ABB Robotics Technical reference manual RAPID Instructions ...
ABB Robotics
Technical reference manual
RAPID Instructions, Functions and Data types
Technical reference manual
RAPID Instructions, Functions and Data types
RobotWare 5.13
Document ID: 3HAC 16581-1
? Copyright 2004-2010 ABB. All rights reserved.
Revision: J
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
? Copyright 2004-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 V?ster?s
Sweden
? Copyright 2004-2010 ABB. All rights reserved.
Additional copies of this manual may be obtained from ABB at its then current charge.
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
? Copyright 2004-2010 ABB. All rights reserved.
1 Instructions
15
1.1 AccSet - Reduces the acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 ActUnit - Activates a mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3 Add - Adds a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 AliasIO - Define I/O signal with alias name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.5 ":=" - Assigns a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.6 BitClear - Clear a specified bit in a byte data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.7 BitSet - Set a specified bit in a byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.8 BookErrNo - Book a RAPID system error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.9 Break - Break program execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.10 CallByVar - Call a procedure by a variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.11 CancelLoad - Cancel loading of a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.12 CheckProgRef - Check program references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.13 CirPathMode - Tool reorientation during circle path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1.14 Clear - Clears the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.15 ClearIOBuff - Clear input buffer of a serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.16 ClearPath - Clear current path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
1.17 ClearRawBytes - Clear the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.18 ClkReset - Resets a clock used for timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
1.19 ClkStart - Starts a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
1.20 ClkStop - Stops a clock used for timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
1.21 Close - Closes a file or serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
1.22 CloseDir - Close a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
1.23 Comment - Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
1.24 Compact IF - If a condition is met, then... (one instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
1.25 ConfJ - Controls the configuration during joint movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
1.26 ConfL - Monitors the configuration during linear movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
1.27 CONNECT - Connects an interrupt to a trap routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
1.28 CopyFile - Copy a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
1.29 CopyRawBytes - Copy the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
1.30 CorrClear - Removes all correction generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
1.31 CorrCon - Connects to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
1.32 CorrDiscon - Disconnects from a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
1.33 CorrWrite - Writes to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
1.34 DeactUnit - Deactivates a mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
1.35 Decr - Decrements by 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
1.36 DitherAct - Enables dither for soft servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
1.37 DitherDeact - Disables dither for soft servo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
1.38 DropWObj - Drop work object on conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
1.39 EOffsOff - Deactivates an offset for external axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
1.40 EOffsOn - Activates an offset for external axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
1.41 EOffsSet - Activates an offset for external axes using known values . . . . . . . . . . . . . . . . . . . . . . . . . . 90
1.42 EraseModule - Erase a module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
1.43 ErrLog - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
1.44 ErrRaise - Writes a warning and calls an error handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
1.45 ErrWrite - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
1.46 EXIT - Terminates program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
1.47 ExitCycle - Break current cycle and start next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
1.48 FOR - Repeats a given number of times. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
1.49 GetDataVal - Get the value of a data object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
1.50 GetSysData - Get system data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
1.51 GetTrapData - Get interrupt data for current TRAP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
1.52 GOTO - Goes to a new instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
3HAC 16581-1 Revision: J
3
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