ABB Robot指令-精选版

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ABBRobotRAPIDReferencemanualIRC5RAPID©Robotics-2ABBRobotRAPIDreferencemanualAccsetVelsetConfJConflLSingAreaPathResolSoftActSoftDeact©Robotics-3ABBRobotRAPIDreferencemanual-AccSetAccSetAcc,Ramp;Acc:num)Ramp:num)AccSet100,100;©Robotics-4ABBRobotRAPIDreferencemanual-AccSet202020101010©Robotics-5ABBRobotRAPIDreferencemanual-Velset[\T]Override(speeddata)TCP.welddataSeamdataMax(speeddata)TCP©Robotics-6ABBRobotRAPIDreferencemanual-VelsetVelset50,800;Movelp1,v1000,z10,tool1;----500mm/sMovelp2,v1000\V:=2000,z10,tool1;----800mm/sMovelp2,v1000\T:=5,z10,tool1;----10sVelset80,1000MoveLp1,v1000,z10,tool1;----800mm/sMoveLp2,v5000,z10,tool1;----1000mm/sMoveLp3,v1000\V:=2000,z10,tool1;----1000mm/sMoveLp3,v1000\T:=5,z10,tool1;----6.25s©Robotics-7ABBRobotRAPIDreferencemanualConfj[\on][\off];-Confj;[\on](switch)Modpos[\off](switch)Modpos©Robotics-8ABBRobotRAPIDreferencemanualConfj-ConfjConfj\on;Confj\off©Robotics-9ABBRobotRAPIDreferencemanualConfL[\on][\off];-ConfL[\on](switch)Modpos[\off](switch)Modpos©Robotics-10ABBRobotRAPIDreferencemanualConfL-ConfLConfL\on;ConfL\off;©Robotics-11ABBRobotRAPIDreferencemanualSingArea[\Wrist][\off];-SingArea[\Wrist]:switch)[\off]switch)©Robotics-12ABBRobotRAPIDreferencemanual-SoftActSoftAct[\MechUnit,]Axis,Softness[\Ramp];[\MechUnit];mecunnit)Axis:mum)Softness:%mum)[\Ramp]:%mum)0%-%,=100%,SoftDeact©Robotics-13ABBRobotRAPIDreferencemanual-SoftActSoftact3,20;Softact1,90\Ramp:=150;Softact\MechUnit:=Orbit1,1,40\Ramp:=120;©Robotics-14ABBRobotRAPIDreferencemanual-SoftDeactSoftDeact[\Ramp];[\Ramp]:=100%unm)SoftActSoftAct3,20SoftDeact;SoftAct1,90;SoftDeact\Ramp:=150;©Robotics-15ABBRobotRAPIDreferencemanualActUnitDeactUnit©Robotics-16ABBRobotRAPIDreferencemanualActUnitMecUnit;MecUnit:mecunit)-ActUnit©Robotics-17ABBRobotRAPIDreferencemanualMoveLp10,v100,fine,tool1--p10,ActUnittrack_motion;MoveLp20,v100,z10,tool1;--p20,DeactUnittrack_motion;track_motionActUnitorbit_a;MoveLp30,v100,z10,tool1;--P30,orbit_aStorePath…Restopath-ActUnit©Robotics-18ABBRobotRAPIDreferencemanualDeactUnitMecUnit;MecUnit:mecunit)-DeactUnit©Robotics-19ABBRobotRAPIDreferencemanualMoveLp10,v100,fine,tool1--p10,ActUnittrack_motion;MoveLp20,v100,z10,tool1;--p20,DeactUnittrack_motion;track_motionActUnitorbit_a;MoveLp30,v100,z10,tool1;--P30,orbit_aStorePath…Restopath-DeactUnit©Robotics-20ABBRobotRAPIDreferencemanualAddClearIncrDecr©Robotics-21ABBRobotRAPIDreferencemanual-AddAddName,AddValue;Name:num)AddValue:num)©Robotics-22ABBRobotRAPIDreferencemanual-ClearClearName;Name:num)©Robotics-23ABBRobotRAPIDreferencemanual-IncrIncrName;Name:num)©Robotics-24ABBRobotRAPIDreferencemanual-DecrDecrName;Name:num)©Robotics-25ABBRobotRAPIDreferencemanualAliasIOInvertDOIODisableIOEnablePluseDOResetSetSetAOSetDOSetGOWaitDIWaitDO©Robotics-26ABBRobotRAPIDreferencemanual-AliasIOAliasIOFromSignal,ToSignal;FromSignal:sigunlxxorstring)ToSignal:sigunlxx©Robotics-27ABBRobotRAPIDreferencemanual-AliasIOVARsignaldoalias_do;CONSTstringconfig_string:=“config_do”;PROCprog_start()AliasIOconfig_do,alias_do;AliasIOconfig_string,alias_do;ENDPROCalias_do©Robotics-28ABBRobotRAPIDreferencemanual-AliasIOAliasIOSTARTAliasIOAliasIODeveloper’sFunctions©Robotics-29ABBRobotRAPIDreferencemanual-InvertDOInvertDOSingnal;Singnal:(signaldo)InvertDOdo15;©Robotics-30ABBRobotRAPIDreferencemanual-InvertDO1Signallevel01Signallevel0InvertDO©Robotics-31ABBRobotRAPIDreferencemanual-PluseDOPluseDO[\High][\Plenggh]Signal;[\High]:switch)[\Plenggh]:0.1s-32s,0.2snum)Signal:signaldo)©Robotics-32ABBRobotRAPIDreferencemanual-PluseDOPulseDO\High\Plength:=xPulseDO\High\plength:=y1Signallevel01Signallevel0PulseDO1Signallevel01Signallevel0PulseDO\High1Signallevel0xy©Robotics-33ABBRobotRAPIDreferencemanual-PluseDO0.01©Robotics-34ABBRobotRAPIDreferencemanual-ResetResetsignal;signal:signaldo)0SetResetdo12;©Robotics-35ABBRobotRAPIDreferencemanual-SetSetsignal;signal:signaldo)1ResetSetdo12;©Robotics-36ABBRobotRAPIDreferencemanual-SetAOSetAOsignal,Value;signal:signaldo)Value:num)©Robotics-37ABBRobotRAPIDreferencemanual-SetAOSetAOao2,5.5;SetAOweldcurr,curr_outp;Value:num)MINPROGRAMMINSIGNALMAXSIGNALMAXPROGRAMLogicalvalueintheprogram©Robotics-38ABBRobotRAPIDreferencemanual-SetDOSetDO[\Sdelay]signal,Value;signal:signaldo)SetReset0.1s-32sSetDO\Sdelay:=0.2,weld,high;Value:num)[\Sdelay]:snum)©Robotics-39ABBRobotRAPIDreferencemanual-SetGOSetGO[\Sdelay]signal,Value;signal:signaldo)84210.1s-32sSetGO\Sdelay:=0.2,go_Type,10;Value:num)[\Sdelay]:snum)©Robotics-40ABBRobotRAPIDreferencemanual-WaitDIWaitDISignal,Value[\MaxTime][\TimeFlag];signal:signaldo)Value:dionum)[\MaxTime]:num)[\TimeFlag]:bool)©Robotics-41ABBRobotRAPIDreferencemanual-WaitDIPROCPickpart()MoveJpPrePick,vFastempty,zBig,tool1;WaitDIdi_Ready,1;…ENDPROCPROCPickPart()MoveJpPrepick,vFastEmpty,zBig,tool1;WaitDIdi_Ready,1\WMaxTime:=5…IFERRNO=ERR_WAIT_MAXTIMETHENTPWrite“