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Most instructions have arguments that specify how the instruction shall be carried out. For
example, the MoveL instruction has arguments that specify the speed and accuracy with
which the robot moves to the target.
For a procedure, see Modify Instruction on page 405.
NOTE!
Some arguments are read from the virtual controller. If the virtual controller has not been
started, only the arguments stored in the station can be modified.
Converting to move circular
To create a circular motion to an instruction target, you must convert the motion type to
circular motion (that is, MoveC in RAPID).
A circular motion is defined by two motion instructions, where the first is the via-point and
the second contains the end point of the circular motion.
The circular motion can only be used for open circular arcs, not for closed circles. To create
a path for a closed circle, use two circular motions.
For a procedure, see Convert to Move Circular on page 383.
Creating RAPID instructions for setting I/O signals
For controlling I/O signals in the robot program, you use RAPID commands that set the
signals. These require that you first create instruction templates for the instructions that set
the signals. See the RAPID reference manual for details about the instructions that control I/
O signals.
To add RAPID instructions that set I/O signals, follow these steps:
1. Synchronize the system in which you want to add the instructions to the virtual controller,
see Synchronization on page 120.
2. In programming mode, select the module for editing, right-click it and then click Edit
program.
3. In the program editor, add the instructions for setting the signals.
4. When you are done adding instructions, synchronize the task and paths from the Virtual
Controller back to the station.