Sigetcyclic - Sensor Interface Get Cyclic - ABB IRC5 Applications Manual

5 RAPID reference information

5.1.3 SiGetCyclic - Sensor Interface Get Cyclic

5.1.3 SiGetCyclic - Sensor Interface Get Cyclic
Usage
SiGetCyclic subscribes data for cyclic transmission from an external device.
Basic examples
A basic example of the instruction SiGetCyclic is illustrated below.
See also
Example 1
The example shows how to establish connection to an external device and set up
a cyclic transmission from the device AnyDevice.
Arguments
Sensor
Data type: sensor
A descriptor for the external device to receive cyclic data from. 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.
Data
Data type: anytype
Reference to a persistent containing the data to receive from the client specified
in argument Sensor. The variable must be defined as Readable in the file
Configuration.xml.
Rate
Data type: num
Transfer rate in milliseconds (only multiples of 4ms are supported).
Program execution
Instruction SiGetCyclic subscribes data for cyclic transmission from an external
device.
For SiGetCyclic and SiSetCyclic instructions, a transfer rate of 0 stops
(unregisters / unsubscribes) the cyclic transmission of the given data or data set.
More examples
More examples of how to use the instruction SiGetCyclic are illustrated below.
Example 1
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More examples on page
SiConnect AnyDevice;
! Receive data cyclic with 64 ms rate
SiGetCyclic AnyDevice, DataIn, 64;
SiGetCyclic Sensor Data Rate
PERS sensor AnyDevice;
PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
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38.
3HAC031973-001 Revision: F