3、RAPID Operating manual_en

OperatingmanualIntroductiontoRAPIDControllersoftwareIRC5RobotWare5.0©Copyright2007ABB.Allrightsreserved.OperatingmanualIntroductiontoRAPIDRobotWare5.0DocumentID:3HAC029364-001Revision:-©Copyright2007ABB.Allrightsreserved.TheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrantybyABBforlosses,damagestopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB'swrittenpermission,andcontentsthereofmustnotbeimpartedtoathirdpartynorbeusedforanyunauthorizedpurpose.Contraventionwillbeprosecuted.AdditionalcopiesofthismanualmaybeobtainedfromABBatitsthencurrentcharge.©Copyright2007ABBAllrightsreserved.ABBABRoboticsProductsSE-72168VästeråsSwedenTableofContents33HAC029364-001Revision:-©Copyright2007ABB.Allrightsreserved.Overview.............................................................................5Productdocumentation,M2004............................................................7Safety................................................................................9Terminology..........................................................................101RAPIDbasics111.1AboutRAPID......................................................................111.2RAPIDdata........................................................................121.2.1Variables.....................................................................121.2.2Persistentvariables.............................................................131.2.3Constants....................................................................141.2.4Operators....................................................................151.3Controllingtheprogramflow.........................................................161.3.1IFTHEN.....................................................................161.3.2ExampleswithlogicalconditionsandIFstatements...................................181.3.3FORloop....................................................................191.3.4WHILEloop..................................................................201.4RulesandrecommendationsforRAPIDsyntax..........................................211.4.1GeneralRAPIDsyntaxrules.....................................................211.4.2RecommendationsforRAPIDcode................................................222RAPIDrobotfunctionality232.1Moveinstructions..................................................................232.1.1MoveLinstruction.............................................................232.1.2Coordinatesystems.............................................................252.1.3ExampleswithMoveL..........................................................262.1.4Othermoveinstructions.........................................................282.1.5Executionbehaviorincornerzones................................................292.2I/Osignals........................................................................312.2.1I/Osignals....................................................................312.3Userinteraction....................................................................322.3.1CommunicatewiththeFlexPendant................................................323Structure353.1RAPIDprocedure...................................................................353.2Modules..........................................................................373.3Structureddesign...................................................................384Datawithmultiplevalues434.1Arrays............................................................................434.2Compositedatatypes................................................................445RAPIDinstructionsandfunctions475.1Instructions........................................................................475.2Functions.........................................................................486Whattoreadnext496.1Wheretofindmoreinformation........................................................49Index51TableofContents43HAC029364-001Revision:-©Copyright2007ABB.Allrightsreserved.Overview53HAC029364-001Revision:-©Copyright2007ABB.Allrightsreserved.OverviewAboutThisManualThismanualisintendedasafirstintroductiontoRAPID.AlotoffunctionalityinRAPIDisleftout,butthemostessentialpartsaredescribedsothatitcanbeeasilyunderstoodforeverybody.ThismanualdoesnotmakeyouanexpertRAPIDprogrammer,butitcanhelpyouunderstandtheconceptofprogrammingwithRAPID.Thedetailscanalwaysbefoundinthereferencemanuals.UsageThismanualshouldbereadbeforestartingtoprogram.Itdoesnotcontaineverythingyouneedtoknow,butyouneedtobefamiliarwithmostthingsinthismanual,beforestartingtowriteaRAPIDprogram.Thismanualdoesnotreplacetheeduc