一、ABB机器人指令格式

二 、ABB机器人指令及其参数

 

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     Trap routine

 

CorrCon Descr

 

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    TO     End value

[STEP       Step value]   DO ... ENDFOR

 

GOTO     Label

 

GripLoad     Load

 

Idelet    Interrupt

 

IF       Condition ...

 

IF       Condition      THEN ...

{ELSEIF Condition      THEN ...}

[ELSE ...]

ENDIF

 

Incr         Name

 

IndAMove    MecUnit Axis [ \ToAbsPos ] | [ \ToAbsNum ] Speed[ \Ramp ]

 

IndCMove    MecUnit Axis      Speed     [ \Ramp ]

 

IndDMove    MecUnit 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     InterruptITimer        [ \Single ]            Time Interrupt

 

IVarValue     VarNo      Value,      Interrupt

 

IWatch    Interrupt

 

Label:

 

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 ValueSetDO [ \SDelay ] Signal Value

 

SetGO Signal Value

 

SingArea [ \Wrist] | [ \Arm] | [ \Off]

 

SoftAct Axis Softness [\Ramp ]

 

Stop [ \NoRegain ]

 

TEST Test data {CASE Test value {, Test value} : ...}

[ 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

 

TriggIO TriggData Distance [ \Start ] | [ \Time ] [ \DOp ] | [ \GOp ]

|[\AOp ] SetValue [ \DODelay ] | [ \AORamp ]

TriggJ ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3] [ \T4]Zone Tool [ \WObj]

 

TriggL ToPoint Speed [ \T ] Trigg_1 [ \T2] [ \T3] [ \T4]Zone Tool[ \WObj ]

 

TuneServo MecUnit Axis TuneValue

 

TuneServo MecUnit Axis TuneValue [\Type]

 

UnLoad FilePath [\File]

 

VelSet Override Max

 

WaitDI Signal Value [\MaxTime] [\TimeFlag]

 

WaitDO Signal Value [\MaxTime] [\TimeFlag]

 

WaitTime [\InPos] TimeWaitUntil [\InPos] Cond [\MaxTime] [\TimeFlag]

 

WHILE Condition DO ... ENDWHILE

 

Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient][\NoNewLine]

 

WriteBin IODevice Buffer NChar

 

WriteStrBin IODevice Str

 

WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint

 

WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius

 

WZDisable WorldZone

 

WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before]

Signal SetValue

 

WZEnable WorldZone

 

WZFree WorldZone

 

WZLimSup [\Temp] | [\Stat] WorldZone Shape

 

WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius

 

三、ABB机器人函数及其参数

 

Abs (Input)

 

ACos (Value)

 

AOutput (Signal)

 

ArgName (Parameter)

 

ASin (Value)

 

ATan (Value)

 

ATan2 (Y X)

 

ByteToStr (ByteData [\Hex] | [\Okt] | [\Bin] | [\Char])

 

ClkRead (Clock) CorrRead

 

Cos (Angle)

 

CPos ([Tool] [\WObj])

 

CRobT ([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 Axis

 

IndSpeed MecUnit Axis [\InSpeed] | [\ZeroSpeed]

 

IsPers (DatObj)

 

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 ]Axis

 

ReadNum (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 (Str ChPos Pattern)

 

StrMemb (Str ChPos Set)

 

StrOrder ( Str1 Str2 Order)

 

StrPart (Str ChPos Len)

 

StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])

 

StrToVal ( Str Val )

 

Tan (Angle)

 

TestDI (Signal)

 

Trunc ( Val [\Dec] )

 

ValToStr ( Val )

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