Installation and Commissioning

Advanced Functions 3.1RAPID instructions and functions included in this optionOpenCloseWriteWriteBinWriteStrBinReadNumReadStrReadBinRewindWZBoxDefWZCylDefWZLimSupWZSphDefWZDOSetWZDisableWZEnableWZFreeStorePathRestoPathTriggCTriggLTriggJTriggIOTriggEquipTriggIntMoveCSyncMoveLSyncMoveJSyncOpens a file or serial channelCloses a file or serial channelWrites to a character-based file or serial channelWrites to a binary file or serial channelWrites a string to a binary serial channelReads a number from a file or serial channelReads a string from a file or serial channelReads from a binary file or serial channelRewind file positionDefine a box shaped world zoneDefine a cylinder shaped world zoneActivate world zone limit supervisionDefine a sphere shaped world zoneActivate world zone to set digital outputDeactivate world zone supervisionActivate world zone supervisionErase world zone supervisionStores the path when an interrupt or error occursRestores the path after an interrupt/errorPosition fix output/interrupt during circular movementPosition fix output/interrupt during linear movementPosition fix output/interrupt during joint movementDefinition of trigger conditions for one outputDefinition of trigger conditions for process equipment withtime delayDefinition of trigger conditions for an interruptPosition fix procedure call during circular movementPosition fix procedure call during linear movementPosition fix procedure call during join movementProduct Specification RobotWare for BaseWare OS 3.1 15