ABB机器人程序指令全集
一 指令格式
二 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
CorrCon Descr
Trap routine
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 End value
[STEP Step value] DO ... ENDFOR
GOTO Label
GripLoad Load
IDelete 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 ]
TO
IndReset MecUnit Axis [ \\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
[ \\RefPos ] | [ \\RefNum ] | [ \\Short ] |
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