ABB机器人程序指令汇总

一

指令格式

二

指令及其参数

Data

:=

Value

AccSet

Acc

Ramp

ActUnit

MecUnit

Add

Name

AddValue

Break

CallBy Var

Name

Number

Clear

Name

ClkReset

Clock

ClkStart

Clock

ClkStop

Clock

Close

IODevice

!

Comment

ConfJ

[On] | [Off]

ConfL

[On] | [Off]

CONNECT

Interrupt

WITH

CorrCon Descr

Trap routine

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

Start value

T

O

End value

[STEP

Step value]

DO

...

ENDFOR

GOTO

Label

GripLoad

Load

IDelete

Interrupt

IF

Condition

...

IF

Condition

THEN

...

{ELSEIF

Condition

THEN

...}

[ELSE

...]

ENDIF

Incr

Name

IndAMove

M

ecUnit Axis [ ToAbsPos ] | [ ToAbsNum ] Speed[ Ramp ]

IndCMove

M

ecUnit Axis

Speed

[ Ramp ]

IndDMove

M

ecUnit 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

[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 ]

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