ABB机器人程序指令汇总

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

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实用文档

Trap routine

实用文档

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

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 ]

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实用文档

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

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实用文档

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

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实用文档

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

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实用文档

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

三 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)

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实用文档

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)

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实用文档

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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