Pdispadd - Add Program Displacements - ABB SmarTac Applications Manual

6 RAPID reference

6.1.4 PDispAdd - Add program displacements

6.1.4 PDispAdd - Add program displacements
Usage
PDispAdd is an instruction used to add a program displacement frame to the
current program displacement frame.
Basic examples
Pose2 is added to the current displacement frame.
Arguments
Result
Data type: pose
The displacement frame added to the current program displacement frame.
Program execution
When executed, Result is added to the current displacement frame, and the new
program displacement frame is activated.
Syntax
Related information
Search_1D
PoseAdd
Data type pose
98
PDispAdd pose2;
PDispAdd Result
PDispAdd
[ Result ':=' ] < expression (IN) of pose > ';'
Described in:
Search_1D - One-dimensional search on page 81
PoseAdd - Adds the translation portions of pose data on page 99
Technical reference manual - RAPID Instructions, Functions and Data
types
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Application manual - SmarTac
3HAC024845-001 Revision: A