ABB机器人程序指令汇总.doc

.一 指令格式二 指令及其参数Data := Value AccSet Acc RampActUnit MecUnitAdd Name AddValueBreakCallBy Var Name NumberClear NameClkReset ClockClkStart ClockClkStop ClockClose IODevice! CommentConfJ On | OffConfL On | OffCONNECT Interrupt WITH Trap routineCorrCon DescrCorrDiscon DescrCorrWrite Descr DataCorrClearDeactUnit MecUnitDecr NameEOffsSet EaxOffsErrWrite W Header Reason RL2 RL3 RL4ExitExitCycleFOR Loop counter FROM Start value TO End valueSTEP Step value DO . ENDFORGOTO LabelGripLoad LoadIDelete InterruptIF Condition .IF Condition THEN .ELSEIF Condition THEN .ELSE .ENDIFIncr NameIndAMove MecUnit Axis ToAbsPos | ToAbsNum Speed Ramp IndCMove MecUnit Axis Speed Ramp IndDMove MecUnit Axis Delta Speed Ramp IndReset MecUnit Axis RefPos | RefNum | Short | Fwd | Bwd | Old IndRMove MecUnit Axis ToRelPos | ToRelNum | Short | Fwd | Bwd Speed Ramp InvertDO SignalIODisable UnitName MaxTimeIOEnable UnitName MaxTimeISignalDI Single Signal TriggValue InterruptISignalDO Single Signal TriggValue InterruptISleep InterruptITimer Single Time InterruptIVarValue VarNo Value, InterruptIWatch InterruptLabel:MoveAbsJ Conc ToJointPos Speed V | T Zone ZTool WObj 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 Object File IODevice Read | Write | Append | BinPathResol ValuePDispOn Rot ExeP ProgPoint Tool WObj PDispSet DispFramePulseDO PLength SignalRAISE Error no Reset SignalRETURN Return value Rewind IODeviceSearchC Stop | PStop | Sup Signal SearchPoint CirPoint ToPoint Speed V | T Tool WObj SearchL Stop | PStop | Sup Signal SearchPoint ToPoint Speed V | T Tool WObj Set SignalSetAO Signal ValueSetDO SDelay Signal ValueSetGO Signal ValueSingArea Wrist | Arm | OffSoftAct Axis Softness Ramp Stop NoRegain TEST Test data CASE Test value , Test value : . DEFAULT: . ENDTESTTPReadFK Answer String FK1 FK2 FK3 FK4 FK5 MaxTimeDIBreak BreakFlagTPReadNum Answer String MaxTime DIBreak BreakFlagTPShow WindowTPWrite String Num | Bool | Pos | OrientTriggC 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 WObj TuneServo MecUnit Axis TuneValueTuneServo MecUnit Axis TuneValue TypeUnLoad FilePath FileVelSet Override MaxWaitDI Signal Value MaxTime TimeFlagWaitDO Signal Value MaxTime TimeFlagWaitTime InPos TimeWaitUntil InPos Cond MaxTime TimeFlagWHILE Condition DO . ENDWHILEWrite IODevice String Num | Bool | Pos | OrientNoNewLineWriteBin IODevice Buffer NCharWriteStrBin IODevice StrWZBoxDef Inside | Outside Shape LowPoint HighPoint WZCylDef Inside | Outside Shape CentrePoint Radius WZDisable WorldZoneWZDOSet Temp | Stat WorldZone Inside | Before Signal SetValueWZEnable WorldZoneWZFree WorldZoneWZLimSup Temp | Stat WorldZone ShapeWZSphDef Inside | Outside Shape CentrePoint Radius三 函数及其参数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)DefDFrame (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 (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 (Str ChPos Pattern)StrMemb (Str ChPos Set)StrOrder ( Str1 Str2 Order)StrPart (Str ChPos Len)StrToByte (ConStr Hex | Okt | Bin | Char)StrToVal ( Str Val )Tan (Angle)TestDI (Signal)Trunc ( Val Dec )ValToStr ( Val ).