ABB机器人程序指令汇总文档格式.docx
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ConfJ[]|[]
ConfL[]|[]
CONNECTInterruptWITHTraproutine
CorrConDescr
CorrDisconDescr
CorrWriteDescrData
CorrClear
DeactUnitMecUnit
DecrName
EOffsSetEaxOffsErrWrite[]HeaderReason[][][]
Exit
ExitCycle
FORLoopcounterFROMStartvalueTOEndvalue[STEPStepvalue]DO...ENDFOR
GOTOLabel
GripLoadLoad
IDeleteInterrupt
IFCondition...
IFConditionTHEN...
ELSEIFConditionTHEN...
[ELSE...]
IncrName
IndAMoveMecUnitAxis[]|[]
Speed[]
IndCMoveMecUnitAxisSpeed[]
IndDMoveMecUnitAxisDeltaSpeed[]
IndResetMecUnitAxis[]|[]|[]|[]|[]|[]
IndRMoveMecUnitAxis[]|[]|[]|[]|[]Speed[]
InvertDOSignal
IODisableUnitNameMaxTime
IOEnableUnitNameMaxTime
ISignalDI[]SignalTriggValue
Interrupt
ISignalDO[]SignalTriggValue
ISleepInterruptITimer[]TimeInterrupt
IVarValueVarNoValue,Interrupt
IWatchInterrupt
Label:
MoveAbsJ[]ToJointPosSpeed[]|[]Zone
[]Tool
[]
MoveC[]CirPointToPointSpeed[]|[]Zone[]Tool[
]
MoveJ[]ToPointSpeed[]|[]Zone[]Tool[]
MoveL[]ToPointSpeed[]|[]Zone[]Tool[]
OpenObject[]IODevice[]|[]|[]|[]
PathResolValue
PDispOn[][]ProgPointTool[]
PDispSetDispFrame
PulseDO[]Signal
RAISE[Errorno]
ResetSignal
RETURN[Returnvalue]
RewindIODevice
SearchC[]|[]|[]SignalSearchPointCirPoint
ToPointSpeed[]|[]Tool[]
SearchL[]|[]|[]SignalSearchPointToPoint
Speed[]|[]Tool[]
SetSignal
SetAOSignalValueSetDO[]Signaxx
Value
SetGOSignalValue
SingArea[]|[]|[]
SoftActAxisSoftness[]
Stop[]
TESTTestdataCASETestvalue,Testvalue:
...[DEFAULT:
...]ENDTEST
TPReadFKAnswerStringFK1FK2FK3FK4FK5[][][]
TPReadNumAnswerString[][][]
TPShowWindow
TPWriteString[]|[]|[]|[]
TriggCCirPointToPointSpeed[]Trigg_1[]
[][]
ZoneTool[]
TriggIntTriggDataDistance[]|[]Interrupt
TriggIOTriggDataDistance[]|[][]|[]
|[]SetValue[]|[]
TriggJToPointSpeed[]Trigg_1[][][]ZoneTool[]
TriggLToPointSpeed[]Trigg_1[][][]ZoneTool[]
TuneServoMecUnitAxisTuneValue
TuneServoMecUnitAxisTuneValue[]
UnLoadFilePath[]
VelSetOverrideMax
WaitDISignalValue[][]
WaitDOSignalValue[][]
WaitTime[]TimeWaitUntil[]Cond[][]
WHILEConditionDO...ENDWHILE
WriteIODeviceString[]|[]|[]|
[][]
WriteBinIODeviceBufferNChar
WriteStrBinIODeviceStr
WZBoxDef[]|[]ShapeLowPointHighPoint
WZCylDef[]|[]ShapeCentrePointRadius
WZDisableWorldZone
WZDOSet[]|[]WorldZone[]|[]SignalSetValue
WZEnableWorldZone
WZFreeWorldZone
WZLimSup[]|[]WorldZoneShape
WZSphDef[]|[]ShapeCentrePointRadius三函数及其参数
Abs(Input)
ACos(Value)
AOutput(Signal)
ArgName(Parameter)
ASin(Value)
ATan(Value)
ATan2(YX)
ByteToStr(ByteData[]|[]|[]|[])ClkRead(Clock)CorrRead
Cos(Angle)
CPos([Tool][])
CRobT([Tool][])
DefDFrame(OldP1OldP2OldP3NewP1NewP2NewP3)DefFrame(NewP1NewP2NewP3[])
Dim(ArrParDimNo)
DOutput(Signal)
EulerZYX([]|[]|[]Rotation)
Exp(Exponent)
GOutput(Signal)
GetTime([]|[]|[]|[])IndInposMecUnitAxis
IndSpeedMecUnitAxis[]|[]IsPers(DatObj)
IsVar(DatObj)
MirPos(PointMirPlane[][])NumToStr(ValDec[])
Offs(PointXOffsetYOffsetZOffset)
OrientZYX(ZAngleYAngleXAngle)
ORobT(OrgPoint[]|[])PoseInv(Pose)
PoseMult(Pose1Pose2)
PoseVect(PosePos)
Pow(BaseExponent)Present(OptPar)
ReadBin(IODevice[])
ReadMotor[]Axis
ReadNum(IODevice[])
ReadStr(IODevice[])
RelTool(PointDxDyDz[][][])
Round(Val[])
Sin(Angle)
Sqrt(Value)
StrFind(StrChPosSet[])
StrLen(Str)
StrMap(StrFromMapToMap)
StrMatch(StrChPosPattern)
StrMemb(StrChPosSet)
StrOrder(Str1Str2Order)
StrPart(StrChPosLen)
StrToByte(ConStr[]|[]|[]|[])StrToVal(StrVal)
Tan(Angle)
TestDI(Signal)
Trunc(Val[])
ValToStr(Val)