ABB IRB 6400R - 2 Baseware os; The Rapid Language and Environment

Rapid Language and Environment
Product Specification RobotWare for BaseWare OS 3.2 5
2 BaseWare OS
Only a very superficial overview of BaseWare OS is given here. For details, see
references in Robot Documentation.
The properties of BaseWare OS can be split up in five main areas: The Rapid Language
and Environment; Exception handling; Motion Control; Safety; the I/O System.
2.1 The Rapid Language and Environment
The Rapid language is a well balanced combination of simplicity, flexibility and
powerfulness. It contains the following concepts:
- Hierarchical and modular program structure to support structured programming
and reuse.
- Routines can be Functions or Procedures.
- Local or global data and routines.
- Data typing, including structured and array data types.
- User defined names (shop floor language) on variables, routines and I/O.
- Extensive program flow control.
- Arithmetic and logical expressions.
- Interrupt handling.
- Error handling (for exception handling in general, see Exception handling).
- User defined instructions (appear as an inherent part of the system).
- Backward handler (user definition of how a procedure should behave when
stepping backwards).
- Many powerful built-in functions, e.g mathematics and robot specific.
- Unlimited language (no max. number of variables etc., only memory limited).
- Windows based man machine interface with built-in Rapid support (e.g. user
defined pick lists).