6 Programming
6.1. RAPID components
55
3HAC021272-001 Revision: H
© Copyri
ght
200
4-2008 ABB.
All rights reserved.
6 Programming
6.1. RAPID components
Data types
This is a brief description of each data type in MultiMove. For more information, see the
respective data type in Technical reference manual - RAPID Instructions, Functions and Data
types.
System data
System data is predefined, internal data of the robot. A system data can be read, but not
changed, from a RAPID program. For more information, see Technical reference manual -
RAPID Instructions, Functions and Data types.
Instructions
This is a brief description of each instruction in MultiMove. For more information, see the
respective instruction in Technical reference manual - RAPID Instructions, Functions and
Data types.
Data type
Description
syncident
A variable of the data type
syncident
is used to identify which
WaitSyncTask
,
SyncMoveOn
or
SyncMoveOff
instructions, in the
different task programs, should be synchronized with each other.
The name of the
syncident
variable must be the same in all task
programs.
Declare
syncident
variables globally in each task. Do not reuse a
syncident
variable (each
WaitSyncTask
,
SyncMoveOn
and
SyncMoveOff
in a task program should have a unique
syncident
).
tasks
A persistent variable of the data type
tasks
contains names of the tasks
that will be synchronized with
WaitSyncTask
or
SyncMoveOn
.
The
tasks
variable must be declared as system global (persistent)
variable, with the same name and the same content in all task programs.
identno
A numeric value or a variable of type
identno
is used in the argument
ID
of any move instructions executed between the
SyncMoveOn
and
SyncMoveOff
instructions.
System data
Description
ROB_ID
Reference to the robot (if any) controlled by the task.
If used from a task that does not control a robot, an error will occur. Always
use
TaskRunRob()
to check this before using
ROB_ID
.
Instruction
Description
WaitSyncTask
WaitSyncTask
is used to synchronize several task programs at a
special point in the program.
A
WaitSyncTask
instruction will wait for the other task programs. When
all task programs have reached the
WaitSyncTask
instruction, they will
continue their execution.
Continues on next page