ABB BullsEye, Руководство по применению

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Returns the value of the new TCP extension. This is useful when using the
Change
argument to get the resulting TCP extension.
[\Status]
Data type:
be_status
This optional parameter returns the status code. A status code other than 1 indicates
a problem in execution. For a list of possible status codes, see
BullsEye status
codes on page 47 .
Program execution
This instruction does not cause robot motion. All data is converted if successful.
Otherwise, no data is converted.
Execution in stepwise mode
Forward
Execution when stepping forward is the same as in continuous execution.
Backward
Not supported.
Error handling
Known errors are raised as BullsEye error codes in the optional argument
Status
.
These codes may be handled outside the instruction with standard conditional
statements. BullsEye error codes are not ERRNO constants handled in a RAPID
error handler.
Syntax
BETcpExtend
[ Tool ':='] < expression (PERS) of tooldata >
[ '\' Change ':=' < expression (IN) of num > ]
| [ '\' Absolute ':=' < expression (IN) of num > ]
[ '\' NewExtens ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ] ';'
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 72 BESetupToolJ
78 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.5 BETcpExtend - BullsEye extend TCP
Continued