(完整word版)ABB機器人程序指令匯總,推薦文檔

1、指令格式TIWrite String |Nutn) | |Pos | |VOriei叫Insrnjction(ommlsonrOptionalMuuallyirguni enta蟲umentivcarguments二指令及其參數(shù)Data :=ValueAccSetAcc RampActU nitMecU nitAddNameAddValueBreakCallBy Var NameNumberClearNameClkResetClockClkStartClockClkStopClockCloseIODevice! Comme ntCo nJOn川OffCo nfLOn川OffCONNECT In

2、 terruptWITHTrap rout ineCorrCon DescrCorrDiscon DescrCorrWrite Descr DataCorrClearDeactUnitMecUnitDecrNameEOffsSet EaxOffs ErrWrite W Header Reason RL2 RL3 RL4ExitExitCycleFOR Loop counter FROM Start value TO End value STEP Step value DO .ENDFORGOTOLabelGripLoadLoadIDeleteInterruptIFCondition .IF E

3、LSEIFELSE .ENDIFCondition THEN .Condition THEN .IncrNameIndAMoveMecUnit Axis ToAbsPos | ToAbsNum Speed Ramp IndCMoveMecUnit Axis Speed Ramp IndDMoveMecUnit Axis Delta Speed Ramp IndReset MecUnit Axis RefPos | RefNum | Short | Fwd | Bwd | Old IndRMove MecUnit Axis ToRelPos | ToRelNum | Short | Fwd |

4、Bwd Speed Ramp InvertDO SignalIODisableUnitNameMaxTimeIOEnableUnitNameMaxTimeISignalDI Single SignalTriggValueInterruptISignalDO Single SignalTriggValueInterruptISleepInterrupt ITimer Single Time InterruptIVarValueVarNoValue,InterruptIWatch InterruptLabe l:MoveAbsJ Conc ToJointPos Speed V | T Zone Z

5、ToolWObj MoveC Conc CirPoint ToPoint Speed V | T Zone ZTool WObj MoveJ Conc ToPoint Speed V | T Zone Z Tool WObj MoveL Conc ToPoint Speed V | T Zone Z Tool WObj Open ObjectFile IODevice Read | Write | Append | Bin PathResol ValuePDispOn Rot ExeP ProgPoint Tool WObj PDispSet DispFramePulseDO PLength

6、SignalRAISE Error no Reset SignalRETURN Return value Rewind IODeviceSearchC Stop | PStop | Sup Signal SearchPoint CirPoint ToPointSpeed V | T Tool WObj SearchL Stop | PStop | Sup Signal SearchPoint ToPoint Speed V | T Tool WObj Set SignalSetAO Signal Value SetDO SDelay Signal ValueSetGO Signal Value

7、SingArea Wrist | Arm | OffSoftAct Axis Softness Ramp Stop NoRegain TEST Test data CASE Test value , Test valu e : . DEFAULT: . ENDTESTTPReadFK Answer String FK1 FK2 FK3 FK4 FK5 MaxTime DIBreakBreakFlagTPReadNum Answer String MaxTime DIBreak BreakFlagTPShow WindowTPWrite String Num | Bool | Pos | Ori

8、entTriggC CirPoint ToPoint Speed T Trigg_1 T2 T3 T4 Zone Tool WObj TriggInt TriggData Distance Start | Time InterruptTriggIO TriggData Distance Start | Time DOp | GOp |AOp SetValue DODelay | AORamp TriggJ ToPoint Speed T Trigg_1 T2 T3 T4Zone Tool WObjTriggL ToPoint Speed T Trigg_1 T2 T3 T4Zone Tool

9、WObj TuneServo MecUnit Axis TuneValueTuneServo MecUnit Axis TuneValue TypeUnLoad FilePath FileVelSet Override MaxWaitDI Signal Value MaxTime TimeFlagWaitDO Signal Value MaxTime TimeFlagWaitTime InPos Time WaitUntil InPos Cond MaxTime TimeFlagWHILE Condition DO . ENDWHILEWrite IODevice String Num | B

10、ool | Pos | OrientNoNewLineWriteBin IODevice Buffer NCharWriteStrBin IODevice StrWZBoxDef Inside | Outside Shape LowPoint HighPointWZCylDef Inside | Outside Shape CentrePoint RadiusWZDisable WorldZoneWZDOSet Temp | Stat WorldZone Inside | BeforeSignal SetValueWZEnable WorldZoneWZFree WorldZoneWZLimS

11、up Temp | Stat WorldZone ShapeWZSphDef Inside | Outside Shape CentrePoint Radius三 函數(shù)及其參數(shù)Abs (Input)ACos (Value)AOutput (Signal)ArgName (Parameter)ASin (Value)ATan (Value)ATan2 (Y X)ByteToStr (ByteData Hex | Okt | Bin | Char)ClkRead (Clock) CorrReadCos (Angle)CPos (Tool WObj)CRobT (Tool WObj)DefDFram

12、e (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)DefFrame (NewP1 NewP2 NewP3 Origin)Dim (ArrPar DimNo)DOutput (Signal)EulerZYX (X | Y | Z Rotation)Exp (Exponent)GOutput (Signal)GetTime ( WDay | Hour | Min | Sec )IndInpos MecUnit AxisIndSpeed MecUnit Axis InSpeed | ZeroSpeedIsPers (DatObj)IsVar (DatObj)MirPos

13、(Point MirPlane WObj MirY)NumToStr (Val Dec Exp)Offs (Point XOffset YOffset ZOffset)OrientZYX (ZAngle YAngle XAngle)ORobT (OrgPoint InPDisp | InEOffs)PoseInv (Pose)PoseMult (Pose1 Pose2)PoseVect (Pose Pos)Pow (Base Exponent) Present (OptPar)ReadBin (IODevice Time)ReadMotor MecUnit AxisReadNum (IODevice Time)ReadStr (IODevice Time)RelTool (Point Dx Dy Dz Rx Ry Rz)Round ( Val Dec)Sin (An gl e )Sqrt (Value)StrFind (Str ChPos Set NotInSet) StrLen (Str)StrMap ( Str FromMap ToMap) StrMatch (