ABB IRC5 Applications Manual page 41

When calling routine RRI_Open, first a connection to the device with name
AnyDevice is opened. Then, cyclic transmission is started at rate SampleRate.
Syntax
Related information
For information about
Establish a connection to an external system.
Close connection to an external system.
Subscribe on cyclic data transmission.
Descriptor to the external device.
Communication state of a device.
3HAC031973-001 Revision: F
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
SiGetCyclic AnyDevice, DataIn, SampleRate;
SiSetCyclic AnyDevice, DataOut, SampleRate;
ENDPROC
SiSetCyclic
[ Sensor ':=' ] < persistent (PERS) of sensor > ','
[ Data ':=' ] < persistent (PERS) of anytype >
[ Rate ':=' ] < expression (IN) of num > ] ';'
© Copyright 2008-2009,2013 ABB. All rights reserved.
5 RAPID reference information
5.1.4 SiSetCyclic - Sensor Interface Set Cyclic
See
SiConnect - Sensor Interface Connect on
page 33.
SiClose - Sensor Interface Close on page
SiGetCyclic - Sensor Interface Get Cyclic on
page 38.
sensor - External device descriptor on
page 42.
sensorstate - Communication state of the
device on page 44.
Continued
36.
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