3 Programming robots
3.7 RAPID Instructions
Note
For information on the RAPID Editor, which is used for creating and modifying RAPID program code, seeRAPID tab on page 399.
Move and action instructions
For RAPID programming, RobotStudio’s main advantage is in the area of motion programming.
A move instruction is an instruction for the robot to move to a specified target in a specified manner. With RobotStudio, you can create move instructions in three ways:
Description Method
Creates move instructions based on one or several targets selected in the Paths&Targets browser. For a procedure, see Add to Path on page 435.
Create a move instruction based on an existing target
Creates a move instruction and a corresponding target at once. The position of the target can either be selected from the graphics window or typed numerically. For a procedure, seeMove Instruction on page 234.
Create a move instruction and a corresponding target
Teaching a move instruction creates a move instruction and a corresponding target at the robot’s current position.
Teaching a move instruction also stores the current configur-ation with the target. For a procedure, seeTeach Instruction on page 233.
Teach a move instruction
In addition to move instructions, you can also create and insert action instructions from RobotStudio. An action instruction is an instruction other than a move instruction that can, for example, set parameters, or activate or deactivate equipment and functions. The action instructions available in RobotStudio are limited to those commonly used for affecting the robot’s motions. For inserting other action instructions or another kind of RAPID code in the program, use the RAPID Editor. For a procedure, seeAction Instruction on page 235.
The table below lists the action instructions that can be created. For details, see the RAPID Reference Manual.
Description Action instruction
ConfL specifies whether to monitor the robot’s configurations during linear movements. When ConfL is set to Off, the robot may use another configuration than the programed one for reaching the target during program execution.
ConfL On/Off
ConfJ specifies whether to monitor the robot’s configurations during joint movements. When ConfJ is set to Off, the robot may use another configuration than the programed one for reaching the target during program execution.
ConfJ On/Off
Actunit activates the mechanical unit specified by UnitName.
Actunit UnitName
Deactunit deactivates the mechanical unit specified by Unit-Name.
DeactUnit UnitName
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Description Action instruction
ConfJ specifies whether to monitor the robot’s configurations during joint movements. When ConfJ is set to Off, the robot may use another configuration than the programed one for reaching the target during program execution.
ConfJ On/Off
Actunit activates the mechanical unit specified by UnitName.
Actunit UnitName
Deactunit deactivates the mechanical unit specified by Unit-Name.
DeactUnit UnitName
Modifying an instruction
Most instructions have arguments that specify how the instruction shall be carried out. For example, the MoveL instruction has arguments that specify the speed and accuracy with which the robot moves to the target.
For a procedure, seeModify Instruction on page 468.
Note
Some arguments are read from the virtual controller. If the virtual controller has not been started, only the arguments stored in the station can be modified.
Converting to move circular
To create a circular motion to an instruction target, you must convert the motion type to circular motion (that is, MoveC in RAPID).
A circular motion is defined by two motion instructions, where the first is the via-point and the second contains the end point of the circular motion.
The circular motion can only be used for open circular arcs, not for closed circles.
To create a path for a closed circle, use two circular motions.
For a procedure, seeConvert to Move Circular on page 444.
Creating RAPID instructions for setting I/O signals
For controlling I/O signals in the robot program, you use RAPID commands that set the signals. These require that you first create instruction templates for the instructions that set the signals. See RAPID reference manual for details about the instructions that control I/O signals.
To add RAPID instructions that set I/O signals, follow these steps:
1 Synchronize the system in which you want to add the instructions to the virtual controller, seeSynchronization on page 134.
2 In programming mode, select the module for editing, right-click it and then click Edit program.
3 In the RAPID editor, add the instructions for setting the signals.
4 When you are done adding instructions, synchronize the task and paths from the Virtual Controller back to the station.
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Using cross-connections and groups for setting I/O signals
You can also create cross-connections and signal groups, which make one signal set the value of several other signals. See System parameters reference manual for details about cross-connections and groups.
To make one signal set several others, follow these steps:
1 Request write access, and then open the configuration topic I/O in the configuration editor. Add configure instances for the cross-connections and groups to create.
Instruction templates
Instruction templates contain predefined sets of argument values that are applied to the instructions you create using the template. You can create templates for all instructions in the system running on the virtual controller. To see which instructions are available and what their arguments do, see the RAPID reference manual for your RobotWare version and the reference sections in manuals for software options, if you have any installed on the system.
Move instruction templates are always part of process templates. The process templates contain one instruction template for each type of move instruction that might be used by the process.
The process templates are instances of process definitions, which define the types of move instructions (move instruction definitions) that might be used by the process.
To create new move instruction templates, start by creating a new process template for a process that uses the type move instructions you want to create templates for. If such a process does not exist, you first have to create a new process definition.
If no move instruction definition for the type of instruction you want to create a template for exists, you must create it first.
When creating instruction descriptions, the virtual controller must be running, since the available instruction types are read from the system.
Templates can be imported and exported on four levels: tasks, move instruction descriptions, action instruction descriptions and process definitions. The default directory for imported and exported template files is My Documents/RobotStudio.
Simply choosing another directory will then make that directory default. As a default .xml is the file format.
The validation procedure checks for duplicate names, incomplete process definitions and virtual controller equality. It is performed automatically, after a template file has been imported or a node renamed or deleted.
For procedures, seeInstruction Template Manager on page 236.
Instruction Template Manager
The Instruction Template Manager is used to add support for instructions other than the default set that comes with the RobotStudio.
For example, a robot controller system with the RobotWare Dispense option has specialized move instructions related to glueing like DispL and DispC. You can
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manually define the instruction templates for these using the Instruction Template Manager. The instruction templates are exported to XML format and reused later.
The instruction template supports the following Robotware options:
• Cap (Continuous Application Process)
• Disp (Dispense)
• Trigg (Fixed Position Events)
• Spot Pneumatic
• Spot Servo
• Spot Servo Equalizing
• Paint
RobotStudio has pre-defined XML files that are imported and used for robot controller systems with the appropriate RobotWare options.These XML files has both the Move and Action instructions.
Note
Use RobotStudio ArcWelding PowerPac while using RobotWare Arc.
Creating a process template with move instruction templates
Note
Move instructions are always related to processes.
1 On the Home tab, from the active Task list, select the task for the robot for which you want to create the instruction template.
2 On the Create menu, click Instruction Template Manager. This opens the Instruction templates page in the work space.
3 In the Instruction Templates tree to the left, make sure there are move instruction definitions for the types of move instructions you want to create templates for. If not, follow the procedure inCreating a move instruction description on page 119for creating them.
4 Make sure there is a process definition that uses the types of move
instructions you want to create templates for. If not, follow the procedure in Creating a process definition on page 119for creating it.
5 Right-click the process definition for which you want to create a new templates and click Create Process Definition.
6 In the Create Process Definition dialog box, enter a name, with characters from ASCII set, for the new template and click Create. A new process template node with a set of move instruction templates is now created.
7 Select each new template one at a time, and in the arguments grid to the right of the tree view, set the argument values that shall be applied when you create new instructions based on the template. Finish for each template by clicking Apply changes at the bottom of the grid.
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For details about available arguments and what they do, see the RAPID reference manual for ordinary RAPID instructions and the option manual for software option instructions.
Creating a move instruction description
To create templates for other instructions than the one that already exists in the tree view, you first have to create an instruction description that defines the arguments that belong to the instruction. To create the instruction description, follow these steps:
1 Right-click the Move Instructions node and click Create Move Instruction Description. This opens the Create Move Instruction Description dialog box.
2 In the Controller Description list, select the instruction you want to make a description for. All action instructions installed on the controller, both through RobotWare and software options, are available.
3 In the Motion type list, select the motion type for the instruction.
4 Optionally, in the Information text box, enter a comment to the instruction.
5 Click Create. The instruction description appears in the tree view and its settings are displayed in the grid.
6 In the instruction grid, set the point type values. If necessary, also change the other settings.
7 After changing the settings, click Apply Changes in the bottom of the grid view.
Editing an instruction template
To edit an instruction template, follow these steps:
1 In the active task list, select the task for the robot for which you want to edit the instruction template.
2 On the Create menu, click Instruction Template Manager. This opens the Instruction templates page in the work space.
3 In the Instruction Templates tree to the left, browse to and select the template to edit.
4 In the arguments grid to the right of the tree view, set the argument values that shall be applied when you create new instructions based on the template.
Finish by clicking Apply changes at the bottom of the grid.
For details about available arguments and what they do, see the RAPID reference manual for ordinary RAPID instructions and the option manual for software option instructions.
Creating a process definition
To create a process definition, follow these steps:
1 Make sure there are move instruction definitions for the types of move instructions you want to create templates for. If not, follow the procedure above for creating them.
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2 Right-click the Process definitions node and click Create Process Definition.
This opens the Create Process Description dialog box.
3 In the Create Process Definitions dialog box, enter a name for the process definition, a name for its first process template and then select the move instruction types to use. Finish by clicking Create.
Creating an action instruction template
To create a template for an action instruction, follow these steps:
1 In the active task list, select the task for the robot for which you want to create the instruction template.
2 On the Home menu, click Instruction Template Manager.
3 In the Instruction Templates tree to the left, right-click the instruction description (corresponding to the instructions as described in the RAPID reference manual) for which you want to create a new template and click Create Action instruction Template.
If the instruction description does not exist in the tree, create it by following the procedure described inCreating an action instruction description on page 120.
4 In the Create Action Instruction Template dialog box, enter a name for the new template and click Create. The new template is now created under the instruction description node it belongs to.
5 Select the new template and in the arguments grid to the right of the tree view, set the argument values that shall be applied when you create new instructions based on the template. Finish by clicking Apply changes at the bottom of the grid.
For details about available arguments and what they do, see the RAPID reference manual for ordinary RAPID instructions and the option manual for software option instructions.
Creating an action instruction description
To create templates for other instructions than the one that already exists in the tree view, you first have to create an instruction description that defines the arguments that belong to the instruction.
To create the instruction description, follow these steps:
1 Right-click the Action Instructions node and click Create Action Instruction Description. This opens the Create Instruction Description dialog box.
2 In the Controller Description list, select the instruction you want to make a description for. All action instructions installed on the controller, both through RobotWare and software options, are available.
3 Optionally, in the Information text box, enter a comment to the instruction.
4 Click Create. The instruction description appears in the tree view, and its settings are displayed in the grid.
After changing the settings (if necessary), click Apply Changes in the bottom of the grid view.
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5 Continue with creating templates for the instruction description, as described inCreating an action instruction template on page 120.
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