ABB机器人程序指令汇总

1、指令格式1 PXVritc String Wuin | |Bool| | |Pos Oricot|InstructionCompulsory OptionalMutuallyargunieni _ aQsumentexclusivearguments二指令及其参数Data :=ValueAccSetAcc RampActU nitMecU nitAddNameAddValueBreakCallBy VarNameNumberClearNameClkResetClockClkStartClockClkStopClockCloseIODevice! Comme ntCo nJOn 川OffCo n

2、fLOn 川OffCONNECTIn terruptWITHTrap rout ineCorrCon DescrCorrDiscon DescrCorrWrite Descr DataCorrClearDeactUnitMecUnitDecrNameEOffsSet EaxOffs ErrWrite W Header Reason RL2 RL3 RL4ExitExitCycleFOR Loop counter FROM Start value TO End value STEP Step value DO . ENDFORGOTOLabelGripLoadLoadIDeleteInterru

3、ptIFCondition .IF ELSEIF ELSE . ENDIFCondition THEN .Condition THEN .IncrNameIndAMoveMecUnit Axis ToAbsPos | ToAbsNum Speed Ramp IndCMoveMecUnit Axis Speed Ramp IndDMoveMecUnit Axis Delta Speed Ramp IndReset MecUnit Axis RefPos | RefNum | Short | Fwd | Bwd | Old IndRMove MecUnit Axis ToRelPos | ToRe

4、lNum | Short | Fwd | Bwd Speed Ramp InvertDO SignalIODisableUnitNameMaxTimeIOEnableUnitNameMaxTimeISignalDI Single SignalTriggValueInterruptISignalDO Single SignalTriggValueInterruptISleepInterrupt ITimer Single Time InterruptIVarValueVarNoValue,InterruptIWatch InterruptLabe l:MoveAbsJ Conc ToJointP

5、os Speed V | T Zone ZToolWObj 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 | Bin PathResol ValuePDispOn Rot ExeP ProgPoint Tool WObj PDispSet Dis

6、pFramePulseDO 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 Value SetDO SDelay Signal

7、ValueSetGO Signal ValueSingArea Wrist | Arm | OffSoftAct Axis Softness Ramp Stop NoRegain TEST Test data CASE Test value , Test valu e : . DEFAULT: . ENDTESTTPReadFK Answer String FK1 FK2 FK3 FK4 FK5 MaxTime DIBreak BreakFlagTPReadNum Answer String MaxTime DIBreak BreakFlagTPShow WindowTPWrite Strin

8、g 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 Tr

9、igg_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 Time WaitUntil InPos Cond MaxTime TimeFlagWHILE Condition DO . ENDWHILEWrite

10、 IODevice String Num | Bool | Pos | OrientNoNewLineWriteBin IODevice Buffer NCharWriteStrBin IODevice StrWZBoxDef Inside | Outside Shape LowPoint HighPointWZCylDef Inside | Outside Shape CentrePoint RadiusWZDisable WorldZoneWZDOSet Temp | Stat WorldZone Inside | BeforeSignal SetValueWZEnable WorldZo

11、neWZFree 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)C

12、RobT (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 (DatO

13、bj)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 (S