Rapid Data Types; Sensor - External Device Descriptor - ABB IRC5 Applications Manual

5 RAPID reference information

5.2.1 sensor - External device descriptor

5.2 RAPID data types

5.2.1 sensor - External device descriptor
Usage
sensor is a descriptor to the external device to connect to.
Description
The descriptor for a device on the RAPID level is encapsulated in the record data
type sensor. It holds information about the sensor device such as id, error code
and sensor communication state.
Components
id
Data type: num
The internal identifier of the device, which will be set on the first operation with the
device from RAPID level. (Not implemented yet).
error
Data type: num
The error parameter is set when parameter state is set to STATE_ERROR. When
state goes from STATE_ERROR to STATE_CONNECTED parameter error is set to
0.
Error number
0
112600
112602
state
Data type: sensorstate
Reflects the actual communication state of the device.
Examples
Example of the data type sensor is shown below.
Example 1
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Error
No error.
Communication interface initialization failed.
Communication interface error.
PERS sensor AnyDevice;
PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
PERS sensdata DataIn :=
["No",[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
VAR num SampleRate:=64;
...
! Setup Interface Procedure
PROC RRI_Open()
SiConnect AnyDevice;
! Send and receive data cyclic with 64 ms rate
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3HAC031973-001 Revision: F