2024ABB RAPID指令、函数和数据类型技术参考手册

ROBOTICS技术参考手册RAPID指令、函数和数据类型目录目录手册概述.............................................................................................................................................

171指令

211.1

AccSet－降低加速度...........................................................................................

211.2

ActEventBuffer

-事件缓冲启用.............................................................................

241.3

ActUnit-启用机械单元........................................................................................

261.4

Add-增加数值....................................................................................................

281.5

AliasCamera－用别名定义摄像装置......................................................................

301.6

AliasIO-确定I/O信号以及别名..............................................................................

321.7

AliasIOReset-重置I/O信号以及别名........................................................................

351.8

":="-分配一个数值.............................................................................................

371.9

BitClear-在一个字节或双数值数据中清除一个特定位.................................................

391.10

BitSet-在一个字节或者双数值数据中设置一个特定位................................................

421.11

BookErrNo-登记RAPID系统错误编号....................................................................

451.12

Break-打破循环................................................................................................

471.13

DebugBreak-中断程序执行.................................................................................

481.14

CallByVar-通过变量，调用程序...........................................................................

491.15

CamFlush-从摄像头删除集合数据........................................................................

511.16

CamGetParameter-获取不同名称的摄像头参数.......................................................

521.17

CamGetResult-从集合获取摄像头目标..................................................................

541.18

CamLoadJob-加载摄像头任务到摄像头..................................................................

561.19

CamReqImage-命令摄像头采集图像.....................................................................

581.20

CamSetExposure-设置具体摄像头的数据..............................................................

601.21

CamSetParameter-设置不同名称的摄像头参数.......................................................

621.22

CamSetProgramMode-命令摄像头进入编程模式.....................................................

641.23

CamSetRunMode-命令摄像头进入运行模式...........................................................

651.24

CamStartLoadJob-开始加载摄像头任务到摄像头.....................................................

661.25

CamStartSetParameter

-启动参数设置的设定操作....................................................

681.26

CamWaitLoadJob–等待摄像头任务加载完毕..........................................................

711.27

CamWaitSetParameter

-等待设定操作准备就绪.......................................................

731.28

CancelLoad-取消模块加载.................................................................................

741.29

CapAPTrSetupAI-设置由模拟输入信号控制的At-Point-Tracker。................................

761.30

CapAPTrSetupAO-设置由模拟输出信号控制的At-Point-Tracker.................................

791.31

CapAPTrSetupPERS-设置由持续变量控制的At-Point-Tracker...................................

821.32

CapC-CAP圆周运动指令...................................................................................

851.33

CapEquiDist-产生等距事件.................................................................................

951.34

CapInitSupervision

-重置CAP的所有监控...............................................................

971.35

CapL-CAP线性运动指令...................................................................................

981.36

CapNoProcess-无需进程的情况下，运行CAP........................................................

1071.37

CapRefresh-更新CAP数据.................................................................................

1091.38

CapRemoveSupervision

-撤除一个信号的条件........................................................

1111.39

CapSetDOAtStop-设置TCP停止时的数字输出信号..................................................

1131.40

CapSetupSupervision

-设置CAP信号监控条件........................................................

1151.41

CapWeaveSync-设置摆动同步信号和电平.............................................................

1181.42

CheckProgRef-检查程序参考..............................................................................

1201.43

CirPathMode-圆周路径期间的工具方位调整...........................................................

1211.44

Clear-清除数值................................................................................................

1261.45

ClearPath-清除当前路径....................................................................................

1271.46

ClearRawBytes-清除原始数据字节数据的内容........................................................

1301.47

ClkReset-重置用于定时的时钟............................................................................

1321.48

ClkStart-启动用于定时的时钟..............................................................................

1331.49

ClkStop-停止用于定时的时钟..............................................................................

1351.50

Close-关闭一份文件或I/O设备...........................................................................

1361.51

CloseDir-关闭路径............................................................................................

1371.52

Comment-评论................................................................................................

1381.53

CompactIF-如果满足条件，那么...（一个指令）.....................................................

1391.54

ConfJ-接头移动期间,控制配置.............................................................................

140技术参考手册-RAPID指令、函数和数据类型3HAC065038-010修订:M5目录1.55

ConfL-线性运动期间,监测配置.............................................................................

1421.56

CONNECT-将中断与软中断程序相连....................................................................

1441.57

ContactL-线性接触移动.....................................................................................

1461.58

Continue-跳过循环的其余部分............................................................................

1511.59

CopyFile-复制文件...........................................................................................

1521.60

CopyRawBytes-复制原始数据字节数据的内容........................................................

1541.61

CornerPathWarning

-显示或隐藏圆角路径警告........................................................

1561.62

CorrClear-移除所有修正发电机............................................................................

1581.63

CorrCon-与修正发电机相连................................................................................

1591.64

CorrDiscon-与修正发电机断开............................................................................

1641.65

CorrWrite-写入修正发电机..................................................................................

1651.66

DeactEventBuffer

-事件缓冲启用..........................................................................

1661.67

DeactUnit-停用机械单元....................................................................................

1681.68

Decr-递减量为1...............................................................................................

1701.69

DropSensor-使物体落于传感器上.........................................................................

1721.70

DropWObj-使工件落于传送带上...........................................................................

1731.71

EOffsOff-停用附加轴的偏移量.............................................................................

1741.72

EOffsOn-启用附加轴的偏移量.............................................................................

1751.73

EOffsSet-启用附加轴（使用已知值）的偏移量........................................................

1771.74

EraseModule-擦除模块......................................................................................

1791.75

ErrLog-写入错误消息........................................................................................

1811.76

ErrRaise-写入警告，调用错误处理器....................................................................

1841.77

ErrWrite-写入错误消息......................................................................................

1881.78

EXIT-终止程序执行...........................................................................................

1901.79

ExitCycle-中断当前循环，并开始下一循环.............................................................

1911.80

FitCircle—使圆圈与3D点拟合。............................................................................

1931.81

FitLine-使线与一组点拟合..................................................................................

1971.82

FitPlane-使平面与一组点拟合..............................................................................

1991.83

FitSphere-使球体与一组点拟合............................................................................

2011.84

FOR-重复给定的次数........................................................................................

2031.85

FricIdInit-开始摩擦识别......................................................................................

2061.86

FricIdEvaluate-评估摩擦识别..............................................................................

2071.87

FricIdSetFricLevels

-在摩擦识别后设置摩擦等级......................................................

2101.88

GetDataVal-获得数据对象的值............................................................................

2121.89

GetGroupSignalInfo

-读取有关数字群组信号的信息..................................................

2151.90

GetJointData-获取具体关节数据..........................................................................

2171.91

GetSysData-获取系统数据.................................................................................

2191.92

GetTrapData-获取当前软中断例行程序的中断数据...................................................

2221.93

GOTO-转到新的指令.........................................................................................

2241.94

GripLoad-定义机械臂的有效负载.........................................................................

2261.95

HollowWristReset-重置中空腕节.........................................................................

2281.96

ICap-将CAP事件与软中断子程序关联起来..............................................................

2301.97

ICapPathPos-获取摆动时的中心线机器人位置。.....................................................

2341.98

IDelete-取消中断..............................................................................................

2361.99

IDisable-禁用中断............................................................................................

2371.100

IEnable-启用中断.............................................................................................

2381.101

IError-调整关于错误的中断.................................................................................

2391.102

IF-如果满足条件，那么...；否则...........................................................................

2421.103

Incr-增量为1....................................................................................................

2441.104

IndAMove-独立的绝对位置运动...........................................................................

2461.105

IndCMove-独立的连续运动.................................................................................

2491.106

IndDMove-独立的德尔塔位置运动........................................................................

2521.107

IndReset-独立重置...........................................................................................

2551.108

IndReset-独立的相对位置运动.............................................................................

2591.109

InvertDO-转化数字信号输出信号值.......................................................................

2631.110

IOActivate-激活I/O设备....................................................................................

2651.111

IODeactivate-停用I/O设备。.............................................................................

2671.112

IODeviceMute-关闭来自设备的I/O事件消息..........................................................

2701.113

IPers-在永久变量数值改变时中断.........................................................................

2716技术参考手册-RAPID指令、函数和数据类型3HAC065038-010修订:M目录1.114

IRMQMessage-下达数据类型的RMQ中断指令........................................................

2731.115

ISignalAI-模拟信号输入信号的中断.......................................................................

2771.116

ISignalAO-模拟信号输出信号的中断.....................................................................

2861.117

ISignalDI-下达数字信号输入信号中断指令..............................................................

2891.118

ISignalDO-数字信号输出信号的中断.....................................................................

2921.119

ISignalGI-下达一组数字信号输入信号中断的指令.....................................................

2951.120

ISignalGO-下达一组数字信号输出信号中断的指令...................................................

2981.121

ISleep-停用一个中断.........................................................................................

3011.122

ITimer-下达定时中断的指令................................................................................

3031.123

IVarValue-下达变量值中断指令............................................................................3051.124

IWatch-启用中断..............................................................................................

3081.125

Label-线路名称................................................................................................

3101.126

Load-执行期间，加载普通程序模块......................................................................

3111.127

LoadId-工具或有效负载的负载识别.......................................................................

3151.128

MakeDir-创建新路径.........................................................................................

3211.129

ManLoadIdProc-IRBP机械臂的负载识别...............................................................

3221.130

MatrixAdd-计算两个矩阵之和..............................................................................

3261.131

MatrixInverse-反转矩阵.....................................................................................

3291.132

MatrixMult-两个矩阵相乘或矩阵与标量相乘............................................................

3321.133

MatrixReset-将矩阵中的所有元素设置为0.............................................................

3371.134

MatrixSolve－解算一则线性方程组........................................................................

3391.135

MatrixSolveQR－计算一次QR－因式分解...............................................................

3411.136

MatrixSub-计算两个矩阵的差值...........................................................................

3431.137

MatrixSVD－计算一次奇异值分解.........................................................................

3461.138

MatrixTranspose-转置矩阵.................................................................................

3491.139

MechUnitLoad-确定机械单元的有效负载...............................................................

3521.140

MotionProcessModeSet

-设置运动过程模式...........................................................

3561.141

MotionSup-禁用/启用运动监控............................................................................

3581.142

MoveAbsJ-移动机械臂至绝对接头位置..................................................................

3611.143

MoveC-使机械臂沿圆周移动...............................................................................

3671.144

MoveCAO-使机械臂沿圆周运动，设置拐角处的模拟信号输出.....................................

3741.145

MoveCDO-使机械臂沿圆周运动，设置拐角处的数字信号输出.....................................

3791.146

MoveCGO-机械臂沿圆周运动，设置拐角处的组输出信号..........................................

3831.147

MoveCSync-机械臂沿圆周运动，执行RAPID无返回值程序。.....................................

3881.148

MoveExtJ-在没有TCP的情况下，移动一个或数个机械单元........................................

3931.149

MoveJ-通过接头移动，移动机械臂.......................................................................

3961.150

MoveJAO-通过接头移动来移动机械臂，设置拐角处的模拟信号输出............................

4011.151

MoveJDO-通过接头移动来移动机械臂，设置拐角处的数字信号输出............................

4051.152

MoveJGO-通过接头移动来移动机械臂，设置拐角处的组输出信号...............................

4091.153

MoveJSync-通过接头移动来移动机械臂，执行RAPID无返回值程序。..........................

4131.154

MoveL-使机械臂沿直线移动................................................................................

4171.155

MoveLAO-使机械臂沿直线运动，设置拐角处的模拟信号输出.....................................

4231.156

MoveLDO-使机械臂沿直线运动，设置拐角处的数字信号输出.....................................

4271.157

MoveLGO-使机械臂沿直线运动，设置拐角处的组输出信号........................................

4311.158

MoveLSync-机械臂沿直线运动，执行RAPID无返回值程序........................................

4351.159

MovePnP—使机器人沿拾取和放置路径移动。..........................................................

4401.160

MToolRotCalib-移动工具旋转校准........................................................................

4501.161

MToolTCPCalib-关于移动工具的TCP的校准...........................................................

4531.162

Open-打开一份文件或I/O设备............................................................................

4561.163

OpenDir-打开路径............................................................................................

4601.164

PackDNHeader-将DeviceNet标题装入原始数据字节数据中。....................................

4621.165

PackRawBytes-将数据装入原始数据字节数据.........................................................

4651.166

PathAccLim-降低路径沿线的TCP加速度................................................................

4701.167

PathLengthReset-重置计数器的当前路径长度值.......................................................

4731.168

PathLengthStart-激活监控路径长度的计数器............................................................

4751.169

PathLengthStop-停止监控路径长度的计数器............................................................

4771.170

PathRecMoveBwd-将路径记录器向后移动.............................................................

4791.171

PathRecMoveFwd-向前移动路径记录器................................................................

4851.172

PathRecStart-起动路径记录器.............................................................................

488技术参考手册-RAPID指令、函数和数据类型3HAC065038-010修订:M7目录1.173

PathRecStop-停止路径记录器.............................................................................

4901.174

PathResol-覆盖路径分辨率.................................................................................

4931.175

PDispOff-停用程序位移.....................................................................................

4951.176

PDispOn-启用程序位移.....................................................................................

4961.177

PDispSet-启用使用已知坐标系的程序位移.............................................................

5001.178

ProcCall-调用新无返回值程序.............................................................................

5021.179

ProcerrRecovery

-由过程运动错误产生和恢复.........................................................

5041.180

PrxActivAndStoreRecord

-启用和储存已记录的配置文件数据.....................................

5091.181

PrxActivRecord-启用已记录的配置文件数据...........................................................

5111.182

PrxDbgStoreRecord

-储存和调试已记录的配置文件数据............................................

5131.183

PrxDeactRecord-停用记录.................................................................................

5141.184

PrxResetPos-重置传感器零位置..........................................................................

5151.185

PrxResetRecords

-重置和停用所有记录.................................................................

5161.186

PrxSetPosOffset

-设置传感器的参考位置...............................................................

5171.187

PrxSetRecordSampleTime

-设置有关记录配置文件的样本时间...................................

5181.188

PrxSetSyncalarm

-设置同步报警行为....................................................................

5191.189

PrxStartRecord

-记录新的配置文件.......................................................................

5201.190

PrxStopRecord-停止记录配置文件.......................................................................

5221.191

PrxStoreRecord

-储存已记录的配置文件数据..........................................................

5231.192

PrxUseFileRecord-使用已记录的配置文件数据.......................................................

5251.193

PulseDO-产生关于数字信号输出信号的脉冲...........................................................

5261.194

RAISE-调用错误处理器......................................................................................

5291.195

RaiseToUser-将错误传播至用户等级....................................................................

5321.196

ReadAnyBin-读取来自二进制通道I/O设备或文件的数据...........................................

5351.197

ReadCfgData-读取系统参数的属性.......................................................................

5371.198

ReadErrData-获取关于错误的信息.......................................................................

5411.199

ReadRawBytes-读取原始数据字节数据.................................................................

5441.200

ReadVarArr－从一件传感器装置上读取多个变量......................................................

5471.201

RemoveAllCyclicBool-删除全部Cyclicbool条件......................................................

5491.202

RemoveCyclicBool-删除一个Cyclicbool条件.........................................................

5511.203

RemoveDir-删除路径........................................................................................

5531.204

RemoveFile-删除文件.......................................................................................

5551.205

RenameFile-重命名文件....................................................................................

5561.206

Reset-重置数字信号输出信号...............................................................................

5581.207

ResetAxisDistance

－重置该轴的横越距离信息........................................................

5601.208

ResetAxisMoveTime－重置该轴的移动计时器.........................................................

5621.209

ResetPPMoved-重置以手动模式移动的程序指针的状态............................................

5641.210

ResetRetryCount-重置重试次数..........................................................................

5651.211

ResetTorqueMargin

-重置最小扭矩余量.................................................................

5661.212

RestoPath-中断之后，恢复路径...........................................................................

5671.213

RETRY-在错误后恢复执行..................................................................................

5691.214

RETURN-完成程序的执行..................................................................................

5701.215

Rewind-重绕文件位置.......................................................................................

5721.216

RMQEmptyQueue-空白RAPID消息队列................................................................

5731.217

RMQFindSlot-从槽名中寻找槽识别号....................................................................

5741.218

RMQGetMessage-获取RMQ消息.........................................................................

5761.219

RMQGetMsgData-从RMQ消息获取数据部分..........................................................

5791.220

RMQGetMsgHeader-从RMQ消息获取标题信息.......................................................

5821.221

RMQReadWait-从RMQ返回消息..........................................................................

5851.222

RMQSendMessage-发送RMQ数据消息.................................................................

5881.223

RMQSendWait-发送RMQ数据消息，并等待响应.....................................................

5921.224

SafetyControllerSyncRequest

-硬件同步程序的初始化..............................................

5971.225

Save-保存编程模块...........................................................................................

5981.226

SaveCfgData-将系统参数保存至文件....................................................................

6011.227

SearchC-使用机械臂沿圆周进行搜索....................................................................

6031.228

SearchExtJ-在没有TCP的情况下，搜索一个或多个机械单元......................................

6111.229

SearchL-使用机械臂沿直线进行搜索.....................................................................

6181.230

SenDevice-与传感器设备相连.............................................................................

6271.231

Set-设置数字信号输出信号.................................................................................

6298技术参考手册-RAPID指令、函数和数据类型3HAC065038-010修订:M目录1.232

SetAllDataVal-在定义设置下，设置所有数据对象的值...............................................

6311.233

SetAO-变更数字信号输出信号值..........................................................................

6331.234

SetDataSearch-定义在搜索序列中设置的符号.........................................................

6351.235

SetDataVal-设置数据对象的值.............................................................................

6391.236

SetDO-改变数字信号输出信号值..........................................................................

6421.237

SetGO-变更一组数字信号输出信号的值.................................................................

6441.238

SetLeadThrough-启用和停用导通........................................................................

6471.239

SetSysData-设置系统数据..................................................................................

6501.240

SetupCyclicBool-建立一个Cyclicbool条件............................................................

6521.241

SimCollision-模拟碰撞......................................................................................

6551.242

SingArea-确定奇点周围的插补............................................................................

6561.243

SkipWarn-跳过最近的警告.................................................................................

6581.244

SocketAccept-接受输入连接...............................................................................