Rapid Reference Information; Rapid Instructions; Siconnect - Sensor Interface Connect - ABB IRC5 Applications Manual

5 RAPID reference information

5.1 RAPID instructions

5.1.1 SiConnect - Sensor Interface Connect

Usage
SiConnect is used to establish a connection to an external device.
Basic examples
A basic example of the instruction SiConnect is illustrated below.
See also
Example 1
Establish a connection to the device called AnyDevice.
Arguments
Sensor
Data type: sensor
The descriptor for the external device to connect to. The argument is a persistent
variable and its name must be the same as the name specified as the client in
setup file Settings.xml.
[\NoStop]
Data type: switch
\NoStop will prevent system stop when a communication error with the sensor is
detected. It can be useful if no robot movements are depending on the sensor.
When \Nostop is used, movements in the system will continue even if the
communication with the sensor is lost.
If using \NoStop it is possible to do error handling in a TRAP routine, with the use
of IError or IPers.
Program execution
Loads the current sensor configuration and establishes the connection to the
external device.
The sensor stays connected, even if the program pointer is set to main.
More examples
More examples of how to use the instruction SiConnect are illustrated below.
Example 1
3HAC031973-001 Revision: F
More examples on page
PERS sensor AnyDevice;
...
SiConnect AnyDevice;
SiConnect Sensor [\NoStop]
PERS sensor AnyDevice;
PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
© Copyright 2008-2009,2013 ABB. All rights reserved.
5 RAPID reference information
5.1.1 SiConnect - Sensor Interface Connect
33.
Continues on next page
33