Product manual

Advanced Functions 3.2
Product Specification RobotWare for BaseWare OS 3.2 15
RAPID instructions and functions included in this option
Open Opens a file or serial channel
Close Closes a file or serial channel
Write Writes to a character-based file or serial channel
WriteBin Writes to a binary file or serial channel
WriteStrBin Writes a string to a binary serial channel
ReadNum Reads a number from a file or serial channel
ReadStr Reads a string from a file or serial channel
ReadBin Reads from a binary file or serial channel
Rewind Rewind file position
WriteAnyBin Write data to a binary serial channel or file
ReadAnyBin Read data from a binary serial channel or file
ReadStrBin Read a string from a binary serial channel or file
ClearIOBuff Clear input buffer of a serial channel
WZBoxDef Define a box shaped world zone
WZCylDef Define a cylinder shaped world zone
WZLimSup Activate world zone limit supervision
WZSphDef Define a sphere shaped world zone
WZDOSet Activate world zone to set digital output
WZDisable Deactivate world zone supervision
WZEnable Activate world zone supervision
WZFree Erase world zone supervision
StorePath Stores the path when an interrupt or error occurs
RestoPath Restores the path after an interrupt/error
TriggC Position fix output/interrupt during circular movement
TriggL Position fix output/interrupt during linear movement
TriggJ Position fix output/interrupt during joint movement
TriggIO Definition of trigger conditions for one output
TriggEquip Definition of trigger conditions for process equipment with
time delay
TriggInt Definition of trigger conditions for an interrupt
MoveCSync Position fix procedure call during circular movement
MoveLSync Position fix procedure call during linear movement
MoveJSync Position fix procedure call during join movement
ISignalAI Interrupts from analog input signal
ISignalAO Interrupts from analog output signal