinder (as in the above example).
If it is negative (-z direction), the CentrePoint argument is the centre of the upper
end of the cylinder.
Program execution
The definition of the cylinder is stored in the variable of type shapedata (argument
Shape), for future use in WZLimSup or WZDOSet instructions.
Limitations
If the robot is used to point out the CentrePoint, work object wobj0 must be active (use
of component trans in robtarget e.g. p1.trans as argument).
Syntax
WZCylDef
[\Inside] | [\Outside],
[CentrePoint:=]<expression (IN) of pos>,
[Radius:=]<expression (IN) of num>,
[Height:=]<expression (IN) of num>;
2-WZCylDef-468
Instructions
WZCylDef
Related information
Described in:
World Zones
World zone shape
2-WZCylDef-469
WZCylDef
2-WZCylDef-470
Instructions
Instructions
WZDisable
WZDisable Deactivate temporary world zone supervision

WZDisable (World Zone Disable) is used to deactivate the supervision of a temporary
world zone, previously defined either to stop the movement or to set an output.
Example
VAR wztemporary wzone;
...
PROC ...
WZLimSup \Temp, wzone, volume;
MoveL p_pick, v500, z40, tool1;
WZDisable wzone;
MoveL p_place, v200, z30, tool1;
ENDPROC
When moving to p_pick, the position of the robots TCP is checked so that it will
not go inside the specified volume wzone. This supervision is not performed
when going to p_place.
Arguments
WZDisable WorldZone
WorldZone
Data type: wztemporary
Variable or persistent variable of type wztemporary, which contains the identity

of the world zone to be deactivated.
Program execution
The temporary world zone is deactivated. This means that the supervision of the
robots TCP, relative to the corresponding volume, is temporarily stopped. It can be reactivated via the WZEnable instruction.
Limitations
Only a temporary world zone can be deactivated. A stationary world zone is always
active.
2-WZDisable-471
WZDisable
Instructions
Syntax
WZDisable
[WorldZone:=]<variable or persistent (INOUT) of wztemporary>;
Related information
Described in:
World Zones
World zone shape
Activate world zone set digital output
Activate world zone
Erase world zone
2-WZDisable-472
Instructions
WZDOSet
WZDOSet
Activate world zone to set digital output
WZDOSet (World Zone Digital Output Set) is used to define the action and to activate
a world zone for supervision of the robot movements.
After this instruction is executed, when the robots TCP is inside the defined world
zone or is approaching close to it, a digital output signal is set to the specified value.
Example
VAR wztemporary service;
PROC zone_output()
CONST pos p_service:=[500,500,700];
...
WZSphDef \Inside, volume, p_service, 50;
WZDOSet \Temp, service \Inside, volume, do_service, 1;
ENDPROC
Definition of temporary world zone service in the application program, that sets
the signal do_service, when the robots TCP is inside the defined sphere during
program execution or when jogging.
Arguments
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before] Shape
Signal SetValue
\Temp
(Temporary)
Data type: switch
The world zone to define is a temporary world zone.
\Stat
(Stationary)
Data type: switch
The world zone to define is a stationary world zone.

One of the arguments \Temp or \Stat must be specified.
WorldZone
Variable or persistent variable, that will be updated with the identity (numeric
value) of the world zone.
If use of switch \Temp, the data type must be wztemporary.
If use of switch \Stat, the data type must be wzstationary.
2-WZDOSet-473
WZDOSet
Instructions
\Inside
Data type: switch
The digital output signal will be set when the robots TCP is inside the defined
volume.
\Before
Data type: switch
The digital output signal will be set before the robots TCP reaches the defined
volume (as soon as possible before the volume).
Shape
The variable that defines the volume of the world zone.
Signal
Data type: signaldo
The name of the digital output signal that will be changed.

If a stationary worldzone is used, the signal must be write protected for access
from the user (RAPID, TP). Set Access = System for the signal in System
Parameters.
SetValue
Data type: dionum
Desired value of the signal (0 or 1) when the robots TCP is inside the volume or
just before it enters the volume.
When outside or just outside the volume, the signal is set to the opposite value.
Program execution
The defined world zone is activated. From this moment, the robots TCP position is
supervised and the output will be set, when the robots TCP position is inside the
volume (\Inside) or comes close to the border of the volume (\Before).
2-WZDOSet-474
Instructions
WZDOSet
Example
VAR wztemporary home;
VAR wztemporary service;
PERS wztemporary equip1:=[0];
PROC main()
...
! Definition of all temporary world zones
zone_output;
...
! equip1 in robot work area
WZEnable equip1;
...
! equip1 out of robot work area
WZDisable equip1;
...
! No use for equip1 any more
WZFree equip1;
...
ENDPROC
PROC zone_output()
CONST pos p_home:=[800,0,800];
CONST pos p_service:=[800,800,800];
CONST pos p_equip1:=[-800,-800,0];
...
WZSphDef \Inside, volume, p_home, 50;
WZDOSet \Temp, home \Inside, volume, do_home, 1;
WZSphDef \Inside, volume, p_service, 50;
WZDOSet \Temp, service \Inside, volume, do_service, 1;
WZCylDef \Inside, volume, p_equip1, 300, 1000;
WZLimSup \Temp, equip1, volume;
! equip1 not in robot work area
WZDisable equip1;
ENDPROC
Definition of temporary world zones home and service in the application
program, that sets the signals do_home and do_service, when the robot is inside
the sphere home or service respectively during program execution or when
jogging.
Also, definition of a temporary world zone equip1, which is active only in the
part of the robot program when equip1 is inside the working area for the robot.
At that time the robot stops before entering the equip1 volume, both during
program execution and manual jogging. equip1 can be disabled or enabled from
other program tasks by using the persistent variable equip1 value.
2-WZDOSet-475
WZDOSet
Instructions
Limitations
A world zone cannot be redefined by using the same variable in the argument
WorldZone.
A stationary world zone cannot be deactivated, activated again or erased in the RAPID
program.
A temporary world zone can be deactivated (WZDisable), activated again (WZEnable)
or erased (WZFree) in the RAPID program.
Syntax
WZDOSet
(\Temp) | (\Stat) ,
[WorldZone:=]<variable or persistent (INOUT) of wztemporary>
(\Inside) | (\Before) ,
[Signal:=]<variable (VAR) of signaldo>,
[SetValue:=]<expression (IN) of dionum>;
Related information
Described in:
World Zones
World zone shape
Define straight box-shaped world zone
Signal access mode

I/O Signals
2-WZDOSet-476
Instructions
WZEnable
WZEnable Activate temporary world zone supervision

WZEnable (World Zone Enable) is used to re-activate the supervision of a temporary
world zone, previously defined either to stop the movement or to set an output.
Example
...
PROC ...
WZDisable wzone;
WZEnable wzone;
MoveL p_home, v200, z30, tool1;
ENDPROC
not go inside the specified volume wzone. This supervision is not performed
when going to p_place, but is reactivated before going to p_home
Arguments
WZEnable WorldZone
WorldZone
Variable or persistent variable of the type wztemporary, which contains the

identity of the world zone to be activated.
Program execution
The temporary world zone is re-activated.
Please note that a world zone is automatically activated when it is created. It need only
be re-activated when it has previously been deactivated by WZDisable.
Limitations
Only a temporary world zone can be deactivated and reactivated. A stationary world
zone is always active.
2-WZEnable-477
WZEnable
Instructions
Syntax
WZEnable
Related information
Described in:
World Zones
World zone shape
Erase world zone
2-WZEnable-478
Instructions
WZFree
WZFree
Erase temporary world zone supervision
WZFree (World Zone Free) is used to erase the definition of a temporary world zone,
previously defined either to stop the movement or to set an output.
Example
...
PROC ...
WZDisable wzone;
WZEnable wzone;
MoveL p_home, v200, z30, tool1;
WZFree wzone;
ENDPROC
not go inside a specified volume wzone. This supervision is not performed when
going to p_place, but is reactivated before going to p_home. When this position
is reached, the world zone definition is erased.
Arguments
WZFree WorldZone
WorldZone
Variable or persistent variable of the type wztemporary, which contains the

identity of the world zone to be erased.
Program execution
The temporary world zone is first deactivated and then its definition is erased.
Once erased, a temporary world zone cannot be either re-activated nor deactivated.
Limitations
Only a temporary world zone can be deactivated, reactivated or erased. A stationary
world zone is always active.
2-WZFree-479
WZFree
Instructions
Syntax
WZFree
Related information
Described in:
World Zones
World zone shape
Activate world zone
2-WZFree-480
Instructions
WZLimSup
WZLimSup
WZLimSup (World Zone Limit Supervision) is used to define the action and to activate
a world zone for supervision of the working area of the robot.
After this instruction is executed, when the robots TCP reaches the defined world
zone, the movement is stopped both during program execution and when jogging.
Example
VAR wzstationary max_workarea;
...
PROC POWER_ON()
...
WZBoxDef \Outside, volume, corner1, corner2;
WZLimSup \Stat, max_workarea, volume;
ENDPROC
Definition and activation of stationary world zone max_workarea, with the shape
of the area outside a box (temporarily stored in volume) and the action work-area
supervision. The robot stops with an error message before entering the area
outside the box.
Arguments
WZLimSup [\Temp] | [\Stat] WorldZone Shape
\Temp
(Temporary)
Data type: switch
The world zone to define is a temporary world zone.
\Stat
(Stationary)
Data type: switch
The world zone to define is a stationary world zone.

One of the arguments \Temp or \Stat must be specified.
WorldZone
Variable or persistent variable that will be updated with the identity (numeric
value) of the world zone.
If use of switch \Temp, the data type must be wztemporary.
If use of switch \Stat, the data type must be wzstationary.
2-WZLimSup-481
WZLimSup
Instructions
Shape
The variable that defines the volume of the world zone.
Program execution
The defined world zone is activated. From this moment the robots TCP position is
supervised. If it reaches the defined area the movement is stopped.
Example
VAR wzstationary box1_invers;
VAR wzstationary box2;
PROC wzone_power_on()
CONST pos box1_c1:=[500,-500,0];
CONST pos box1_c2:=[-500,500,500];
CONST pos box2_c1:=[500,-500,0];
CONST pos box2_c2:=[200,-200,300];
...
WZBoxDef \Outside, volume, box1_c1, box1_c2;
WZLimSup \Stat, box1_invers, volume;
WZBoxDef \Inside, volume, box2_c1, box2_c2;
WZLimSup \Stat, box2, volume;
ENDPROC
Limitation of work area for the robot with the following stationary world zones:
- Outside working area when outside box1_invers
- Outside working area when inside box2
If this routine is connected to the system event POWER ON, these world zones
will always be active in the system, both for program movements and manual
jogging.
Limitations
A world zone cannot be redefined using the same variable in argument WorldZone.
A stationary world zone cannot be deactivated, activated again or erased in the RAPID
program.
A temporary world zone can be deactivated (WZDisable), activated again (WZEnable)
or erased (WZFree) in the RAPID program.
2-WZLimSup-482
Instructions
WZLimSup
Syntax
WZLimSup
[\Temp] | [\Stat],
[WorldZone:=]<variable or persistent (INOUT) of wztemporary>,
[Shape:=] <variable (VAR) of shapedata>;
Related information
Described in:
World Zones
World zone shape
Define straight box-shaped world zone
2-WZLimSup-483
WZLimSup
2-WZLimSup-484
Instructions
Instructions
WZSphDef
WZSphDef
Define a sphere-shaped world zone
WZSphDef (World Zone Sphere Definition) is used to define a world zone that has the
shape of a sphere.
Example
Z
Y
C1
R1 (min. 5 mm)

CONST pos C1:=[300,300,200];
CONST num R1:=200;
...
WZSphDef \Inside, volume, C1, R1;
Define a sphere named volume by its centre C1 and its radius R1.
Arguments
WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius
\Inside
Data type: switch
Define the volume inside the sphere.
\Outside
Data type: switch
Define the volume outside the sphere (inverse volume).

Shape
2-WZSphDef-485
WZSphDef
Instructions
CentrePoint
Data type: pos
Position (x,y,z) in mm defining the centre of the sphere.
Radius
Data type: num
The radius of the sphere in mm.
Program execution
The definition of the sphere is stored in the variable of type shapedata (argument
Shape), for future use in WZLimSup or WZDOSet instructions.
Limitations
If the robot is used to point out the CentrePoint, work object wobj0 must be active (use
of component trans in robtarget e.g. p1.trans as argument).
Syntax
WZSphDef
[\Inside] | [\Outside],
[CentrePoint:=]<expression (IN) of pos>,
[Radius:=]<expression (IN) of num>;
Related information
Described in:
World Zones
World zone shape
2-WZSphDef-486
Functions
CONTENTS
Abs
ACos
AOutput
ASin
ATan
ATan2
ByteToStr
CalcJointT
CalcRobT
CDate
CJointT
ClkRead
Cos
CPos
CRobT
CTime
CTool
CWObj
DefDFrame
DefFrame
Dim
Distance
DotProd
DOutput
EulerZYX
Exp
FileTime
GOutput
GetTime
IsPers
IsVar
Gets the absolute value

Calculates the arc cosine value
Reads the value of an analog output signal
Calculates the arc sine value
Calculates the arc tangent value
Calculates the arc tangent2 value
Converts a byte to a string data
Reads the current date as a string
Reads the current joint angles
Reads a clock used for timing
Calculates the cosine value
Reads the current position (pos) data
Reads the current position (robtarget) data
Reads the current time as a string
Reads the current tool data
Reads the current work object data
Define a displacement frame
Define a frame
Obtains the size of an array
Distance between two points
Dot product of two pos vectors
Reads the value of a digital output signal
Gets Euler angles from orient
Calculates the exponential value
Retrieve time information about a file
Reads the value of a group of digital output signals
Reads the current time as a numeric value
Is Persistent
Is Variable
MirPos
ModTime
NOrient
Description
NumToStr
Mirroring of a position
Get time of load for a loaded module
Normalise Orientation
Converts numeric value to string
3-487
Functions
Offs
OpMode
OrientZYX
ORobT
PoseInv
PoseMult
PoseVect
Pow
Present
ReadBin
ReadMotor
ReadNum
ReadStr
ReadStrBin
RelTool
Round
RunMode
Sin
Sqrt
StrFind
StrLen
StrMap
StrMatch
StrMemb
StrOrder
Displaces a robot position

Read the operating mode
Builds an orient from Euler angles
Removes a program displacement from a position
Inverts the pose
Multiplies pose data
Applies a transformation to a vector
Calculates the power of a value
Tests if an optional parameter is used
Reads a byte from a file or serial channel
Reads the current motor angles
Reads a number from a file or serial channel
Reads a string from a file or serial channel
Reads a string from a binary
Make a displacement relative to the tool
Round is a numeric value
Read the running mode
Calculates the sine value
Calculates the square root value
Searches for a character in a string
Gets the string length
Maps a string
Search for pattern in string
Checks if a character belongs to a set
Checks if strings are ordered
StrPart
StrToByte
StrToVal
Tan
TestAndSet
TestDI
Trunc
ValToStr
VectMagn
Finds a part of a string

Converts a string to a byte data
Converts a string to a value
Calculates the tangent value
Test variable and set if unset
Tests if a digital input is set
Truncates a numeric value
Converts a value to a string
Magnitude of a pos vector
3-488
Functions
Abs
Abs
Gets the absolute value

Abs is used to get the absolute value, i.e. a positive value of numeric data.
Example
reg1 := Abs(reg2);
Reg1 is assigned the absolute value of reg2.
Return value
Data type: num
The absolute value, i.e. a positive numeric value.

e.g.
Input value
Returned value
-3
-2.53
2.53
Arguments
Abs
(Input)
Input
Data type: num
The input value.
Example
TPReadNum no_of_parts, "How many parts should be produced? ";
no_of_parts := Abs(no_of_parts);
The operator is asked to input the number of parts to be produced. To ensure that
the value is greater than zero, the value given by the operator is made positive.
Syntax
Abs (
[ Input := ] < expression (IN) of num > )
A function with a return value of the data type num.
3-Abs-489
Abs
Functions
Related information
Described in:
Mathematical instructions and functions
3-Abs-490
RAPID Summary - Mathematics
Functions
ACos
ACos
Calculates the arc cosine value

ACos (Arc Cosine) is used to calculate the arc cosine value.
Example
VAR num angle;
VAR num value;
.
.
angle := ACos(value);
Return value
Data type: num
The arc cosine value, expressed in degrees, range [0, 180].
Arguments
ACos
(Value)
Value
Data type: num
The argument value, range [-1, 1].
Syntax
Acos(
[Value :=] <expression (IN) of num>
)
Related information
Described in:
3-ACos-491
ACos
3-ACos-492
Functions
Functions
AOutput
AOutput
Reads the value of an analog output signal
AOutput is used to read the current value of an analog output signal.
Example
IF AOutput(ao4) > 5 THEN ...
If the current value of the signal ao4 is greater than 5, then ...
Return value
Data type: num
The current value of the signal.

The current value is scaled (in accordance with the system parameters) before it is read
by the RAPID program. See Figure 34.
Physical value of the
output signal (V, mA, etc.)
MAX SIGNAL
MAX PROGRAM
Logical value in the
program
MIN PROGRAM
MIN SIGNAL
Figure 34 Diagram of how analog signal values are scaled.
Arguments
AOutput
(Signal)
Signal
Data type: signalao
The name of the analog output to be read.
3-AOutput-493
AOutput
Functions
Syntax
AOutput (
[ Signal := ] < variable (VAR) of signalao > )
A function with a return value of data type num.
Related information
Described in:
3-AOutput-494
Functions
ASin
ASin
Calculates the arc sine value

ASin (Arc Sine) is used to calculate the arc sine value.
Example
VAR num angle;
VAR num value;
.
.
angle := ASin(value);
Return value
Data type: num
The arc sine value, expressed in degrees, range [-90, 90].
Arguments
ASin
(Value)
Value
Data type: num
The argument value, range [-1, 1].
Syntax
ASin(
)
Related information
Described in:
3-ASin-495
ASin
3-ASin-496
Functions
Functions
ATan
ATan
Calculates the arc tangent value

ATan (Arc Tangent) is used to calculate the arc tangent value.
Example
VAR num angle;
VAR num value;
.
.
angle := ATan(value);
Return value
Data type: num
The arc tangent value, expressed in degrees, range [-90, 90].
Arguments
ATan
(Value)
Value
Data type: num
The argument value.
Syntax
ATan(
)
Related information
Described in:
Arc tangent with a return value in the

range [-180, 180]
Functions - ATan2
3-ATan-497
ATan
3-ATan-498
Functions
Functions
ATan2
ATan2
Calculates the arc tangent2 value

ATan2 (Arc Tangent2) is used to calculate the arc tangent2 value.
Example
VAR num angle;
VAR num x_value;
VAR num y_value;
.
.
angle := ATan2(y_value, x_value);
Return value
Data type: num
The arc tangent value, expressed in degrees, range [-180, 180].

The value will be equal to ATan(y/x), but in the range [-180, 180], since the function
uses the sign of both arguments to determine the quadrant of the return value.
Arguments
ATan2
(Y
X)
Data type: num

The numerator argument value.
Data type: num

The denominator argument value.
Syntax
ATan2(
[Y :=] <expression (IN) of num> ,
[X :=] <expression (IN) of num>
)
3-ATan2-499
Atan2
Functions
Related information
Described in:
Arc tangent with only one argument
Functions - ATan
3-Atan2-500
Functions
ByteToStr
ByteToStr
Converts a byte to a string data
ByteToStr (Byte To String) is used to convert a byte into a string data with a defined
byte data format.
Example
VAR string con_data_buffer{5};
VAR byte data1 := 122;
con_data_buffer{1} := ByteToStr(data1);
The content of the array component con_data_buffer{1} will be "122" after the
ByteToStr ... function.
con_data_buffer{2} := ByteToStr(data1\Hex);
The content of the array component con_data_buffer{2} will be "7A" after the
con_data_buffer{3} := ByteToStr(data1\Okt);
The content of the array component con_data_buffer{3} will be "172" after the
con_data_buffer{4} := ByteToStr(data1\Bin);
The content of the array component con_data_buffer{4} will be "01111010"after
the ByteToStr ... function.
con_data_buffer{5} := ByteToStr(data1\Char);
The content of the array component con_data_buffer{5} will be "z" after the
Return value
Data type: string
The result of the conversion operation with the following format:

Format:
Dec .....:
Hex .....:
Okt ......:
Bin ......:
Characters:
0 - 9
0 - 9, A -F
0 - 7
0 - 1
String length:
1-3
2
3
8
Char ....:
Any ASCII char (*)
Range:
"0" - "255"
"00" - "FF"
"000" - "377"
"00000000" "11111111"
One ASCII char
(*) If non-writable ASCII char, the return format will be RAPID character code
format (e.g. \07 for BEL control character).
3-ByteToStr-501
ByteToStr
Functions
Arguments
ByteToStr
(BitData [\Hex] | [\Oct] | [\Bin] | [\Char])
BitData
Data type: byte
The bit data to be converted.

If the optional switch argument is omitted, the data will be converted in decimal (Dec)
format.
[\Hex]
(Hexadecimal)
Data type: switch
The data will be converted in hexadecimal format.

[\Okt]
(Octal)
Data type: switch
The data will be converted in octal format.

[\Bin]
(Binary)
Data type: switch
The data will be converted in binary format.

[\Char]
(Character)
Data type: switch
The data will be converted in ASCII character format.
Limitations
The range for a data type byte is 0 to 255 decimal.
Syntax
ByteToStr(
[BitData :=] <expression (IN) of byte>
[\ Hex ] | [\ Okt] | [\ Bin] | [\ Char]
) ;
A function with a return value of the data type string.
3-ByteToStr-502
Functions
Pow
Related information
Described in:
Convert a string to a byte data
Instructions - StrToByte
Other bit (byte) functions
Other string functions
RAPID Summary - String Functions
3-Pow-503
Pow
3-Pow-504
Functions
Functions
CalcJointT
CalcJointT
CalcJointT (Calculate Joint Target) is used to calculate joint angles of the robot axes
and external axes from a specified robtarget data.
The input robtarget data should be specified in the same coordinate system as specified
in argument for Tool, WObj and at execution time active program displacement
(ProgDisp) and external axes offset (EOffs).
The returned jointtarget data is expressed in the calibration coordinate system.
Example
VAR jointtarget jointpos1;
CONST robtarget p1 := [...];
jointpos1 := CalcJointT(p1, tool1 \WObj:=wobj1);
The jointtarget value corresponding to the robtarget value p1 is stored in
jointpos1. The tool tool1 and work object wobj1 are used for calculating the joint
angles jointpos1.
Return value
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.
Arguments
CalcJointT ( Rob_target Tool [\WObj] )
Rob_target
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 (ProgDisp) and/or external axes offset (EOffs).
Tool
Data type: tooldata

The tool used for calculation of the robot joint angles.
3-CalcJointT-505
CalcJointT
Functions
[\WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot position is related.
If this argument is omitted the work object wobj0 is used.
This argument must be specified when using stationary tool, coordinated external
axes, or conveyor
Program execution
The returned jointtarget is calculated from the input robtarget.
To calculate the robot joint angles, the specified Tool, WObj (including coordinated
user frame) and the ProgDisp active at execution time, are taken into consideration.
To calculate the external axis position at the execution time, active EOffs is taken into
consideration.
The calculation always selects the robot configuration according to the specified configuration data in the input robtarget data. Instructions ConfL and ConfJ 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 (ProgDisp) and/or external axis offset
(EOffs) at the time the robtarget is stored, then the same program displacement and/or
external axis offset must be active when CalcJointT is executed.
Syntax
CalcJointT(
[Rob_target :=] <expression (IN) of robtarget> ,
[Tool := ] <persistent (PERS) of tooldata>
[\WObj := <persistent (PERS) of wobjdata>] )
A function with a return value of the data type jointtarget.
3-CalcJointT-506
Functions
CalcJointT
Related information
Described in:
Calculate robtarget from jointtarget
Functions - CalcRobT
Definition of position
Definition of joint position
Definition of tools
Data Types- tooldata
Coordinate systems
Program displacement coordinate system
External axis offset coordinate system
3-CalcJointT-507
CalcJointT
3-CalcJointT-508
Functions
Functions
CalcRobT
CalcRobT
CalcRobT (Calculate Robot Target) is used to calculate a robtarget data from a given
jointtarget data.
This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4),
robot axes configuration and external axes position.
The input jointtarget data should be specified in the calibration coordinate system.
The returned robtarget data is expressed in the outermost coordinate system, taking the
specified tool, work object and at execution time active program displacement
(ProgDisp) and external axis offset (EOffs) into consideration.
Example
VAR robtarget p1;
CONST jointtarget jointpos1 := [...];
p1 := CalcRobT(jointpos1, tool1 \WObj:=wobj1);
The robtarget value corresponding to the jointtarget value jointpos1 is stored in
p1. The tool tool1 and work object wobj1 are used for calculating of the position
p1.
Return value
The robot and external axis position is returned in data type robtarget and expressed in
the outermost coordinate system, taking the specified tool, work object and at execution time active program displacement (ProgDisp) and external axes offset (EOffs) into
consideration.
If there is no active ProgDisp, the robot position is expressed in the object coordinate
system.
If there are no active EOffs, the external axis position is expressed in the calibration
coordinate system.
Arguments
CalcRobT ( Joint_target Tool [\WObj] )
Joint_target
The joint position for the robot axes and external axes related to the calibration
coordinate system.
3-CalcRobT-509
CalcRobT
Functions
Tool
Data type: tooldata

The tool used for calculation of the robot position.
[\WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the robot position returned by the
function is related.
If this argument is omitted the work object wobj0 is used.
This argument must be specified when using stationary tool, coordinated external
axes, or conveyor.
Program execution
The returned robtarget is calculated from the input jointtarget.
To calculate the cartesian robot position, the specified Tool, WObj (including coordinated user frame) and at the execution time active ProgDisp are taken into consideration.
To calculate the external axes position, the EOffs active at execution time is taken into
consideration.
Syntax
CalcRobT(
[Joint_target := ] <expression (IN) of jointtarget> ,
[Tool := ] <persistent (PERS) of tooldata>
A function with a return value of the data type robtarget.
3-CalcRobT-510
Functions
CalcRobT
Related information
Described in:
Calculate jointtarget from robtarget
Functions - CalcJointT
Definition of joint position
Definition of tools
Coordinate systems
Program displacement coordinate system
External axes offset coordinate system
3-CalcRobT-511
CalcRobT
3-CalcRobT-512
Functions
Functions
CDate
CDate
Reads the current date as a string

CDate (Current Date) is used to read the current system date.
This function can be used to present the current date to the operator on the teach pendant display or to paste the current date into a text file that the program writes to.
Example
VAR string date;
date := CDate();
The current date is stored in the variable date.
Return value
Data type: string
The current date in a string.

The standard date format is year-month-day, e.g. 1998-01-29.
Example
date := CDate();
TPWrite The current date is: +date;
Write logfile, date;
The current date is written to the teach pendant display and into a text file.
Syntax
CDate ( )
A function with a return value of the type string.
Related Information
Described in:
Time instructions
Setting the system clock
Users Guide - Service
3-CDate-513
CDate
3-CDate-514
Functions
Functions
CJointT
CJointT
Reads the current joint angles
CJointT (Current Joint Target) is used to read the current angles of the robot axes and
external axes.
Example
VAR jointtarget joints;
joints := CJointT();
The current angles of the axes for the robot and external axes are stored in joints.
Return value
The current angles in degrees for the axes of the robot on the arm side.
The current values for the external axes, in mm for linear axes, in degrees for rotational
axes.
The returned values are related to the calibration position.
Syntax
CJointT()
A function with a return value of the data type jointtarget.
Related information
Described in:
Definition of joint
Reading the current motor angle
Functions - ReadMotor
3-CJointT-515
CJointT
3-CJointT-516
Functions
Functions
ClkRead
ClkRead
Reads a clock used for timing
ClkRead is used to read a clock that functions as a stop-watch used for timing.
Example
reg1:=ClkRead(clock1);
The clock clock1 is read and the time in seconds is stored in the variable reg1.
Return value
Data type: num
The time in seconds stored in the clock. Resolution 0.010 seconds.
Argument
ClkRead
(Clock)
Clock
Data type: clock
The name of the clock to read.
Program execution
A clock can be read when it is stopped or running.
Once a clock is read it can be read again, started again, stopped or reset.
If the clock has overflowed, program execution is stopped with an error message.
Syntax
ClkRead (
[ Clock := ] < variable (VAR) of clock > )
A function with a return value of the type num.
3-ClkRead-517
ClkRead
Functions
Related Information
Described in:
Clock instructions
Clock overflow
Data Types - clock
More examples
Instructions - ClkStart
3-ClkRead-518
Functions
Cos
Cos
Calculates the cosine value

Cos (Cosine) is used to calculate the cosine value from an angle value.
Example
VAR num angle;
VAR num value;
.
.
value := Cos(angle);
Return value
Data type: num
The cosine value, range = [-1, 1] .
Arguments
Cos
(Angle)
Angle
Data type: num
The angle value, expressed in degrees.
Syntax
Cos(
[Angle :=] <expression (IN) of num>
)
Related information
Described in:
3-Cos-519
Cos
3-Cos-520
Functions
Functions
CPos
CPos
Reads the current position (pos) data

CPos (Current Position) is used to read the current position of the robot.
This function returns the x, y, and z values of the robot TCP as data of type pos. If the
complete robot position (robtarget) is to be read, use the function CRobT instead.
Example
VAR pos pos1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot TCP is stored in variable pos1. The tool tool1
and work object wobj0 are used for calculating the position.
Return value
Data type: pos
The current position (pos) of the robot with x, y, and z in the outermost coordinate system, taking the specified tool, work object and active ProgDisp coordinate system into
consideration.
Arguments
CPos ([\Tool] [\WObj])
[\Tool]
Data type: tooldata
The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.
[\WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the current robot position returned
by the function is related.
If this argument is omitted the current active work object is used.
When programming, it is very sensible to always specify arguments \Tool and \WObj.
The function will always then return the wanted position, although some other tool or
work object has been activated manually.
3-CPos-521
CPos
Functions
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
Example
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
.
.
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program
using the CPos function. The tool grip3 and work object fixture are used for calculating the position. The x, y and z distances travelled between these positions
are then calculated and stored in the pos variable pos4.
Syntax
CPos (
[\Tool := <persistent (PERS) of tooldata>]
A function with a return value of the data type pos.
Related information
Described in:
Data Types - pos
Definition of tools
Coordinate systems
Reading the current robtarget
Functions - CRobT
3-CPos-522
Functions
CRobT
CRobT
Reads the current position (robtarget) data
CRobT (Current Robot Target) is used to read the current position of the robot and
external axes.
This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4),
robot axes configuration and external axes position. If only the x, y, and z values of the
robot TCP (pos) are to be read, use the function CPos instead.
Example
VAR robtarget p1;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes is stored in p1. The tool tool1
and work object wobj0 are used for calculating the position.
Return value
The current position of the robot and external axes in the outermost coordinate system,
taking the specified tool, work object and active ProgDisp/ExtOffs coordinate system
into consideration.
Arguments
CRobT ([\Tool] [\WObj])
[\Tool]
Data type: tooldata
The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.
[\WObj]
(Work Object)
Data type: wobjdata
The work object (coordinate system) to which the current robot position returned
by the function is related.
If this argument is omitted the current active work object is used.
When programming, it is very sensible to always specify arguments \Tool and \WObj.
The function will always then return the wanted position, although some other tool or
work object has been activated manually.
3-CRobT-523
CRobT
Functions
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system. External axes are represented in the ExtOffs coordinate system.
Example
VAR robtarget p2;
p2 := ORobT( RobT(\Tool:=grip3 \WObj:=fixture) );
The current position in the object coordinate system (without any ProgDisp or
ExtOffs) of the robot and external axes is stored in p2. The tool grip3 and work
object fixture are used for calculating the position.
Syntax
CRobT(
[\Tool := <persistent (PERS) of tooldata>]
Related information
Described in:
Definition of tools
Coordinate systems
ExtOffs coordinate system
Reading the current pos (x, y, z only)
Functions - CPos
3-CRobT-524
Functions
CTime
CTime
Reads the current time as a string

CTime is used to read the current system time.
This function can be used to present the current time to the operator on the teach pendant display or to paste the current time into a text file that the program writes to.
Example
VAR string time;
time := CTime();
The current time is stored in the variable time.
Return value
Data type: string
The current time in a string.

The standard time format is "hours:minutes:seconds", e.g. "18:20:46".
Example
time := CTime();
TPWrite The current time is: +time;
Write logfile, time;
The current time is written to the teach pendant display and written into a text
file.
Syntax
CTime ( )
3-CTime-525
CTime
Functions
Related Information
Described in:
Time and date instructions
3-CTime-526
Functions
CTool
CTool
Reads the current tool data

CTool (Current Tool) is used to read the data of the current tool.
Example
PERS tooldata temp_tool:= [ 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 temp_tool.
Return value
Data type: tooldata
This function returns a tooldata value holding the value of the current tool, i.e. the tool
last used in a movement instruction.
The value returned represents the TCP position and orientation in the wrist centre coordinate system, see tooldata.
Syntax
CTool()
A function with a return value of the data type tooldata.
Related information
Described in:
Definition of tools
Coordinate systems
3-CTool-527
CTool
3-CTool-528
Functions
Functions
CWObj
CWObj
Reads the current work object data
CWObj (Current Work Object) is used to read the data of the current work object.
Example
PERS wobjdata temp_wobj;
temp_wobj := CWObj();
The value of the current work object is stored in the variable temp_wobj.
Return value
Data type: wobjdata
This function returns a wobjdata value holding the value of the current work object,
i.e. the work object last used in a movement instruction.
The value returned represents the work object position and orientation in the world
coordinate system, see wobjdata.
Syntax
CWObj()
A function with a return value of the data type wobjdata.
Related information
Described in:
Data Types- wobjdata
Coordinate systems
3-CWObj-529
CWObj
3-CWObj-530
Functions
Functions
DefDFrame
DefDFrame
Define a displacement frame
DefDFrame (Define Displacement Frame) is used to calculate a displacement frame

from three original positions and three displaced positions.
Example
p6
p3
p5
p4
p1
p2
Three positions, p1- p3, related to an object in an original position, have been stored.
After a displacement of the object the same positions are searched for and stored as
p4-p6. From these six positions the displacement frame is calculated. Then the
calculated frame is used to displace all the stored positions in the program.
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;
Return value
Data type: pose
The displacement frame.
3-DefDFrame-531
DefDFrame
Functions
Arguments
DefDFrame
(OldP1
OldP2
OldP3
NewP1
OldP1
NewP2
NewP3)
The first original position.

OldP2
The second original position.

OldP3
The third original position.

NewP1
The first displaced position. This position must be measured and determined with
great accuracy.
NewP2
The second displaced position. It should be noted that this position can be
measured and determined with less accuracy in one direction, e.g. this position
must be placed on a line describing the new direction of p1 to p2.
NewP3
The third displaced position. This position can be measured and determined with
less accuracy in two directions, e.g. it has to be placed in a plane describing the
new plane of p1, p2 and p3.
Error handling
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.
Syntax
DefDFrame(
[OldP1 :=] <expression (IN) of robtarget> ,
[NewP1 :=] <expression (IN) of robtarget> ,
[NewP3 :=] <expression (IN) of robtarget> )
A function with a return value of the data type pose.
3-DefDFrame-532
Functions
DefDFrame
Related information
Described in:
Activation of displacement frame
Manual definition of displacement frame
3-DefDFrame-533
DefDFrame
3-DefDFrame-534
Functions
Functions
DefFrame
DefFrame
Define a frame
DefFrame (Define Frame) is used to calculate a frame, from three positions defining
the frame.
Example
y
p3
z
x
p2
y
frame1
p1
x
object frame
Three positions, p1- p3, related to the object coordinate system, are used to define the
new coordinate system, frame1. The first position, p1, is defining the origin of frame1,
the second position, p2, is defining the direction of the x-axis and the third position,
p3, is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:
VAR pose frame1;
.
.
frame1 := DefFrame (p1, p2, p3);
.
.
!activation of the displacement defined by frame1
PDispSet frame1;
Return value
Data type: pose
The calculated frame.

The calculation is related to the active object coordinate system.
3-DefFrame-535
DefFrame
Functions
Arguments
DefFrame
(NewP1
NewP2
NewP3
[\Origin])
NewP1
The first position, which will define the origin of the new frame.
NewP2
The second position, which will define the direction of the x-axis of the new
frame.
NewP3
The third position, which will define the xy-plane of the new frame. The position
of point 3 will be on the positive y side, see the figure above.
[\Origin]
Data type: num
Optional argument, which will define how the origin of the frame will be placed.
Origin = 1, means that the origin is placed in NewP1, i.e. the same as if this
argument is omitted. Origin = 2 means that the origin is placed in NewP2, see the
figure below.
z
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.
3-DefFrame-536
Functions
DefFrame
y
New P3
x
y
New P2
object frame
New P1
frame1
Other values, or if Origin is omitted, will place the origin in NewP1.
Limitations
The three positions p1 - p3, 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 angle a is too small. The angle
is too small if:
cos
<1
10
The triangle p1, p2, p3 must not be too small, i.e. the positions cannot be too close. The
distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm.
Error handling
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.
3-DefFrame-537
DefFrame
Functions
Syntax
DefFrame(
[NewP3 :=] <expression (IN) of robtarget>
[\Origin := <expression (IN) of num> ])
Related information
Described in:
Activation of displacement frame
3-DefFrame-538
Functions
Dim
Dim
Obtains the size of an array

Dim (Dimension) is used to obtain the number of elements in an array.
Example
PROC arrmul(VAR num array{*}, num factor)
FOR index FROM 1 TO Dim(array, 1) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
All elements of a num array are multiplied by a factor.
This procedure can take any one-dimensional array of data type num as an input.
Return value
Data type: num
The number of array elements of the specified dimension.
Arguments
Dim
(ArrPar DimNo)
ArrPar
(Array Parameter)
Data type: Any type
(Dimension Number)
Data type: num
The name of the array.

DimNo
The desired array dimension:
1 = first dimension
2 = second dimension
3 = third dimension
3-Dim-539
Dim
Functions
Example
PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})
IF Dim(array1,1) <> Dim(array2,1) OR Dim(array1,2) <> Dim(array2,2) OR
Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
array1{i1,i2,i3} := array1{i1,i2,i3} + array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;
ENDPROC
Two matrices are added. If the size of the matrices differs, the program stops and
an error message appears.
This procedure can take any three-dimensional arrays of data type num as an
input.
Syntax
Dim (
[ArrPar:=] <reference (REF) of any type> ,
[DimNo:=] <expression (IN) of num> )
A REF parameter requires that the corresponding argument be either a constant, a variable or an entire persistent. The argument could also be an IN parameter, a VAR parameter or an entire PERS parameter.
Related information
Described in:
3-Dim-540
Array parameters
Array declaration
Basic Characteristics - Data
Functions
Distance
Distance
Distance between two points
Distance is used to calculate the distance between two points in the space.
Example
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 p1 and p2 is calculated and stored in
the variable dist.
Return value
Data type: num
The distance (always positive) between the points.
Arguments
Distance (Point1 Point2)
Point1
Data type: pos
The first point described by the pos data type.

Point2
Data type: pos
The second point described by the pos data type.
3-Distance-541
Distance
Functions
Program execution
Calculation of the distance between the two points:
y
x2, y2, z2
x
x1,y1,z1
z
distance =
( x x ) 2 + ( y y )2 + ( z z ) 2
1 2
1 2
1 2
Syntax
Distance(
[Point1 :=] <expression (IN) of pos> ,
[Point2 :=] <expression (IN) of pos>
)
Related information
Described in:
Definition of pos
Data Type - pos
3-Distance-542
Functions
DotProd
DotProd
Dot product of two pos vectors
DotProd (Dot Product) is 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.
Example
B
AB
B cos AB
A
A
The dot or scalar product of two vectors A and B is a scalar, which equals the products
of the magnitudes of A and B and the cosine of the angle between them.
A B = A B cos AB
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 pos and the dot product by the data type
num:
VAR num dotprod;
VAR pos vector1;
VAR pos vector2;
.
.
vector1 := [1,1,1];
vector2 := [1,2,3];
dotprod := DotProd(vector1, vector2);
3-DotProd-543
DotProd
Functions
Return value
Data type: num
The value of the dot product of the two vectors.
Arguments
DotProd
(Vector1 Vector2)
Vector1
Data type: pos
The first vector described by the pos data type.

Vector2
Data type: pos
The second vector described by the pos data type.
Syntax
DotProd(
[Vector1 :=] <expression (IN) of pos> ,
[Vector2 :=] <expression (IN) of pos>
)
Related information
Described in:
3-DotProd-544
Functions
DOutput
DOutput
Reads the value of a digital output signal
DOutput is used to read the current value of a digital output signal.
Example
IF DOutput(do2) = 1 THEN . . .
If the current value of the signal do2 is equal to 1, then . . .
Return value
Data type: dionum
The current value of the signal (0 or 1).
Arguments
DOutput
(Signal)
Signal
Data type: signaldo
The name of the signal to be read.
Program execution
The value read depends on the configuration of the signal. If the signal is inverted in
the system parameters, the value returned by this function is the opposite of the true
value of the physical channel.
Example
IF DOutput(auto_on) <> active THEN . . .
If the current value of the system signal auto_on is not active, then ..., i.e. if the
robot is in the manual operating mode, then ... Note that the signal must first be
defined as a system output in the system parameters.
Syntax
DOutput (
[ Signal := ] < variable (VAR) of signaldo > )
A function with a return value of the data type dionum.
3-DOutput-545
DOutput
Functions
Related information
Described in:
3-DOutput-546
Functions
EulerZYX
EulerZYX
Gets Euler angles from orient
EulerZYX (Euler ZYX rotations) is used to get an Euler angle component from an orient
type variable.
Example
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
.
anglex := GetEuler(\X, object.rot);
angley := GetEuler(\Y, object.rot);
anglez := GetEuler(\Z, object.rot);
Return value
Data type: num
The corresponding Euler angle, expressed in degrees, range [-180, 180].
Arguments
EulerZYX
([\X] | [\Y] | [\Z] Rotation)
The arguments \X, \Y and \Z are mutually exclusive. If none of these are specified, a
run-time error is generated.
[\X]
Data type: switch

Gets the rotation around the X axis.
[\Y]
Data type: switch

Gets the rotation around the Y axis.
[\Z]
Data type: switch

Gets the rotation around the Z axis.
Rotation
Data type: orient
The rotation in its quaternion representation.
3-EulerZYX-547
EulerZYX
Functions
Syntax
EulerZYX(
['\'X ,] | ['\'Y ,] | ['\'Z ,]
[Rotation :=] <expression (IN) of orient>
)
Related information
Described in:
3-EulerZYX-548
Functions
Exp
Exp
Calculates the exponential value

Exp (Exponential) is used to calculate the exponential value, ex.
Example
VAR num x;
VAR num value;
.
.
value:= Exp( x);
Return value
Data type: num
The exponential value ex .
Arguments
Exp
(Exponent)
Exponent
Data type: num
The exponent argument value.
Syntax
Exp(
[Exponent :=] <expression (IN) of num>
)
Related information
Described in:
3-Exp-549
Exp
3-Exp-550
Functions
Functions
FileTime
FileTime
Retrieve time information about a file
FileTime 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.
Example
Load "ram1disk:notmymod.mod";
WHILE TRUE DO
! Call some routine in notmymod
notmymodrout;
IF FileTime("ram1disk:notmymod.mod" \ModifyTime)
> ModTime("notmymod") THEN
UnLoad "ram1disk:notmymod.mod";
Load "ram1disk:notmymod.mod";
ENDIF
ENDWHILE
This program reloads a module if there is a newer at the source. It uses the
ModTime to retrieve the latest loading time for the specified module, and to compare it to the FileTime\ModifyTime at the source. Then, if the source is newer, the
program unloads and loads the module again.
Return value
Data type: num
The time measured in secs since 00:00:00 GMT, Jan 1 1970.
Arguments
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime] )
Path
Data type: string

The file specified with a full or relative path.
ModifyTime
Data type: switch
Last modification time.

AccessTime
Data type: switch
Time of last access (read, execute of modify).
3-FileTime-551
FileTime
Functions
StatCTime
Data type: switch
Last file status (access qualification) change time.
Program execution
This function returns a numeric that specifies the time since the last:
- Modification
- Access
- File status change
of the specified file.
Example
This is a complete example that implements an alert service for maximum 10 files.
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
3-FileTime-552
Functions
FileTime
PROC alertNew(string filename)

currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);
ENDIF
ENDPROC
Error handling
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.
Syntax
FileTime (
[ Path := ] < expression (IN) of string>
[ '\'ModifyTime] |
[ '\'AccessTime] |
[ '\'StatCTime] )
Related information
Described in:
Last time a module was loaded
Functions - ModTime
3-FileTime-553
FileTime
3-FileTime-554
Functions
Functions
GetTime
GetTime
Reads the current time as a numeric value
GetTime is used to read a specified component of the current system time as a numeric
value.
GetTime can be used to :
- have the program perform an action at a certain time
- perform certain activities on a weekday
- abstain from performing certain activities on the weekend
- respond to errors differently depending on the time of day.
Example
hour := GetTime(\Hour);
The current hour is stored in the variable hour.
Return value
Data type: num
One of the four time components specified below.
Argument
GetTime
( [\WDay] | [\Hour] | [\Min] | [\Sec] )
[\WDay]
Data type: switch
Return the current weekday.

Range: 1 to 7 (Monday to Sunday).
[\Hour]
Data type: switch
Return the current hour.

Range: 0 to 23.
[\Min]
Data type: switch
Return the current minute.

Range: 0 to 59.
[\Sec]
Data type: switch
Return the current second.

Range: 0 to 59.
3-GetTime-555
GetTime
Functions
One of the arguments must be specified, otherwise program execution stops with an
error message.
Example
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF
If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At all other times, the robot is in the maintenance mode.
Syntax
GetTime (
[\ WDay ]
| [ \ Hour ]
| [ \ Min ]
| [ \ Sec ] )
Related Information
Described in:
Time and date instructions
3-GetTime-556
Functions
GOutput
GOutput Reads the value of a group of digital output signals

GOutput is used to read the current value of a group of digital output signals.
Example
IF GOutput(go2) = 5 THEN ...
If the current value of the signal go2 is equal to 5, then ...
Return value
Data type: num
The current value of the signal (a positive integer).

The values of each signal in the group are read and interpreted as an unsigned binary
number. This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the
group.
No. of signals
Return value
No. of signals
Return value
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
Arguments
GOutput
(Signal)
Signal
Data type: signalgo
The name of the signal group to be read.
3-GOutput-557
GOutput
Functions
Syntax
GOutput (
[ Signal := ] < variable (VAR) of signalgo > )
A function with a return value of data type num.
Related information
Described in:
3-GOutput-558
Functions
IsPers
IsPers
Is Persistent
IsPers is used to test if a data object is a persistent variable or not.
Example
PROC procedure1 (INOUT num parameter1)
IF IsVar(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions depending on whether the
actual parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a persistent variable.

FALSE if the tested actual INOUT parameter is not a persistent variable.
Arguments
IsPers
(DatObj)
DatObj
(Data Object)
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsPers(
[ DatObj := ] < var or pers (INOUT) of any type > )
A function with a return value of the data type bool.
3-IsPers-559
IsPers
Functions
Related information
Described in:
Test if variable
Function - IsVar
Types of parameters (access modes)
RAPID Characteristics - Routines
3-IsPers-560
Functions
IsVar
IsVar
Is Variable
IsVar is used to test whether a data object is a variable or not.
Example
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions, depending on whether the
actual parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a variable.

FALSE if the tested actual INOUT parameter is not a variable.
Arguments
IsVar
(DatObj)
DatObj
(Data Object)
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsVar(
[ DatObj := ] < var or pers (INOUT) of any type > )
3-IsVar-561
IsVar
Functions
Related information
Described in:
Test if persistent
Function - IsPers
Types of parameters (access modes)
RAPID Characteristics - Routines
3-IsVar-562
Functions
MirPos
MirPos
Mirroring of a position
MirPos (Mirror Position) is used to mirror the translation and rotation parts of a position.
Example
CONST robtarget p1;
VAR robtarget p2;
PERS wobjdata mirror;
.
.
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This
position is mirrored in the xy-plane of the frame defined by mirror, relative to the
world coordinate system. The result is new robtarget data, which is stored in p2.
Return value
The new position which is the mirrored position of the input position.
Arguments
MirPos
(Point
MirPlane
[\WObj]
Point
[\MirY])
The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
MirPlane
(Mirror Plane)
Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane
of the object frame defined in MirPlane. The location of the object frame is
defined relative to the user frame, also defined in MirPlane, which in turn is
defined relative to the world frame.
[\WObj]
(Work Object)
Data type: wobjdata
The work object data defining the object frame, and user frame, relative to which
the input position, Point, is defined. If this argument is left out, the position is
defined relative to the World coordinate system.
Note. If the position is created with a work object active, this work object must
be referred to in the argument.
3-MirPos-563
MirPos
Functions
[\MirY]
(Mirror Y)
Data type: switch
If this switch is left out, which is the default rule, the tool frame will be mirrored
as regards the x-axis and the z-axis. If the switch is specified, the tool frame will
be mirrored as regards the y-axis and the z-axis.
Limitations
No recalculation is done of the robot configuration part of the input robtarget data.
Syntax
MirPos(
[ Point := ] < expression (IN) of robtarget>,
[MirPlane :=] <expression (IN) of wobjdata> ,
[\WObj := <expression (IN) of wobjdata> ]
[\MirY ])
Related information
Described in:
3-MirPos-564
Functions
ModTime
ModTime
Get time of load for a loaded module
ModTime (Module Time) 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.
Example
MODULE mymod
VAR num mytime;
PROC printMyTime()
mytime := ModTime("mymod");
TPWrite "My time is "+NumToStr(mytime,0);
ENDPROC
Return value
Data type: num
The time measured in secs since 00:00:00 GMT, Jan 1 1970.
Arguments
ModTime ( Object )
Object
Data type: string
The name of the module.
Program execution
This function return a numeric that specify the time when the module was loaded.
3-ModTime-565
ModTime
Functions
Example
This is a complete example that implements an update if newer service.
MODULE updmod
PROC callrout()
Load "ram1disk:mymod.mod";
WHILE TRUE DO
! Call some routine in mymod
mymodrout;
IF FileTime("ram1disk:mymod.mod" \ModifyTime)
> ModTime("mymod") THEN
UnLoad "ram1disk:mymod.mod";
Load "ram1disk:mymod.mod";
ENDIF
ENDWHILE
ENDPROC
ENDMODULE
This program reloads a module if there is a newer one at the source. It uses the
ModTime to retrieve the latest loading time for the specified module, and compares it to the FileTime\ModifyTime at the source. Then, if the source is newer,
the program unloads and loads the module again.
Syntax
ModTime (
[ Object := ] < expression (IN) of string>)
Related information
Described in:
Retrieve time info. about a file
3-ModTime-566
Functions - FileTime
Functions
NOrient
NOrient
Normalise Orientation
NOrient (Normalise Orientation) is used to normalise unnormalised orientation

(quaternion).
Description
An orientation must be normalised, i.e. the sum of the squares must
equal 1:
q 12 + q 22 + q 32 + q 42 = 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.
ABS ( q 1 + q 2 + q 3 + q 4 1 ) = normerr
normerr > 0.1

normerr > 0.00001 AND err <= 0.1
normerr <= 0.00001
Unusable
Slightly unnormalised
Normalised
Example
We have a slightly unnormalised position ( 0.707170, 0, 0, 0.707170 )
ABS ( 0,707170 + 0 + 0 + 0,707170 1 ) = 0,0000894

0,0000894 > 0,00001 unnormalized
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 ).
3-NOrient-567
NOrient
Functions
Return value
Data type: orient
The normalised orientation.
Arguments
NOrient
(Rotation)
Orient
Data type: orient
The orientation to be normalised.
Syntax
NOrient(
[Rotation :=] <expression (IN) of orient>
)
A function with a return value of the data type orient.
Related information
Described in:
3-NOrient-568
Functions
NumToStr
NumToStr
Converts numeric value to string
NumToStr (Numeric To String) is used to convert a numeric value to a string.
Example
VAR string str;
str := NumToStr(0.38521,3);
The variable str is given the value "0.385".
reg1 := 0.38521
str := NumToStr(reg1, 2\Exp);
The variable str is given the value "3.85E-01".
Return value
Data type: string
The numeric value converted to a string with the specified number of decimals, with
exponent if so requested. The numeric value is rounded if necessary. The decimal point
is suppressed if no decimals are included.
Arguments
NumToStr
(Val Dec [\Exp])
Val
(Value)
Data type: num
The numeric value to be converted.

Dec
(Decimals)
Data type: num
Number of decimals. The number of decimals must not be negative or greater

than the available precision for numeric values.
[\Exp]
(Exponent)
Data type: switch
To use exponent.
3-NumToStr-569
NumToStr
Functions
Syntax
NumToStr(
[ Val := ] <expression (IN) of num> ,
[ Dec := ] <expression (IN) of num>
[ \Exp ]
)
Related information
Described in:
String functions
Definition of string
Data Types - string
String values
3-NumToStr-570
Functions
Offs
Offs
Displaces a robot position

Offs is used to add an offset to a robot position.
Examples
MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;
The robot is moved to a point 10 mm from the position p2 (in the z-direction).
p1 := Offs (p1, 5, 10, 15);
The robot position p1 is displaced 5 mm in the x-direction, 10 mm in the y-direction and 15 mm in the z-direction.
Return value
The displaced position data.
Arguments
Offs
(Point XOffset YOffset ZOffset)
Point

The position data to be displaced.
XOffset
Data type: num
The displacement in the x-direction.

YOffset
Data type: num
The displacement in the y-direction.

ZOffset
Data type: num
The displacement in the z-direction.
3-Offs-571
Offs
Functions
Example
PROC pallet (num row, num column, num distance, PERS tooldata tool,
PERS wobjdata wobj)
VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0],
[9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];
palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0);
MoveL palettpos, v100, fine, tool\WObj:=wobj;
ENDPROC
A routine for picking parts from a pallet is made. Each pallet is defined as a work
object (see Figure 35). 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
Figure 35 The position and orientation of the pallet is specified by defining a work object.
Syntax
Offs (
[Point :=] <expression (IN) of robtarget> ,
[XOffset :=] <expression (IN) of num> ,
[YOffset :=] <expression (IN) of num> ,
[ZOffset :=] <expression (IN) of num> )
Related information
Described in:
Position data
3-Offs-572
Functions
OpMode
OpMode
Read the operating mode
OpMode (Operating Mode) is used to read the current operating mode of the system.
Example
TEST OpMode()
CASE OP_AUTO:
...
CASE OP_MAN_PROG:
...
CASE OP_MAN_TEST:
...
DEFAULT:
...
ENDTEST
Different program sections are executed depending on the current operating mode.
Return value
Data type: symnum
The current operating mode as defined in the table below.

Return value
Symbolic constant
Comment
OP_UNDEF
Undefined operating mode
OP_AUTO
Automatic operating mode
OP_MAN_PROG

max. 250 mm/s
OP_MAN_TEST

full speed, 100 %
Syntax
OpMode( )
A function with a return value of the data type symnum.
Related information
Described in:
Different operating modes
Users Guide - Starting up
Reading running mode
Functions - RunMode
3-OpMode-573
OpMode
3-OpMode-574
Functions
Functions
OrientZYX
OrientZYX
Builds an orient from Euler angles
OrientZYX (Orient from Euler ZYX angles) is used to build an orient type variable out
of Euler angles.
Example
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
.
object.rot := OrientZYX(anglez, angley, anglex)
Return value
Data type: orient
The orientation made from the Euler angles.

The rotations will be performed in the following order:
-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.
Arguments
OrientZYX
(ZAngle YAngle XAngle)
ZAngle
Data type: num
The rotation, in degrees, around the Z axis.

YAngle
Data type: num
The rotation, in degrees, around the Y axis.

XAngle
Data type: num
The rotation, in degrees, around the X axis.

The rotations will be performed in the following order:
-rotation around the z axis,
-rotation around the new y axis
-rotation around the new x axis.
3-OrientZYX-575
OrientZYX
Functions
Syntax
OrientZYX(
[ZAngle :=] <expression (IN) of num> ,
[YAngle :=] <expression (IN) of num> ,
[XAngle :=] <expression (IN) of num>
)
A function with a return value of the data type orient.
Related information
Described in:
3-OrientZYX-576
Functions
ORobT
ORobT
Removes a program displacement from a position
ORobT (Object Robot Target) is used to transform a robot position from the program
displacement coordinate system to the object coordinate system and/or to remove an
offset for the external axes.
Example
VAR robtarget p10;
VAR robtarget p11;
p10 := CRobT();
p11 := ORobT(p10);
The current positions of the robot and the external axes are stored in p10 and p11.
The values stored in p10 are related to the ProgDisp/ExtOffs coordinate system.
The values stored in p11 are related to the object coordinate system without any
offset on the external axes.
Return value
The transformed position data.
Arguments
ORobT (OrgPoint [\InPDisp] | [\InEOffs])
OrgPoint
(Original Point)
The original point to be transformed.

[\InPDisp]
(In Program Displacement)
Data type: switch
Returns the TCP position in the ProgDisp coordinate system, i.e. removes external axes offset only.
[\InEOffs]
(In External Offset)
Data type: switch
Returns the external axes in the offset coordinate system, i.e. removes program
displacement for the robot only.
3-ORobT-577
ORobT
Functions
Examples
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.
Syntax
ORobT (
[ OrgPoint := ] < expression (IN) of robtarget>
[\InPDisp] | [\InEOffs])
Related information
Described in:
Definition of program displacement for
the robot
Instructions - PDispOn, PDispSet
Definition of offset for external axes
Instructions - EOffsOn, EOffsSet
Coordinate systems
3-ORobT-578
Functions
PoseInv
PoseInv
Inverts the pose
PoseInv (Pose Invert) calculates the reverse transformation of a pose.
Example
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);
Return value
Data type: pose
The value of the reverse pose.
Arguments
PoseInv
(Pose)
Pose
Data type: pose

The pose to invert.
3-PoseInv-579
PoseInv
Functions
Syntax
PoseInv(
[Pose :=] <expression (IN) of pose>
)
Related information
Described in:
3-PoseInv-580
Functions
PoseMult
PoseMult
Multiplies pose data
PoseMult (Pose Multiply) 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.
Example
z1
y1
pose1
z0
Frame1
pose2
z2
Frame2
x1
Frame0
y2
y0
pose3
x0
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);
Return value
Data type: pose
The value of the product of the two poses.
3-PoseMult-581
PoseMult
Functions
Arguments
PoseMult
(Pose1 Pose2)
Pose1
Data type: pose
The first pose.

Pose2
Data type: pose
The second pose.
Syntax
PoseMult(
[Pose1 :=] <expression (IN) of pose> ,
[Pose2 :=] <expression (IN) of pose>
)
Related information
Described in:
3-PoseMult-582
Functions
PoseVect
PoseVect
Applies a transformation to a vector
PoseVect (Pose Vector) is used to calculate the product of a pose and a vector.
It is typically used to calculate a vector as the result of the effect of a displacement on
an original vector.
Example
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);
Return value
Data type: pos
The value of the product of the pose and the original pos.
3-PoseVect-583
PoseVect
Functions
Arguments
PoseVect
(Pose Pos)
Pose
Data type: pose

The transformation to be applied.
Pos
Data type: pos

The pos to be transformed.
Syntax
PoseVect(
[Pose :=] <expression (IN) of pose> ,
[Pos :=] <expression (IN) of pos>
)
A function with a return value of the data type pos.
Related information
Described in:
3-PoseVect-584
Functions
Pow
Pow
Calculates the power of a value

Pow (Power) is used to calculate the exponential value in any base.
Example
VAR num x;
VAR num y
VAR num reg1;
.
reg1:= Pow(x, y);
reg1 is assigned the value xy.
Return value
Data type: num
The value of the base x raised to the power of the exponent y ( xy ).
Arguments
Pow
(Base Exponent)
Base
Data type: num

The base argument value.
Exponent
Data type: num
The exponent argument value.
Limitations
The execution of the function xy will give an error if:
. x < 0 and y is not an integer;
. x = 0 and y < 0.
3-Pow-585
Pow
Functions
Syntax
Pow(
[Base :=] <expression (IN) of num> ,
[Exponent :=] <expression (IN) of num>
)
Related information
Described in:
3-Pow-586
Functions
Present
Present
Tests if an optional parameter is used
Present is used to test if an optional argument has been used when calling a routine.
An optional parameter may not be used if it was not specified when calling the routine.
This function can be used to test if a parameter has been specified, in order to prevent
errors from occurring.
Example
PROC feeder (\switch on | \switch off)
IF Present (on) Set do1;
IF Present (off) Reset do1;
ENDPROC
The output do1, which controls a feeder, is set or reset depending on the argument used when calling the routine.
Return value
Data type: bool
TRUE = The parameter value or a switch has been defined when calling the routine.
FALSE = The parameter value or a switch has not been defined.
Arguments
Present
(OptPar)
OptPar
(Optional Parameter)
Data type: Any type
The name of the optional parameter to be tested.
3-Present-587
Present
Functions
Example
PROC glue (\switch on, num glueflow, robtarget topoint, speeddata speed,
zonedata zone, PERS tooldata tool, \PERS wobjdata wobj)
IF Present (on) PulseDO glue_on;
SetAO gluesignal, glueflow;
IF Present (wobj) THEN
MoveL topoint, speed, zone, tool \WObj=wobj;
ELSE
MoveL topoint, speed, zone, tool;
ENDIF
ENDPROC
A glue routine is made. If the argument \on is specified when calling the routine,
a pulse is generated on the signal glue_on. The robot then sets an analog output
gluesignal, which controls the glue gun, and moves to the end position. As the
wobj parameter is optional, different MoveL instructions are used depending on
whether this argument is used or not.
Syntax
Present (
[OptPar:=] <reference (REF) of any type> )
A REF parameter requires, in this case, the optional parameter name.
Related information
Described in:
Routine parameters
3-Present-588
Functions
ReadBin
ReadBin
Reads a byte from a file or serial channel
ReadBin (Read Binary) 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.
Example
VAR num character;
VAR iodev inchannel;
...
Open "sio1:", inchannel\Bin;
character := ReadBin(inchannel);
A byte is read from the binary serial channel inchannel.
Return value
Data type: num
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 num data type.
If a file is empty (end of file), the number -1 is returned.
Arguments
ReadBin
(IODevice [\Time])
IODevice
Data type: iodev
The name (reference) of the file or serial channel to be read.

[\Time]
Data type: num
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.
Program execution
Program execution waits until a byte (8 bits) can be read from the file or serial channel.
3-ReadBin-589
ReadBin
Functions
Example
VAR num bindata;
VAR iodev file;
Open flp1: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 myfile.bin from the beginning to the end and
displays the received binary data converted to chars on the teach pendant (one
char on each line).
Limitations
The function can only be used for files and serial channels that have been opened with
read access (\Read for character based files, \Bin or \Append \Bin for binary files).
Error handling
Predefined data
The constant EOF_BIN can be used to stop reading at the end of the file.
CONST num EOF_BIN := -1;
Syntax
ReadBin(
[\Time:= <expression (IN) of num>])
3-ReadBin-590
Functions
ReadBin
Related information
Described in:
Opening (etc.) files or serial channels
Convert a byte to a string data
Functions - ByteToStr
3-ReadBin-591
ReadBin
3-ReadBin-592
Functions
Functions
ReadMotor
ReadMotor
Reads the current motor angles
ReadMotor is used to read the current angles of the different motors of the robot and
external axes. The primary use of this function is in the calibration procedure of the
robot.
Example
VAR num motor_angle2;
motor_angle2 := ReadMotor(2);
The current motor angle of the second axis of the robot is stored in
motor_angle2.
Return value
Data type: num
The current motor angle in radians of the stated axis of the robot or external axes.
Arguments
ReadMotor [\MecUnit ] Axis
MecUnit
(Mechanical Unit)
Data type: mecunit
The name of the mechanical unit for which an axis is to be read. If this argument
is omitted, the axis for the robot is read. (Note, in this release only robot is permitted for this argument).
Axis
Data type: num

The number of the axis to be read (1 - 6).
Program execution
The motor angle returned represents the current position in radians for the motor and
independently of any calibration offset. The value is not related to a fix position of the
robot, only to the resolver internal zero position, i.e. normally the resolver zero 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.
3-ReadMotor-593
ReadMotor
Functions
Example
VAR num motor_angle3;
motor_angle3 := ReadMotor(\MecUnit:=robot, 3);
The current motor angle of the third axis of the robot is stored in motor_angle3.
Syntax
ReadMotor(
[\MecUnit := < variable (VAR) of mecunit>,]
[Axis := ] < expression (IN) of num>
)
Related information
Described in:
Reading the current joint angle
3-ReadMotor-594
Functions - CJointT
Functions
ReadNum
ReadNum
Reads a number from a file or serial channel
ReadNum (Read Numeric) is used to read a number from a character-based file or serial
channel.
Example
VAR iodev infile;
...
Open "flp1:file.doc", infile\Read;
reg1 := ReadNum(infile);
Reg1 is assigned a number read from the file file.doc on the diskette.
Return value
Data type: num
The numeric value read from a specified file or serial channel.

If the file is empty (end of file), the number 9.999E36 is returned.
Arguments
ReadNum
(IODevice [\Delim] [\Time])
IODevice
Data type: iodev

[\Delim]
(Delimiters)
Data type: string
A string containing the delimiters to use when parsing a line in the file or serial
channel. By default (without \Delim), the file is read line by line and the line-feed
character (\0A) is the only delimiter considered by the parsing. When the \Delim
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 \Delim, 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).
3-ReadNum-595
ReadNum
Functions
[\Time]
Data type: num
be called with the error code ERR_DEV_MAXTIME. If there is no error handler,
The timeout function is also in use during program stop and will be noticed in the
RAPID program at program start.
Program execution
Starting at the current file position, the function reads and discards any heading delimiters. A heading delimiter without the argument \Delim is a line-feed character. Heading
delimiters with the argument \Delim are any characters specified in the \Delim 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.
Example
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.
Limitations
The function can only be used for character based files that have been opened for reading.
3-ReadNum-596
Functions
ReadNum
Error handling
If an access error occurs during reading, the system variable ERRNO is set to
ERR_FILEACC.
If there is an attempt to read non-numeric data, the system variable ERRNO is set to
ERR_RCVDATA. These errors can then be dealt with by the error handler.
Predefined data
The constant EOF_NUM can be used to stop reading, at the end of the file.
CONST num EOF_NUM := 9.998E36;
Syntax
ReadNum (
[IODevice :=]<variable (VAR) of iodev>
[\Delim:=<expression (IN) of string>]
[\Time:=<expression (IN) of num>])
Related information
Described in:
3-ReadNum-597
ReadNum
3-ReadNum-598
Functions
Functions
ReadStr
ReadStr
Reads a string from a file or serial channel
ReadStr (Read String) is used to read a string from a character-based file or serial channel.
Example
VAR string text;
VAR iodev infile;
...
Open "flp1:file.doc", infile\Read;
text := ReadStr(infile);
Text is assigned a string read from the file file.doc on the diskette.
Return value
Data type: string
The string read from the specified file or serial channel.

If the file is empty (end of file), the string "EOF" is returned.
Arguments
ReadStr
(IODevice [\Delim] [\RemoveCR] [\DiscardHeaders]

[\Time])
IODevice
Data type: iodev

[\Delim]
(Delimiters)
Data type: string
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 \Delim 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).
3-ReadStr-599
ReadStr
Functions
[\RemoveCR]
Data type: switch
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.
[\DiscardHeaders]
Data type: switch
This argument specifies whether the heading delimiters (specified in \Delim plus
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.
[\Time]
Data type: num
be called with the error code ERR_DEV_MAXTIME. If there is no error handler,
The timeout function is in use also during program stop and will be noticed in the
RAPID program at program start.
Program execution
Starting at the current file position, if the \DiscardHeaders argument is used, the function reads and discards any heading delimiters (line-feed characters and any character
specified in the \Delim 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 \RemoveCR
argument is used, this character will be removed from the string.
3-ReadStr-600
Functions
ReadStr
Example
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.
Example
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 \Delim (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.
Example
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.
3-ReadStr-601
ReadStr
Functions
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).
Limitations
The function can only be used for files or serial channels that have been opened for
reading in a character-based mode.
Error handling
Predefined data
The constant EOF can be used to check if the file was empty when trying to read from
the file or to stop reading at the end of the file.
CONST string EOF := "EOF";
Syntax
ReadStr (
[\Delim:=<expression (IN) of string>]
[\RemoveCR]
[\DiscardHeaders]
3-ReadStr-602
Functions
ReadStr
Related information
Described in:
3-ReadStr-603
ReadStr
3-ReadStr-604
Functions
Functions
RelTool
RelTool
Make a displacement relative to the tool
RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed in

the tool coordinate system, to a robot position.
Example
MoveL
RelTool (p1, 0, 0, 100), v100, fine, tool1;
The robot is moved to a position that is 100 mm from p1 in the direction of the
tool.
MoveL
RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;
The tool is rotated 25o around its z-axis.
Return value
The new position with the addition of a displacement and/or a rotation, if any, relative
to the active tool.
Arguments
RelTool
(Point
Point
Dx
Dy
Dz
[\Rx]
[\Ry]
[\Rz])
The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
Dx
Data type: num

The displacement in mm in the x direction of the tool coordinate system.
Dy
Data type: num

The displacement in mm in the y direction of the tool coordinate system.
Dz
Data type: num

The displacement in mm in the z direction of the tool coordinate system.
[\Rx]
Data type: num

The rotation in degrees around the x axis of the tool coordinate system.
3-RelTool-605
RelTool
Functions
[\Ry]
Data type: num

The rotation in degrees around the y axis of the tool coordinate system.
[\Rz]
Data type: num

The rotation in degrees around the z axis of the tool coordinate system.
In the event that two or three rotations are specified at the same time, these will be performed first around the x-axis, then around the new y-axis, and then around the new
z-axis.
Syntax
RelTool(
[ Point := ] < expression (IN) of robtarget>,
[Dx :=] <expression (IN) of num> ,
[Dy :=] <expression (IN) of num> ,
[Dz :=] <expression (IN) of num>
[\Rx := <expression (IN) of num> ]
[\Ry := <expression (IN) of num> ]
[\Rz := <expression (IN) of num> ])
Related information
Described in:
3-RelTool-606
Functions
Round
Round
Round is a numeric value

Round is used to round a numeric value to a specified number of decimals or to an integer value.
Example
VAR num val;
val := Round(0.38521\Dec:=3);
The variable val is given the value 0.385.
val := Round(0.38521\Dec:=1);
val := Round(0.38521);
The variable val is given the value 0.
Return value
Data type: num
The numeric value rounded to the specified number of decimals.
Arguments
Round
( Val [\Dec])
Val
(Value)
Data type: num
The numeric value to be rounded.

[\Dec]
(Decimals
Data type: num
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value
is rounded to an integer.
The number of decimals must not be negative or greater than the available precision for numeric values.
3-Round-607
Round
Functions
Syntax
Round(
[ Val := ] <expression (IN) of num>
[ \Dec := <expression (IN) of num> ]
)
Related information
Described in:
Truncating a value
Functions - Trunc
3-Round-608
Functions
ReadStrBin
ReadStrBin
Reads a string from a binary

ReadStrBin (Read String Binary) is used to read a string from a binary serial channel
or file.
Example
VAR iodev channel2;
VAR string text;
...
Open sio1:, channel2 \Bin;
text := ReadStrBin (channel2, 10);
Text is assigned a 10 characters text string read from the serial channel referred
to by channel2.
Return value
Data type: string
The text string read from the specified serial channel or file. If the file is empty (end of
file), the string "EOF" is returned.
Arguments
ReadStrBin
(IODevice NoOfChars [\Time])
IODevice
Data type: iodev
The name (reference) of the binary serial channel or file to be read.

NoOfChars
Data type: num
The number of characters to be read from the binary serial channel or file.
[\Time]
Data type: num
be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped.
3-ReadStrBin-609
ReadStrBin
Functions
Program execution
The function reads the specified number of characters from the binary serial channel or
file.
Example
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.
Limitations
The function can only be used for serial channels or files that have been opened for
reading in a binary mode.
Error handling
Predefined data
The constant EOF can be used to check if the file was empty, when trying to read from
the file or to stop reading at the end of the file.
CONST string EOF := "EOF";
Syntax
ReadStrBin (
[IODevice :=] <variable (VAR) of iodev>,
[NoOfChars :=] <expression (IN) of num>
3-ReadStrBin-610
Functions
ReadStrBin
Related information
Described in:
Opening (etc.) serial channels
or files
Write binary string
Instructions - WriteStrBin
3-ReadStrBin-611
ReadStrBin
3-ReadStrBin-612
Functions
Functions
RunMode
RunMode
Read the running mode
RunMode (Running Mode) is used to read the current running mode of the program
task.
Example
IF RunMode() = RUN_CONT_CYCLE THEN
..
ENDIF
The program section is executed only for continuous or cycle running.
Return value
Data type: symnum
The current running mode as defined in the table below.

Return value
Symbolic constant
Comment
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
Arguments
RunMode ( [ \Main] )
[ \Main ]
Data type: switch
Return current running mode for program task main.

Used in multi-tasking system to get current running mode for program task main
from some other program task.
If this argument is omitted, the return value always mirrors the current running
mode for the program task which executes the function RunMode.
3-RunMode-613
RunMode
Functions
Syntax
RunMode ( [\Main] )
A function with a return value of the data type symnum.
Related information
Described in:
Reading operating mode
3-RunMode-614
Functions - OpMode
Functions
Sin
Sin
Calculates the sine value

Sin (Sine) is used to calculate the sine value from an angle value.
Example
VAR num angle;
VAR num value;
.
.
value := Sin(angle);
Return value
Data type: num
The sine value, range [-1, 1] .
Arguments
Sin
(Angle)
Angle
Data type: num
Syntax
Sin(
[Angle:=] <expression (IN) of num>
)
Related information
Described in:
3-Sin-615
Sin
3-Sin-616
Functions
Functions
Sqrt
Sqrt
Calculates the square root value

Sqrt (Square root) is used to calculate the square root value.
Example
VAR num x_value;
VAR num y_value;
.
.
y_value := Sqrt( x_value);
Return value
Data type: num
The square root value.
Arguments
Sqrt
(Value)
Value
The argument value for square root (
Data type: num

); it has to be
0.
Syntax
Sqrt(
[Value:=] <expression (IN) of num>
)
Related information
Described in:
3-Sqrt-617
Sqrt
3-Sqrt-618
Functions
Functions
StrFind
StrFind
Searches for a character in a string
StrFind (String Find) is used to search in a string, starting at a specified position, for a
character that belongs to a specified set of characters.
Example
VAR num found;
found := StrFind("Robotics",1,"aeiou");
The variable found is given the value 2.
found := StrFind("Robotics",1,"aeiou"\NotInSet);
found := StrFind("IRB 6400",1,STR_DIGIT);
found := StrFind("IRB 6400",1,STR_WHITE);
Return value
Data type: num
The character position of the first character, at or past the specified position, that
belongs to the specified set. If no such character is found, String length +1 is returned.
Arguments
StrFind
(Str ChPos Set [\NotInSet])
Str
(String)
Data type: string
(Character Position)
Data type: num
The string to search in.

ChPos
Start character position. A runtime error is generated if the position is outside the
string.
Set
Data type: string

Set of characters to test against.
3-StrFind-619
StrFind
Functions
[\NotInSet]
Data type: switch
Search for a character not in the set of characters.
Syntax
StrFind(
[ Str := ] <expression (IN) of string> ,
[ ChPos := ] <expression (IN) of num> ,
[ Set:= ] <expression (IN) of string>
[\NotInSet ]
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrFind-620
Functions
StrLen
StrLen
Gets the string length

StrLen (String Length) is used to find the current length of a string.
Example
VAR num len;
len := StrLen("Robotics");
The variable len is given the value 8.
Return value
Data type: num
The number of characters in the string (>=0).
Arguments
StrLen
(Str)
Str
(String)
Data type: string
The string in which the number of characters is to be counted.
Syntax
StrLen(
[ Str := ] <expression (IN) of string>
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrLen-621
StrLen
3-StrLen-622
Functions
Functions
StrMap
StrMap
Maps a string
StrMap (String Mapping) is used to create a copy of a string in which all characters are
translated according to a specified mapping.
Example
VAR string str;
str := StrMap("Robotics","aeiou","AEIOU");
The variable str is given the value "RObOtIcs".
str := StrMap("Robotics",STR_LOWER, STR_UPPER);
The variable str is given the value "ROBOTICS".
Return value
Data type: string
The string created by translating the characters in the specified string, as specified by
the "from" and "to" strings. Each character, from the specified string, that is found in
the "from" string is replaced by the character at the corresponding position in the "to"
string. Characters for which no mapping is defined are copied unchanged to the resulting string.
Arguments
StrMap
( Str FromMap ToMap)
Str
(String)
Data type: string
The string to translate.

FromMap
Data type: string
Index part of mapping.

ToMap
Data type: string
Value part of mapping.
3-StrMap-623
StrMap
Functions
Syntax
StrMap(
[ FromMap:= ] <expression (IN) of string> ,
[ ToMap:= ] <expression (IN) of string>
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrMap-624
Functions
StrMatch
StrMatch
Search for pattern in string
StrMatch (String Match) is used to search in a string, starting at a specified position,

for a specified pattern.
Example
VAR num found;
found := StrMatch("Robotics",1,"bo");
Return value
Data type: num
The character position of the first substring, at or past the specified position, that is
equal to the specified pattern string. If no such substring is found, string length +1 is
returned.
Arguments
StrMatch
(Str ChPos Pattern)
Str
(String)
Data type: string
Data type: num
The string to search in.

ChPos
string.
Pattern
Data type: string
Pattern string to search for.
Syntax
StrMatch(
[ Pattern:= ] <expression (IN) of string>
)
3-StrMatch-625
StrMatch
Functions
Related information
Described in:
String functions
Data Types - string
String values
3-StrMatch-626
Functions
StrMemb
StrMemb
Checks if a character belongs to a set
StrMemb (String Member) is used to check whether a specified character in a string

belongs to a specified set of characters.
Example
VAR bool memb;
memb := StrMemb("Robotics",2,"aeiou");
The variable memb is given the value TRUE, as o is a member of the set "aeiou".
memb := StrMemb("Robotics",3,"aeiou");
The variable memb is given the value FALSE, as b is not a member of the set
"aeiou".
memb := StrMemb("S-721 68 VSTERS",3,STR_DIGIT);
The variable memb is given the value TRUE.
Return value
Data type: bool
TRUE if the character at the specified position in the specified string belongs to the
specified set of characters.
Arguments
StrMemb
(Str ChPos Set)
Str
(String)
Data type: string
Data type: num
The string to check in.

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

outside the string.
Set
Data type: string

Set of characters to test against.
3-StrMemb-627
StrMemb
Functions
Syntax
StrMemb(
[ Set:= ] <expression (IN) of string>
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrMemb-628
Functions
StrOrder
StrOrder
Checks if strings are ordered
StrOrder (String Order) is used to check whether two strings are in order, according to
a specified character ordering sequence.
Example
VAR bool le;
le := StrOrder("FIRST","SECOND",STR_UPPER);
The variable le is given the value TRUE, because "FIRST" comes before
"SECOND" in the character ordering sequence STR_UPPER.
Return value
Data type: bool
TRUE if the first string comes before the second string (Str1 <= Str2) when characters
are ordered as specified.
Characters that are not included in the defined ordering are all assumed to follow the
present ones.
Arguments
StrOrder
( Str1 Str2 Order)
Str1
(String 1)
Data type: string
(String 2)
Data type: string
First string value.

Str2
Second string value.
Order
Data type: string
Sequence of characters that define the ordering.
3-StrOrder-629
StrOrder
Functions
Syntax
StrOrder(
[ Str1 := ] <expression (IN) of string> ,
[ Str2 := ] <expression (IN) of string> ,
[ Order := ] <expression (IN) of string>
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrOrder-630
Functions
StrPart
StrPart
Finds a part of a string
StrPart (String Part) is used to find a part of a string, as a new string.
Example
VAR string part;
part := StrPart("Robotics",1,5);
The variable part is given the value "Robot".
Return value
Data type: string
The substring of the specified string, which has the specified length and starts at the
specified character position.
Arguments
StrPart
(Str ChPos Len)
Str
(String)
Data type: string
The string in which a part is to be found.

ChPos
Data type: num
string.
Len
(Length)
Data type: num
Length of string part. A runtime error is generated if the length is negative or

greater than the length of the string, or if the substring is (partially) outside the
string.
Syntax
StrPart(
[ Len:= ] <expression (IN) of num>
)
3-StrPart-631
StrPart
Functions
Related information
Described in:
String functions
Data Types - string
String values
3-StrPart-632
Functions
StrToByte
StrToByte
Converts a string to a byte data
StrToByte (String To Byte) is used to convert a string with a defined byte data format
into a byte data.
Example
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010", "A"];
VAR byte data_buffer{5};
data_buffer{1} := StrToByte(con_data_buffer{1});
The content of the array component data_buffer{1} will be 10 decimal after the
StrToByte ... function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);
Return value
Data type: byte
The result of the conversion operation in decimal representation.
3-StrToByte-633
StrToByte
Functions
Arguments
StrToByte
ConStr
(ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])

(Convert String)
Data type: string
The string data to be converted.

If the optional switch argument is omitted, the string to be converted has decimal (Dec)
format.
[\Hex]
(Hexadecimal)
Data type: switch
The string to be converted has hexadecimal format.

[\Okt]
(Octal)
Data type: switch
The string to be converted has octal format.

[\Bin]
(Binary)
Data type: switch
The string to be converted has binary format.

[\Char]
(Character)
Data type: switch
The string to be converted has ASCII character format.
Limitations
Depending on the format of the string to be converted, the following string data
is valid:
Format:
Dec .....: 0 - 9
Hex .....: 0 - 9, a -f, A - F
Okt ......: 0 - 7
Bin ......: 0 - 1
Char ....: Any ASCII char (*)
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 ConStr.
3-StrToByte-634
Functions
Pow
Syntax
StrToByte(
[ConStr :=] <expression (IN) of string>
[\ Hex ] | [\ Okt] | [\ Bin] | [\ Char]
) ;
A function with a return value of the data type byte.
Related information
Described in:
Convert a byte to a string data
Instructions - ByteToStr
Other bit (byte) functions
Other string functions
3-Pow-635
Pow
3-Pow-636
Functions
Functions
StrToVal
StrToVal
Converts a string to a value
StrToVal (String To Value) is used to convert a string to a value of any data type.
Example
VAR bool ok;
VAR num nval;
ok := StrToVal("3.85",nval);
The variable ok is given the value TRUE and nval is given the value 3.85.
Return value
Data type: bool
TRUE if the requested conversion succeeded, FALSE otherwise.
Arguments
StrToVal
( Str Val )
Str
(String)
Data type: string
A string value containing literal data with format corresponding to the data type
used in argument Val. Valid format as for RAPID literal aggregates.
Val
(Value)
Data type: ANYTYPE
Name of the variable or persistent of any data type for storage of the result from
the conversion. The data is unchanged if the requested conversion failed.
Example
VAR string 15 := [600, 500, 225.3];
VAR bool ok;
VAR pos pos15;
ok := StrToVal(str15,pos15);
The variable ok is given the value TRUE and the variable p15 is given the value
that are specified in the string str15.
3-StrToVal-637
StrToVal
Functions
Syntax
StrToVal(
[ Val := ] <var or pers (INOUT) of ANYTYPE>
)
Related information
Described in:
String functions
Data Types - string
String values
3-StrToVal-638
Functions
Tan
Tan
Calculates the tangent value

Tan (Tangent) is used to calculate the tangent value from an angle value.
Example
VAR num angle;
VAR num value;
.
.
value := Tan(angle);
Return value
Data type: num
The tangent value.
Arguments
Tan
(Angle)
Angle
Data type: num
Syntax
Tan(
[Angle :=] <expression (IN) of num>
)
Related information
Described in:
Arc tangent with return value in the
range [-180, 180]

Functions - ATan2
3-Tan-639
Tan
3-Tan-640
Functions
Functions
TestDI
TestDI
Tests if a digital input is set

TestDI is used to test whether a digital input is set.
Examples
IF TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 1, then . . .
IF NOT TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 0, then . . .
WaitUntil TestDI(di1) AND TestDI(di2);
Program execution continues only after both the di1 input and the di2 input have
been set.
Return value
Data type: bool
TRUE = The current value of the signal is equal to 1.

FALSE = The current value of the signal is equal to 0.
Arguments
TestDI
(Signal)
Signal
Data type: signaldi
The name of the signal to be tested.
Syntax
TestDI (
[ Signal := ] < variable (VAR) of signaldi > )
3-TestDI-641
TestDI
Functions
Related information
Described in:
Reading the value of a digital input signal
Functions - DInput
3-TestDI-642
Functions
TestAndSet
TestAndSet
Test variable and set if unset
TestAndSet can be used together with a normal data object of the type bool, 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 Teach Pendant - Operator Output & Input
Example
MAIN program task:
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;
BACK1 program task:
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 TestAndSet(tproutine_inuse) first, then
program task BACK1 must wait until the program task MAIN has left the semaphore.
Return value
Data type: num
TRUE if the semaphore has been taken by me (executor of TestAndSet function),

otherwise FALSE. ???
3-TestAndSet-643
TestAndSet
Functions
Arguments
TestAndSet
Object
Object
Data type: bool
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).
Program execution
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
Example
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.
Note in this case: If program execution is stopped in the routine doit and the
program pointer is moved to main, the variable doit_inuse will not be reset. To
avoid this, reset the variable doit_inuse to FALSE in the START event routine.
Syntax
TestAndSet (
[ Object := ] < variable or persistent (INOUT) of bool> )
3-TestAndSet-644
Functions
TestAndSet
Related information
Described in:
Built-in and shared module
Users Guide - System parameters
Intertask objects
RAPID Developers Manual RAPID Kernel Reference Manual Intertask objects
3-TestAndSet-645
TestAndSet
3-TestAndSet-646
Functions
Functions
Trunc
Trunc
Truncates a numeric value

Trunc (Truncate) is used to truncate a numeric value to a specified number of decimals
or to an integer value.
Example
VAR num val;
val := Trunc(0.38521\Dec:=3);
reg1 := 0.38521
val := Trunc(reg1\Dec:=1);
val := Trunc(0.38521);
The variable val is given the value 0.
Return value
Data type: num
The numeric value truncated to the specified number of decimals.
Arguments
Trunc
( Val [\Dec] )
Val
(Value)
Data type: num
The numeric value to be truncated.

[\Dec]
(Decimals)
Data type: num
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value
is truncated to an integer.
The number of decimals must not be negative or greater than the available precision for numeric values.
3-Trunc-647
Trunc
Functions
Syntax
Trunc(
[ Val := ] <expression (IN) of num>
[ \Dec := <expression (IN) of num> ]
)
Related information
Described in:
Rounding a value
Functions - Round
3-Trunc-648
Functions
ValToStr
ValToStr
Converts a value to a string
ValToStr (Value To String) is used to convert a value of any data type to a string.
Example
VAR string str;
VAR pos p := [100,200,300];
str := ValToStr(1.234567);
The variable str is given the value "1.23457".
str := ValToStr(TRUE);
The variable str is given the value "TRUE".
str := ValToStr(p);
The variable str is given the value "[100,200,300]".
Return value
Data type: string
A runtime error is generated if the resulting string is too long.
Arguments
ValToStr
( Val )
Val
(Value)
Data type: ANYTYPE
A value of any data type.
Syntax
ValToStr(
[ Val := ] <expression (IN) of ANYTYPE>
)
3-ValToStr-649
ValToStr
Functions
Related information
Described in:
String functions
Data Types - string
String values
3-ValToStr-650
Functions
VectMagn
VectMagn
Magnitude of a pos vector
VectMagn (Vector Magnitude) is used to calculate the magnitude of a pos vector.
Example
z
Az
y
Ay
x
Ax
A vector A can be written as the sum of its components in the three orthogonal directions:
A = Ax x + Ay y + Az z
The magnitude of A is:
A =
A x + Ay + A z
The vector is described by the data type pos and the magnitude by the data type num:
VAR num magnitude;
VAR pos vector;
.
.
vector := [1,1,1];
magnitude := VectMagn(vector);
Return value
Data type: num
The magnitude of the vector (data type pos).
3-VectMagn-651
VectMagn
Functions
Arguments
VectMagn
(Vector)
Vector
Data type: pos
The vector described by the data type pos.
Syntax
VectMagn(
[Vector :=] <expression (IN) of pos>
)
Related information
Described in:
3-VectMagn-652
INDEX
A
Abs 489
absolute value 489
acceleration reduction 121
AccSet 121
ACos 491
ActUnit 123
Add 125
AliasIO 127
analog output
set 347
AOutput 493
arcus cosine 491
arcus sine 495
arcus tangent 497, 499
arithmetic 119
array
get size 539
ASin 495
assignment 119
ATan 497
ATan2 499
B
bit manipulation 7
bool 5
Break 131
byte 7
C
C_MOTSET 81
C_PROGDISP 81
call 133
CallByVar 135
CDate 513
circular movement 249, 259, 265
CJointT 505, 515
Clear 139
ClkRead 517
ClkReset 141
ClkStart 143
ClkStop 145
clock 9
read 517
reset 141
start 143
stop 145
Close 147, 149
comment 151
common drive unit 123, 159
Compact IF 193
condition 195
confdata 11
ConfJ 153
ConfL 155
CONNECT 157
corner path 107
Cos 519
CPos 521
CRobT 509, 523
CTime 525
CTool 527
CWobj 529
D
date 513
DeactUnit 159
Decr 161
decrease velocity 445
decrement 161
DefDFrame 531
DefFrame 535
digital output 545
pulse 309
reset 317
set 345, 349
Dim 539
dionum 17
displace
position 571
displacement
tool direction 605
displacement frame 531, 535
DotProd 543, 567, 651
DOutput 545
E
Enable I/O unit 205
EOffsOff 163
EOffsOn 165
EOffsSet 169
4-653
erase teach pendant display 381

ERRNO 81
errnum 19, 85
error recovery
retry 321, 423
ErrWrite 171
EulerZYX 547
EXIT 173
ExitCycle 175
Exp 549
exponential value 501, 549, 585, 633
external axes
activate 123
deactivate 159
extjoint 23
F
file
close 147, 149, 325
load 241, 327
open 293
read 589, 595, 599, 609
rewind 325
spystart 207, 217
unload 433, 441, 541
write 313, 449, 453, 457, 459
fine 107
fly-by point 107
FOR 177
frame 535
Functions 181
activate 237
at a position 405
connect 157
deactivate 229
delete 187
disable 189
enable 191
from digital input 221
identity 27
timed 231
INTNO 81
intnum 27
InvertDO 199
IO unit
disable 201
enable 205
iodev 3, 29
IODisable 201
IOEnable 205
ISignalDI 221
ISignalDO 225
ISleep 229
IsPers 559
IsVar 561
ITimer 231
IVarValue 235
IWatch 237
J
joint movement 269, 273, 285
jump 183
GetTime 555
GOTO 183
GOutput 493, 557
GripLoad 185
group of I/O 351, 493, 557
label 239
linear movement 277, 281, 289, 379
Load 241, 327
load
activate payload 185
loaddata 33
loadsession 39
logical value 5
I
IDelete 187
IDisable 189
IEnable 191
IF 193, 195
Incr 197
increment 197
interrupt
4-654
M
maximum velocity 445
mechanical unit 41
activate 123
deactivate 159
MechUnitLoad 83, 245

mecunit 41
MirPos 563
mirroring 563
motsetdata 43
MoveAbsJ 253
MoveC 259
MoveCDO 265
MoveCSync 249
MoveJ 273
MoveJDO 269
MoveJSync 285
MoveL 281, 379
MoveLDO 277
MoveLSync 289
movement
circle 249, 259, 265
joint 269, 273, 285
linear 277, 281, 289, 379
activate 185
PDispOff 301
PDispOn 303
pos 57
pose 59
PoseInv 579
PoseMult 581
position fix I/O 411
Pow 585, 633
Present 587
ProcCall 133
procedure call 133, 135
program displacement
activate 303
deactivate 301
remove from position 577
PulseDO 309
quaternion 52
num 47
numeric value 47
NumToStr 569
O
o_jointtarget 49
object coordinate system 99
Offs 571
offset 571
Open
file 293
serial channel 293
operating mode
read 573
OpMode 573
orient 51
OrientZYX 575
ORobT 577
output
at a position 411
P
path resolution
change 297
PathResol 297
payload 33
RAISE 311
read
clock 517
current date 513
current joint angles 505, 515
current robot position 509, 523
current time 525, 555
current tool data 527
current work object 529
digital output 545
file 589, 595, 599, 609
function key 383
group of outputs 493, 557
serial channel 589, 595, 599, 609
ReadBin 589
ReadMotor 593
ReadNum 595
ReadStr 599, 609
RelTool 499, 535, 573, 585, 605, 613
repeat 177, 447
Reset 317
RestoPath 319
RETRY 321
RETURN 323
Rewind 325
robot position 55, 65
4-655
robtarget 55, 65
Round 607
routine call 133
RunMode 613
running mode
read 613
S
SearchC 331
SearchL 337
serial channel
close 147, 149
file 313, 453, 457, 459
open 293
read 589, 595, 599, 609
rewind 325
write 449
Set 345
SetAO 347
SetDO 349
SetGO 351
shapedata 69
signalai 71
signalao 71
signaldi 71
signaldo 71
signalgi 71
signalgo 71
Sin 615
SingArea 353
soft servo
activating 355
deactivating 357
SoftAct 355
SoftDeact 357
speeddata 73
SpyStart 207, 217, 359
SpyStop 363
Sqrt 617
square root 617
StartMove 369
Stop 371
stop point 107
StopMove 373
stopwatch 9, 143
StorePath 375
StrFind 619
string 77
4-656
StrLen 621
StrMap 623
StrMatch 625
StrMemb 627
StrOrder 629
StrPart 631
StrToVal 637
symnum 79
system data 81
T
Tan 639
TEST 377
TestDI 641
text string 77
time 525, 555
tooldata 87
TPErase 381
tpnum 93
TPReadFK 383
TPReadNum 387
TPShow 389
TPWrite 391
TriggC 393
triggdata 95
TriggEquip 399
TriggInt 405
TriggIO 411
TriggJ 415
TriggL 419
Trunc 647
TRYNEXT 423
TuneReset 425
TuneServo 427
tunetype 97
U
UnLoad 433, 441, 541
user coordinate system 99
V
ValToStr 649
velocity 73
decrease 445
max. 445
VelSet 445
W
wait
a specific time 461
any condition 463
digital input 437
digital output 439
until the robot is in position 461
WaitDI 437
WaitDO 439
WaitTime 461
WaitUntil 463
WHILE 447
wobjdata 99
work object 99
Write 449
write
error message 171
on the teach pendant 389, 391
WriteBin 453
WriteStrBin 313, 457, 459
WZBoxDef 465
WZCylDef 467
WZDisable 471
WZDOSet 473
WZEnable 477
WZFree 479
WZLimSup 481
WZSphDef 485
wzstationary 103
wztemporary 105
Z
zonedata 107
4-657
4-658

S4C-RAPID Reference Manual 3.2 (3HAC 5783-1)

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What are some of the main programming instructions discussed?

What are some of the main programming instructions discussed?

What are some of the functions described for reading system data?

What are some of the functions described for reading system data?

3HAC 5774-1

For BaseWare OS 3.2

Motion and I/O Principles

Predefined Data and Programs

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

3 RAPID Summary......................................................................................... 3-1

5.2 Positioning instructions .......................................................................................... 3-14

4 Basic Characteristics ...................................................................................4-1

5 Motion and I/O Principles .......................................................................... 5-1

1.4 Related information ................................................................................................ 5-10

6 Programming Off-line................................................................................. 6-1

7 Predined Data and Programs ..................................................................... 7-1

8 Index, Glossary ............................................................................................ 8-1

1.1 Other Manuals

1.2 How to Read this Manual

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

- Optional arguments are enclosed in square brackets [ ]. These arguments can

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

- The symbol ::= means is defined as.

The Structure of the Language

1 The Structure of the Language

The Structure of the Language

Controlling the Program Flow

2 Controlling the Program Flow

2.1 Programming principles

2.2 Calling another routine

Call (jump to) another routine

Call procedures with specific names

Return to the original routine

2.3 Program control within the routine

Execute one instruction only if a condition is satisfied

Execute a sequence of different instructions depending on

Repeat a section of the program a number of times

Repeat a sequence of different instructions as long as a given

Execute different instructions depending on the value of an

Specify a label (line name)

Controlling the Program Flow

2.4 Stopping program execution

Stop program execution

Stop program execution when a program restart is not allowed

Stop program execution temporarily for debugging purposes

2.5 Stop current cycle

3.1 Assigning a value to data

Assign a value to data

Wait a given amount of time or to wait until the robot stops

Wait until a condition is satisfied

Wait until a digital input is set

Wait until a digital output is set

Comment on the program

3.4 Loading program modules

Load a program module into the program memory

Unload a program module from the program memory

Load a program module into the program memory during

Connect the module, if loaded with StartLoad, to the

Save a program module

Program a load session