If you want to trigg signals on the move without having multitasking on your ABB robot, triggLIOs would help you. This signal would help you to set values to different types of signals (up to 50). One could set Digital Output / Analog Ouput / String Output or Group Output signals with help of this command. This commands also allows one the choice to trigger signals based on distance / time after the start or distance to the end of the movement.
ABB Robots Family
See below examples from RAPID (ABB robots programming language) reference manual:
TriggLIOs [\Conc] ToPoint [\ID] Speed [\T] [\TriggData1] [\TriggData2] [\TriggData3] Zone [\Inpos] Tool [\WObj] [\Corr] [\TLoad]
If you cant think of programming without Notepad++ and you would like to write your ABB RAPID codes in Notepad++, then you are in the right page. Thanks to the chinese website whose link also follows (as source), I have found an XML file (plugin) that would add the ABB RAPID syntax highlighting to Notepad++. Download the XML file from the download link and follow the instruction with screenshots down here.
XML file download link.
View – User Defined Dialogue
User Defined Dialogue – Import – Select XML file
Notepad++ with ABB RAPID highlighting
Source : http://www.brucebot.com/2010/07/rapid-for-notepad/
To break an infinite loop in Rapid ABB try the following code:
Counter = Counter + 1;
IF (Counter = 5) THEN
On ABB robots, one have access to a syntax in RAPID programming language called TPRead. TPRead allows the programmer to read live values from the user (operator) while your code is being run.
TPReadNum reg1,”Enter Input Number?”;
readValue := reg1;
TPWrite “Read Value is: ” + ValToStr(testRead);
Using ResetProgramPointer you can set the program pointer to the main entry point of the task.