Basic Structure of RAPID Programming

RAPID is the high-level programming language of ABB industrial robots. It is a structured language with data types, routines, motion instructions and error handling.

Program hierarchy

Element	Meaning
Module	Container of data and routines (MODULE ... ENDMODULE)
PROC	Routine that performs actions
FUNC	Routine that returns a value
TRAP	Interrupt handling routine
Data	num, bool, string, robtarget, speeddata, zonedata, tooldata

Main motion instructions

• MoveJ joint move, MoveL linear move, MoveC circular move.
• Gripper/IO: SetDO, WaitDI, Set, Reset.
• Control: IF, FOR, WHILE, TEST, ProcCall, WaitTime.

Example

MODULE Main
  CONST robtarget pPick := [[500,0,300],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  PROC main()
    MoveJ pPick, v1000, z50, tool0;
    MoveL Offs(pPick,0,0,-100), v200, fine, tool0;
    SetDO doGrip, 1;
    MoveL pPick, v200, fine, tool0;
  ENDPROC
ENDMODULE

Exam tip

Explain module, PROC main, motion instruction format MoveL target, speed, zone, tool and give the short example.