6 Programming
6.1. RAPID components
3HAC021272-001 Revision: H56
© Copyright 2004-2008 ABB. All rights reserved.
Functions
This is a brief description of each function in MultiMove. For more information, see the
respective function in Technical reference manual - RAPID Instructions, Functions and Data
types.
SyncMoveOn SyncMoveOn is used to start synchronized movement mode.
A SyncMoveOn instruction will wait for the other task programs. When all
task programs have reached the SyncMoveOn, they will continue their
execution in synchronized movement mode. The move instructions in the
different task programs are executed simultaneously, until the instruction
SyncMoveOff is executed.
A stop point must be programmed before the SyncMoveOn instruction.
SyncMoveOff SyncMoveOff is used to end synchronized movement mode.
A SyncMoveOff instruction will wait for the other task programs. When
all task programs have reached the SyncMoveOff, they will continue
their execution in unsynchronized mode.
A stop point must be programmed before the SyncMoveOff instruction.
SyncMoveUndo SyncMoveUndo is used to turn off synchronized movements, even if not
all the other task programs execute the SyncMoveUndo instruction.
SyncMoveUndo is intended for UNDO handlers. When the program
pointer is moved from the procedure, SyncMoveUndo is used to turn off
the synchronization.
MoveExtJ MoveExtJ (Move External Joints) moves one or several mechanical units
without TCP.
MoveExtJ is used to move additional axes, in a task without any robot.
Instruction Description
Function Description
IsSyncMoveOn IsSyncMoveOn is used to tell if the mechanical unit group is in synchro-
nized movement mode.
A task that does not control any mechanical unit can find out if the
mechanical units defined in the parameter Use Mechanical Unit Group are
in synchronized movement mode.
RobName RobName is used to get the name of the robot controlled by the task. It
returns the mechanical unit name as a string. If called from a task that does
not control a robot, an empty string is returned.
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