ABB机器人程序指令汇总.doc
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1、.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 DataCorrClearDe
2、actUnit 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
3、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 M
4、axTimeISignalDI 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
5、 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 IODe
6、viceSearchC 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 NoRega
7、in 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 WOb
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