Crs4

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Preface

Documentation Conventions
This guide uses the following documentation conventions.

Text and Programming Code
Example ready() grip_close() finish() Description evenly spaced computer font italics Explanation Programming code. In syntax sections, required characters that must be included. User supplied item. Can be simple (integer, variable) or complex (expression, statements)A choice between two or more items. One must be chosen unless it is optional (in square brackets). Required characters of array syntax. Must be included. Optional items in code. Can be included or omitted depending on the needs of the program. Omitted code of the example. A place for additional material which is not specified.

gripdist_set(distance) motor(axis,pulses,c) if expressionalign_X|align_Y M_READ|M_WRITE X|Y|Z place[3] message[2,2] data[10,4,7] grip_close([force]) home([axis][,axis]) ...[flags] [x|X]...

vertical pipe or bar square brackets in arrays square brackets in any other part of code three dots on one line or on three lines character(s) with description(s) in parentheses. bold

lock(7) ... unlock(7)

\ (backslash) _ (underscore) " (double quote)

Charactersreferred to in the text which need to be clearly identified.

use with to end when here

Names of commands, functions, keywords, etc. used in the text which could be confused.

RAPL-3 Reference Guide

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Commands and Keywords
The following documentation conventions are used for • all subroutines, functions, and commands in libraries • all flow control statements • other keywords (main,return, comment, sizeof)

name_of_command/keyword
Description A description of the functionality of this subroutine, function, command, control statement, or keyword. Details of usage. Caution Syntax Any characteristics that could create a problem. Required characters are in non-italic monospace font. Programmersupplied identifiers and constructs are in italics. Optional items are in [squarebrackets]. Long lines may carry over onto a second line on the printed page, but in a program must be written either on one line or with a \ (backslash) line continuation character. Subroutines, functions, and commands are given in declaration form. Parameters Arguments Returns Example Result See Also System Shell Application Shell RAPL-II Category A list with explanations and types. Where a parameteris a standard-library defined enum or struct, the members are listed. The return value of the function or command which also indicates success or error. An example of use in a program. The example’s result, if applicable. Any related RAPL-3 commands, functions, subroutines, statements, keywords, or topics, described in this Reference Guide. An equivalent command in the CROS/RAPL-3 system shell orapplication shell, described in the Application Development Guide. Any similar RAPL-II commands. The category of this and related commands which are listed in the category section.

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Preface

Related Resources
Related material can be found in these documents. • • Release notes on the diskettes. Application Development Guide A guide for developing your robotic application using allcomponents of your robot system: arm, controller, teach pendant, personal computer, Robcomm3, RAPL-3 programs, application shell, and system shell. F3 Robot System Installation Guide A465 Arm and C500 Controller User Guides A255 Arm and C500 Controller User Guides

• • •

CHAPTER 1

General Program Format

All RAPL-3 programs follow the same general format. Some elements are required. Otherelements are optional depending on the complexity of the program.

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General Program Format

Example 1: Basic Program in RAPL-II Style
A basic program can contain • • • main function main fast = 50 slow = 25 z = 1 speed(fast) move(_safe) do only a main function implicit declarations of variables familiar RAPL-II command names ;; begin program ;; implicitly declare and initialize integers...