[537] Developer’s Function
Product Specification RobotWare Options for BaseWare OS 4.0 21
IsStopStateEvent Function which will return information about the movement of
the Program Pointer (PP).
ReadCfgData Read system configuration data.
WriteCfgData Write system configuration data.
Power Failure Functions
The package is used to get I/O signal values before power failure and to reset them at
power on. The following instructions are included and are normally used in the power
on event routine:
PFIOResto Restore the values of all digital output signals.
PFDOVal Get the value of the specified digital output signal at the time
for power failure.
PFGOVal Get the value of the specified digital output group at the time
for power failure.
PFRestart Check if path has been interrupted.
Trigg Functions
TriggSpeed Instruction to define conditions and actions for control of an
analog output signal with an output value proportional to the
actual TCP speed.
Note that this instruction must be used in combination with a
TriggL/C/J instruction (see [530] Advanced Functions).
StepBwdPath Instruction used to move backward on its path in a RESTART
event routine.
TriggStopProc Generation of restart data at program stop or emergency stop.
File Operation Functions
The package includes instructions and functions to work with directories and files on
mass memory like floppy disc, flash disc or hard disc. It can be used when creating
application packages, using RAPID, where RAPID programs and modules should be
loaded or stored. It can also be used to search for all files in different directories and
e.g. list them on the teach pendant.
The following instructions and functions are available:
dir Datatype for variables referencing a directory
MakeDir Create a new directory
OpenDir Open a directory to read the underlaying files or subdirectories
CloseDir Close a directory
RemoveDir Delete a directory
ReadDir Read next object in a directory, file or subdirectory
RemoveFile Delete a file
IsFile Check the type of a file
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