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ABB
机器人程序指令全集
一
指令格式
二
指令及其参数
Data
:=
Value
AccSet
Acc
Ramp
ActUnit
MecUnit
Add
Name
A
ddValue
Break
CallBy Var
Name
Number
Clear
Name
ClkReset
Clock
ClkStart
Clock
ClkStop
Clock
Close
IODevice
!
Comment
ConfJ
[On] | [Off]
ConfL
[On] | [Off]
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CONNECT
Interrupt
WITH
Trap
routine
CorrCon Descr
CorrDiscon Descr
CorrWrite Descr Data
CorrClear
DeactUnit
MecUnit
Decr
Name
EOffsSet
EaxOffs
ErrWrite
[ W ] Header Reason
[ RL2]
[ RL3] [ RL4]
Exit
ExitCycle
FOR
Loop counter
FROM
S
tart value
TO
End value
[STEP
Step value]
DO
...
ENDFOR
GOTO
L
abel
GripLoad
Load
IDelete
Interrupt
IF
Condition
...
IF
Condition
THEN
...
{ELSEIF
Condition
THEN
...}
[ELSE
...]
ENDIF
。
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Incr
Name
IndAMove
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
Signal
IODisable
UnitName
MaxTime
IOEnable
UnitName
MaxTime
ISignalDI
[
Single ]
Signal
TriggValue
Interrupt
ISignalDO
[ Single ]
Signal
TriggValue
Interrupt
ISleep
Interrupt
ITimer
[ Single ]
Time
Interrupt
IVarValue
VarNo
Value,
Interrupt
IWatch
Interrupt
Labe
l:
MoveAbsJ
[ Conc ] ToJointPos
Speed [ V ] | [ T ] Zone
[ Z]Tool
。
3
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[WObj ]
MoveC
[ Conc ]
CirPoint ToPoint Speed [ V ] | [ T ] Zone
[ Z]Tool [
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] |
[Bin]
PathResol
Value
PDispOn
[ Rot ] [ ExeP ] ProgPoint Tool [ WObj
]
PDispSet
DispFrame
PulseDO
[ PLength ] Signal
RAISE
[ Error no
]
Reset
Signal
RETURN
[ Return value ]
Rewind
IODevice
SearchC
[ Stop ]
| [ PStop ] | [ Sup ] Signal SearchPoint
CirPoint
ToPoint Speed
[ V ] | [ T ] Tool [ WObj ]
SearchL
[ Stop ] | [ PStop ]
| [ Sup ] Signal SearchPoint
ToPoint
Speed [ V ] | [ T ] Tool [ WObj ]
。
4
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Set
Signal
SetAO
Signal Value
SetDO
[ SDelay ] Signal Value
SetGO
Signal Value
SingArea
[
Wrist] | [ Arm] | [ Off]
SoftAct
Axis Softness [Ramp
]
Stop
[
NoRegain ]
TEST
Test data
{CASE
Test value
{, Test
valu
e}
:
...}
[
DEFAULT:
...]
ENDTEST
TPReadFK
Answer String FK1 FK2 FK3 FK4 FK5
[MaxTime]
[DIBreak] [BreakFlag]
TPReadNum
Answer
String [MaxTime] [DIBreak] [BreakFlag]
TPShow
Window
TPWrite
String [Num] |
[Bool] | [Pos] | [Orient]
TriggC
CirPoint ToPoint
Speed [ T ] Trigg_1 [ T2 ]
[ T3 ][ T4]
Zone Tool [ WObj ]
TriggInt
TriggData Distance
[ Start ] | [ Time ] Interrupt
TriggIO
TriggData Distance [
Start ] | [ Time ] [ DOp ] |
[ GOp ]
|[AOp ] SetValue [ DODelay ] | [ AORamp
]
TriggJ
ToPoint Speed [ T ]
Trigg_1 [ T2 ] [ T3] [ T4]Zone
Tool [
WObj]
TriggL
ToPoint Speed [ T ] Trigg_1 [ T2] [ T3]
[ T4]Zone
Tool[ WObj ]
。
5
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