ABB Rapid Programming

I should also add the controller is an S4

Matt,

If you want to use a varible it would look like this

PERS num nZmove:= -5;

MoveL Offs(pLaser,0,0,nZmove),v1000,fine,tLaser;

If this doesn,t help? Let me know.

Tony

What is the meaning of 'PERS' (PERS num nZ....)

I have a question about ABB RAPID code...

I really don't understand about := means....

is that same with != from C programming??

and -5 is just number ? or special code?

PERS means persistant the number will stay in the memory if the robot is powered down.

CONST is constant the program is not allowed to change the number.

VAR is variable will change to zero when robot is powered down.

Hope this helps.

Hi

I guess you want to move the laser in tools coordinates.

To do that you need to use command RelTool.

Like this:

PERS num Zmovement:=-5;

robtarget:=currentPosition;

MoveL RelTool(robtarget,x,y,Zmovement), v100, z1, tLaser;

This should move the robot in the direction of laser beam. No matter if its facing sideways or upward or any other direction.

/Daniel

Hi again

ofcourse you need to make a loop to increase the movement -5 each time, or the command only do the movement 1 time.

/Daniel