ABB Robotics Technical reference manual RAPID Instructions ...

1 ABB RoboticsTechnical reference manualRAPID Instructions , Functions and Data types Copyright 2004-2010 ABB. All rights reference manualRAPID Instructions , Functions and Data typesRobotWare ID: 3 HAC 16581-1 Revision: J Copyright 2004-2010 ABB. All rights 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 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 no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described 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.

2 Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge. Copyright 2004-2010 ABB All rights ABRobotics ProductsSE-721 68 V ster sSweden Table of Contents33 HAC 16581-1 Revision: J Copyright 2004-2010 ABB. All rights .. 131 AccSet - Reduces the acceleration .. ActUnit - Activates a mechanical unit .. Add - Adds a numeric value .. AliasIO - Define I/O signal with alias name .. ":=" - Assigns a value .. BitClear - Clear a specified bit in a byte data.. BitSet - Set a specified bit in a byte data .. BookErrNo - Book a RAPID system error number.

3 Break - Break program execution.. CallByVar - Call a procedure by a variable .. CancelLoad - Cancel loading of a module .. CheckProgRef - Check program references .. CirPathMode - Tool reorientation during circle path .. Clear - Clears the value .. ClearIOBuff - Clear input buffer of a serial channel .. ClearPath - Clear current path .. ClearRawBytes - Clear the contents of rawbytes data .. ClkReset - Resets a clock used for timing .. ClkStart - Starts a clock used for timing.. ClkStop - Stops a clock used for timing .. Close - Closes a file or serial channel.. CloseDir - Close a directory.

4 Comment - Comment .. Compact IF - If a condition is met, (one instruction) .. ConfJ - Controls the configuration during joint movement .. ConfL - Monitors the configuration during linear movement .. CONNECT - Connects an interrupt to a trap routine .. CopyFile - Copy a file .. CopyRawBytes - Copy the contents of rawbytes data .. CorrClear - Removes all correction generators .. CorrCon - Connects to a correction generator .. CorrDiscon - Disconnects from a correction generator .. CorrWrite - Writes to a correction generator .. DeactUnit - Deactivates a mechanical unit.. Decr - Decrements by 1.

5 DitherAct - Enables dither for soft servo .. DitherDeact - Disables dither for soft servo .. DropWObj - Drop work object on conveyor .. EOffsOff - Deactivates an offset for external axes.. EOffsOn - Activates an offset for external axes .. EOffsSet - Activates an offset for external axes using known values .. EraseModule - Erase a module .. ErrLog - Write an error message .. ErrRaise - Writes a warning and calls an error handler .. ErrWrite - Write an error message .. EXIT - Terminates program execution .. ExitCycle - Break current cycle and start next .. FOR - Repeats a given number of times.

6 GetDataVal - Get the value of a data object .. GetSysData - Get system data .. GetTrapData - Get interrupt data for current TRAP.. GOTO - Goes to a new instruction .. 117 Table of Contents43 HAC 16581-1 Revision: J Copyright 2004-2010 ABB. All rights GripLoad - Defines the payload for the robot .. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403 .. IDelete - Cancels an interrupt.. IDisable - Disables interrupts .. IEnable - Enables interrupts .. IError - Orders an interrupt on errors .. IF - If a condition is met, then ..; otherwise .. Incr - Increments by 1 .. IndAMove - Independent absolute position movement.

7 IndCMove - Independent continuous movement .. IndDMove - Independent delta position movement.. IndReset - Independent reset .. IndRMove - Independent relative position movement.. InvertDO - Inverts the value of a digital output signal .. IOBusStart - Start of I/O bus .. IOBusState - Get current state of I/O bus .. IODisable - Disable I/O unit .. IOEnable - Enable I/O unit.. IPers - Interrupt at value change of a persistent variable .. IRMQM essage - Orders RMQ interrupts for a data type.. ISignalAI - Interrupts from analog input signal .. ISignalAO - Interrupts from analog output signal .. ISignalDI - Orders interrupts from a digital input signal.

8 ISignalDO - Interrupts from a digital output signal .. ISignalGI - Orders interrupts from a group of digital input signals.. ISignalGO - Orders interrupts from a group of digital output signals .. ISleep - Deactivates an interrupt .. ITimer - Orders a timed interrupt .. IVarValue - orders a variable value interrupt.. IWatch - Activates an interrupt .. Label - Line name .. Load - Load a program module during execution .. LoadId - Load identification of tool or payload .. MakeDir - Create a new directory .. ManLoadIdProc - Load identification of IRBP manipulators .. MechUnitLoad - Defines a payload for a mechanical unit.

9 MotionSup - Deactivates/Activates motion supervision .. MoveAbsJ - Moves the robot to an absolute joint position .. MoveC - Moves the robot circularly .. MoveCDO - Moves the robot circularly and sets digital output in the corner.. MoveCSync - Moves the robot circularly and executes a RAPID procedure .. MoveExtJ - Move one or several mechanical units without TCP .. MoveJ - Moves the robot by joint movement .. MoveJDO - Moves the robot by joint movement and sets digital output in the corner .. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure .. MoveL - Moves the robot linearly.

10 MoveLDO - Moves the robot linearly and sets digital output in the corner .. MoveLSync - Moves the robot linearly and executes a RAPID procedure .. MToolRotCalib - Calibration of rotation for moving tool .. MToolTCPC alib - Calibration of TCP for moving tool.. Open - Opens a file or serial channel .. OpenDir - Open a directory .. PackDNHeader - Pack DeviceNet Header into rawbytes data.. PackRawBytes - Pack data into rawbytes data.. PathAccLim - Reduce TCP acceleration along the path .. 295 Table of Contents53 HAC 16581-1 Revision: J Copyright 2004-2010 ABB. All rights PathRecMoveBwd - Move path recorder backwards.