FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.2.1. The structure of a RAPID applicationContinuedPartProgrammoduleDataRoutineEntry routineFunctionEach program module contains data and routines for a certain purpose.The program is divided into modules mainly to enhance overview andfacilitate handling the program. Each module typically represents oneparticular robot action or similar.All program modules will be removed when deleting a program from thecontroller program memory.Program modules are usually written by the user.Data are values and definitions set in program or system modules. Thedata are referenced by the instructions in the same module or in a numberof modules (availability depending on data type).Data type definitions are specified in the RAPID reference manual,Functions and data types.A routine contains sets of instructions, i.e. defines what the robot systemactually does.A routine may also contain data required for the instructions.A special type of routine, in English sometimes referred to as "main",defined as the program execution starting point.InstructionSystem moduleNoteEach program must have an entry routine called "main", or it will not beexecutable. How to appoint a routine as entry routine is specified in RAPIDreference manual. The default name for main can be changed by thesystem parameter configurations, type Task. See Technical referencemanual - System parameters.Each instruction is a request for a certain event to take place, e.g. "Run themanipulator TCP to a certain position" or "Set a specific digital output".The instructions, their syntax and function is thoroughly described in theRAPID reference manual, Instructions.Each system module contains data and routines to perform a certainfunction.The program is divided into modules mainly to enhance overview andfacilitate handling the program. Each module typically represents oneparticular robot action or similar.All system modules will be retained when "Delete program" is ordered.System modules are usually written by the robot manufacturer or linebuilder.3HAC 16590-1 Revision: B135