ABB机器人程序指令汇总.docx

1、ABB机器人程序指令汇总ABB机器人程序指令汇总。一指令格式此处图片未下载成功二指令及其参数Data := ValueAccSet Acc RampActUnit MecUnitAdd Name A ddValueBreakCallBy Var Name Number Clear NameClkReset ClockClkStart ClockClkStop ClockClose IODevice! CommentConfJ | ConfL | CONNECT Interrupt WITH Trap routineCorrCon DescrCorrDiscon DescrCorrWrite D

2、escr DataCorrClearDeactUnit MecUnitDecr NameEOffsSet EaxOffs ErrWrite Header Reason ExitExitCycleFOR Loop counter FROM S tart value TO End value STEP Step value DO . ENDFORGOTO L abelGripLoad LoadIDelete InterruptIF Condition .IF Condition THEN .ELSEIF Condition THEN .ELSE . Incr NameIndAMove MecUni

3、t Axis | Speed IndCMove MecUnit Axis Speed IndDMove MecUnit Axis Delta Speed IndReset MecUnit Axis | | | | | IndRMove MecUnit Axis | | | | Speed InvertDO SignalIODisable UnitName MaxTimeIOEnable UnitName MaxTimeISignalDI Signal TriggValueInterruptISignalDO Signal TriggValueInterruptISleep Interrupt

4、ITimer Time InterruptIVarValue VarNo Value, InterruptIWatch InterruptLabe l:MoveAbsJ ToJointPos Speed | Zone Tool MoveC CirPoint ToPoint Speed | Zone Tool MoveJ ToPoint Speed | Zone Tool MoveL ToPoint Speed | Zone Tool Open Object IODevice | | | PathResol ValuePDispOn ProgPoint Tool PDispSet DispFra

5、mePulseDO SignalRAISE Error no Reset SignalRETURN Return value Rewind IODeviceSearchC | | Signal SearchPoint CirPointToPoint Speed | Tool SearchL | | Signal SearchPoint ToPointSpeed | Tool Set SignalSetAO Signal Value SetDO Signaxx ValueSetGO Signal ValueSingArea | | SoftAct Axis Softness Stop TEST

6、Test data CASE Test value , Test valu e : . DEFAULT: . ENDTESTTPReadFK Answer String FK1 FK2 FK3 FK4 FK5 TPReadNum Answer String TPShow WindowTPWrite String | | | TriggC CirPoint ToPoint Speed Trigg_1 Zone Tool TriggInt TriggData Distance | InterruptTriggIO TriggData Distance | | | SetValue | TriggJ

7、 ToPoint Speed Trigg_1 Zone Tool TriggL ToPoint Speed Trigg_1 Zone Tool TuneServo MecUnit Axis TuneValueTuneServo MecUnit Axis TuneValue UnLoad FilePath VelSet Override MaxWaitDI Signal Value WaitDO Signal Value WaitTime Time WaitUntil Cond WHILE Condition DO . ENDWHILEWrite IODevice String | | |Wri

8、teBin IODevice Buffer NCharWriteStrBin IODevice StrWZBoxDef | Shape LowPoint HighPointWZCylDef | Shape CentrePoint RadiusWZDisable WorldZoneWZDOSet | WorldZone | Signal SetValueWZEnable WorldZoneWZFree WorldZoneWZLimSup | WorldZone ShapeWZSphDef | Shape CentrePoint Radius 三函数及其参数Abs (Input)ACos (Val

9、ue)AOutput (Signal)ArgName (Parameter)ASin (Value)ATan (Value)ATan2 (Y X)ByteToStr (ByteData | | | ) ClkRead (Clock) CorrReadCos (Angle)CPos (Tool )CRobT (Tool )DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3) DefFrame (NewP1 NewP2 NewP3 )Dim (ArrPar DimNo)DOutput (Signal)EulerZYX ( | | Rotation)Exp

10、(Exponent)GOutput (Signal)GetTime ( | | | ) IndInpos MecUnit AxisIndSpeed MecUnit Axis | IsPers (DatObj)IsVar (DatObj)MirPos (Point MirPlane ) NumToStr (Val Dec )Offs (Point XOffset YOffset ZOffset)OrientZYX (ZAngle YAngle XAngle)ORobT (OrgPoint | ) PoseInv (Pose)PoseMult (Pose1 Pose2)PoseVect (Pose

11、 Pos)Pow (Base Exponent) Present (OptPar)ReadBin (IODevice )ReadMotor AxisReadNum (IODevice )ReadStr (IODevice )RelTool (Point Dx Dy Dz )Round ( Val )Sin (An gl e )Sqrt (Value)StrFind (Str ChPos Set )StrLen (Str)StrMap ( Str FromMap ToMap)StrMatch (Str ChPos Pattern)StrMemb (Str ChPos Set)StrOrder ( Str1 Str2 Order)StrPart (Str ChPos Len)StrToByte (ConStr | | | ) StrToVal ( Str Val )Tan (Angle)TestDI (Signal)Trunc ( Val )ValToStr ( Val )