About ABB/Rapid Translators

This section provides basic information about the ABB RAPID translator. The information includes: 
  • Supported Activities
  • Command Mapping
  • Parameter Data
  • Notes
 

Supported Activities

Currently, the following activities are supported in download and upload for the ABB RAPID translator:
 

  • Move Activity
  • Delay Activity
  • RAPIDSpotDrop Action
  • RAPIDSpotPick Action
  • RAPIDSpotRetract Action
  • RAPIDSpotWeld Action
  • I/O Activities (Set and Wait Signal)
 

Syntax map

Please refer to the RAPID_V5_XML worksheet in the RAPID_V5_XML_MAP.xls file.

 

Robot Parameter Map

Refer to the Parameter Data worksheet in the RAPID_V5_XML_MAP.xls file.
 

Spot Welding Application

The following table provides the syntax map between V5, XML and RAPID specifically for the Spot application. This table is common for S4, S4C+ and C5 controllers.

V5 XML RAPID
ActionType = RAPIDSpotWeld

Attributes:
spotdata
InPos
NoConc
gundata

With the following atomic activities:
BasicMotionActivity
DelayActivity
BasicMotionActivity		 
<OLPData/Resource/ActivityList>
<Action ActionType=”RAPIDSpotWeld”/>
<ActionName/>
<ToolResource/>
<AttributeList>
<Attribute>
<AttributeName>spotdata</>
<AttributeValue>spotdata1</>
</Attribute>
<Attribute>
<AttributeName>InPos</>
<AttributeValue></>
</Attribute>
<Attribute>
<AttributeName>NoConc</>
<AttributeValue></>
</Attribute>
<Attribute>
<AttributeName>gundata</>
<AttributeValue>gundata1</>
</Attribute>
<ActivityList>
<Activity ActivityName=”DNBRobotMotionActivty”/>
<Activity ActivityName=”DelayActivity”/>
<Activity ActivityName=”DNBRobotMotionActiviy”/>
</ActivityList>
 SpotL with InPos, NoConc, spotdata and gundata arguments
 

Arc Welding Application

The following table provides the syntax map between V5, XML and RAPID specifically for the Arc-Welding application for the S4 and S4C+ controllers:

V5 XML RAPID
Activity Type = ArcL
with the following atomic activities –
BasicMotionActivity
Attribute

V5 does not have a separate activity/action for arc welding application. ArcL command is associated with RobotMotion activity.

 

 
<OLPData/Resource/Controller>
<UserProfileList>
<UserProfileInstance>
<UserDefinedAttribute>
<DisplayName/>
<DataType/>
<Value/>
</UserDefinedAttribute>
<…>
</UserProfileInstance>
<…>
</UserProfileList>
</>
 ArcL \On

The user profile ABBweldata, ABBweavedata, and ABBseamdata are output as arguments in the ArcL statement.

 
Activity Type = ArcC
with the following atomic
activities-
BasicMotionActivity
Attributes

V5 does not have a separate activity/action for arc welding application. ArcC command is associated with RobotMotion activity.

 

 
<OLPData/Resource/Controller>
<UserProfileList>
<UserProfileInstance>
<UserDefinedAttribute>
<DisplayName/>
<DataType/>
<Value/>
</UserDefinedAttribute>
<…>
</UserProfileInstance>
<…>
</UserProfileList>
</>
 ArcC \Off
The user profile ABBweldata, ABBweavedata, and ABBseamdata are output as arguments in the ArcC statement.

The following table provides the syntax map between V5, XML and RAPID specifically for the Arc-Welding application for the C5 controller:

V5 XML RAPID
Activity Type = ArcLStart
with the following atomic activities –
BasicMotionActivity
Attribute

V5 does not have a separate activity/action for arc welding application . ArcL command is associated with RobotMotion activity.

 

 
<OLPData/Resource/Controller>
<UserProfileList>
<UserProfileInstance>
<UserDefinedAttribute>
<DisplayName/>
<DataType/>
<Value/>
</UserDefinedAttribute>
<…>
</UserProfileInstance>
<…>
</UserProfileList>
</>
 ArcLStart

The user profile ABBweldata, ABBweavedata, and ABBseamdata are output as arguments in the ArcLStart statement.

 
Activity Type = ArcLEnd
with the following atomic
activities-
BasicMotionActivity
Attributes

V5 does not have a separate activity/action for arc welding application. ArcC command is associated with RobotMotion activity.

 

 
<OLPData/Resource/Controller>
<UserProfileList>
<UserProfileInstance>
<UserDefinedAttribute>
<DisplayName/>
<DataType/>
<Value/>
</UserDefinedAttribute>
<…>
</UserProfileInstance>
<…>
</UserProfileList>
</>
 ArcLEnd
The user profile ABBweldata, ABBweavedata, and ABBseamdata are output as arguments in the ArcLEnd statement.
 

NRL Teach Support

For ABB S4 (and other RAPID controller types), Native Robot Language (NRL) Teach displays controller-specific command buttons, and scripts corresponding statements.

Users can use the command buttons to script statements, such as motion commands to jog a robot and record motion instructions.

The download operation will output RAPID program files. For example:
MoveJ abbtarget1,v500,fine,tool0\\Wobj:=wobj0;