Running Rapid code on the system while COMPAS is installed

compas_rrc
1

Hi everyone,

While COMPAS RRC is installed on the system, can we run rapid codes on the robot? Would it affect/disable the COMPAS RRC?

Thank you!

2

Hi Mahsa

Yes, this is generally possible. The COMPAS_RRC backend driver (Rapid Robot Communication, or _RRC for short) is based on ABB RAPID. As long as you follow the general ABB RAPID programming rules, you can also run your own RAPID programs and procedures on the robot.

There are a few things to keep in mind:

  • Program execution: In the main procedure of T_ROB1, you decide which procedure to call – either r_RRC_Main to run COMPAS_RRC or your own RAPID program.

  • Parallel tasks: The tasks T_CTRL, T_RX, and T_TX can run in parallel. As long as r_RRC_Main is not executed, the regular command processing through COMPAS_RRC is not started.

  • Integrating custom RAPID procedures: You can call your own RAPID procedures through a COMPAS_RRC Custom Instruction. If you want to fully integrate a custom routine into COMPAS_RRC, including feedback to Python, you can incorporate the existing feedback and message-handling logic from the regular _RRC instructions into your routine. This allows you to implement a so-called Custom Instruction.

For an example of how to implement a Custom Instruction, see the Python example.

The corresponding RAPID implementation can be found in T_ROB1, in the module RRC_Base_Instructions_Rob, under the procedure r_RRC_CustomInstruction.

In short, you can run your own RAPID programs without fundamentally interfering with COMPAS_RRC. The key is which procedure you call in main.

Best
Philippe

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