Programming - ABB IRB 6400R Product On-Line Manual

3.5 Programming

The programming language - RAPID - is a high-level application-oriented programming
language and includes the following functionality:
- hierarchial and modular structure
- functions and procedures
- global or local data and routines
- data typing, including structured and array types
- user defined names on variables, routines, inputs/outputs etc.
- extensive program flow control
- arithmetic and logical expressions
- interrupt handling
- error handling
- user defined instructions
- backward execution handler
The available sets of instructions/functions are given below. A subset of instructions to suit
the needs of a particular installation, or the experience of the programmer, can be installed
in pick lists. New instructions can easily be made by defining macros consisting of a
sequence of standard instructions.
Note that the lists below only cover BaseWare OS. For instructions and functions
associated with optional software, see Product Specification RobotWare.
Miscellaneous
:=
WaitTime
WaitUntil
comment
OpMode
RunMode
Dim
Present
Load
UnLoad
To control the program flow
ProcCall
CallByVar
RETURN
FOR
GOTO
Compact IF
IF
label
TEST
Product Specification IRB 6400R M99/BaseWare OS 3.2
Assigns a value
Waits a given amount of time
Waits until a condition is met
Inserts comments into the program
Reads the current operating mode
Reads the current program execution mode
Gets the size of an array
Tests if an optional parameter is used
Loads a program module during execution
Deletes a program module during execution
Calls a new procedure
Calls a procedure by a variable
Finishes execution of a routine
Repeats a given number of times
Goes to (jumps to) a new instruction
IF a condition is met, THEN execute one instruction
IF a condition is met, THEN execute a sequence of instructions
Line name (used together with GOTO)
Depending on the value of an expression ...
Technical specification
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