ABB机器人控制软件IRC5 RAPID Instructions, Functions and Data types指令手册(英文版).pdf

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ABB机器人控制软件IRC5 RAPID Instructions, Functions and Data types指令手册(英文版)pdf,ABB机器人控制软件IRC5 RAPID Instructions, Functions and Data types指令手册(英文版)
Technical reference manual RAPID Instructions, Functions and Data types Robotware 5.0 Document iD: 3HAC 16581-1 Revision G The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. abb assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by aBb for losses, damages to persons or property, fitness for a specific purpose or the like In no event shall ABb be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABBs written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted Additional copies of this manual may be obtained from ABB at its then current charge o Copyright 2004-2008 ABB All rights reserved ABB AB Robotics products SE-721 68 Vasteras Sweden Table of contents Overview 1 Instructions 15 1. 1 AceSet-Reduces the acceleration 1.2 ActUnit- Activates a mechanical unit ..,17 1.3 Add- Adds a numeric value 1. 4 AliasIO-Define IO signal with alias name Assigns a value 23 1.6 BitClear-Clear a specified bit in a byte data I 7 Bitset- Set a specified bit in a byte data 1.8 BookErrNo- Book a rapid system error number 1.9 Break- Break program execution. ·· 1.10 CallBy var-Call a procedure by a variable 1. I I CancelLoad - Cancel loading of a modul 1. 12 CheckProgRef-Check program references ···· 36 1. 13 CirPathMode- Tool reorientation during circle path 1. 14 Clear-Clears the value 1. 15 ClearIOBuff- Clear input buffer of a serial channe 42 1. 16 ClearPath -Clear current path 1. 17 ClearRaw Bytes-Clear the contents of rawbytes data 47 i 8 ClkReset -Resets a clock used for timing 1.19 ClkStart-Starts a clock used for timing 1.20 CIkStop-Stops a clock used for timing L21 Close- Closes a file or serial channel 1. 22 CloseDir-Close a directory 1. 23 Comment-Comment 1. 24 Compact iF-If a condition is met. then.(one instruction) 56 1. 25 ConfJ-Controls the configuration during joint movement 1.26 ConfL Monitors the configuration during linear movement ...59 1. 27 CONNECT- Connects an interrupt to a trap routine 61 1. 28 Copy File-Copy a file 63 1. 29 Copy Raw bytes-Copy the contents of rawbytes data 1.30 CorrClear- Removes all correction generators∴………………… 1.3 1 CorrCon-Connects to a correction generator 68 1.32 CorrDiscon- Disconnects from a correction generator 1.33 Corr Write- Writes to a correction generator 74 1.34 DeactUnit- Deactivates a mechanical unit 76 1.35 Decr-Decrements by 1 78 1.36 Dither Act-Enables dither for soft servo 1.37 DitherDeact -Disables dither for soft servo 81 1.38 Drop wObj-Drop work object on conveyor 1.39 OffsOff- Deactivates an offset for external axes 83 1. 40 EOffsOn- Activates an offset for external axes 1. 41 EOffsSet-Activates an offset for external axes using known values 1.42 EraseModule- Erase a module 1. 43 ErrLog- Write an error message 90 1. 44 ErrRaise-Writes a warning and calls an error handler 93 1. 45 ErrWrite- Write an crror message ...97 1.46 EXIT-Terminates program execution 99 1.47 ExitCycle- Break current cycle and start next .100 1. 48 FOR -Repeats a given number of times 1.49 GetDataval- Get the value of a data object ...104 1.50 GetSys Data- Get system data 107 1. 51 GetTrap Data-Get interrupt data for current TRAP ...109 1.52 GOTO-Goes to a new instruction 3HAC 16581-1 Revision G Table of contents 1.53 GripLoad- Defines the pay load for the robot 1.54 Hollow WristReset-Reset hollow wrist for IRB5402 and IRB 5403 ,,,,,,,,,,115 1.55 IDelete-Cancels an interrupt 117 1.56 IDisable- Disables interrupts 118 1. 57 I nable- Enables interrupts l19 1.58 IError-Orders an interrupt on errors .120 1.59 IF-If a condition is met. then . . otherwise ..,..,,....,,123 1.60 Incr-Increments by 1 125 1.61 IndAMove-Independent absolute position movement 126 1. 62 IndCMove-Independent continuous movement 130 1. 63 IndDMove-Independent delta position movement 134 1. 64 IndReset-Independent reset 137 1.65 IndRMove- Independent relative position movement ,,,,,,,,,142 1. 66 InvertDO-Inverts the value of a digital output signal 147 1.67 IOBus Start- Start of i/o bus 148 1.68 IOBus State- Get current state of i/o bus ·· 149 1. 69 IODisable- Disable i o unit 1. 70 IOEnable- Enable i/o unit 1.71 IPers-Interrupt at value change of a persistent variable 158 1.72 IRMQMessage-Orders rmQ interrupts for a data type 1.73 ISignalAI - Interrupts from analog input signal 1.74 ISignalAo-Interrupts from analog output signal ,,,..,,174 1.75 ISignalDI-Orders interrupts from a digital input signal 177 1.76 ISignaIDO-Interrupts from a digital output signal 1.77 ISignalGI-Orders interrupts from a group of digital input signals 1.78 ISignalGO-Orders interrupts from a group of digital output siglap ......l83 186 1.79 ISleep- Deactivates an interrupt 189 1. 80 ITimer -Orders a timed interrupt ,..,191 1. 81 IVar Value-orders a variable value interrupt. 1.82 IWatch- Activates an interrupt...................... 196 1. 83 Label -Line name 198 1. 84 Load-Load a program module during execution 199 1. 85 Loadld-Load identification of tool or payload 203 1.86 Make Dir-Create a new directory 209 1. 87 ManLoadldProc-Load identification of IRBP manipulators 210 1.88 MechUnitLoad - Defines a pay load for a mechanical unit ....,,214 1.89 Motion Sup-Deactivates/Activates motion supervision l 8 1.90 MoveAbsJ-Moves the robot to an absolute joint position 221 91 MoveC- Moves the robot circular 227 1.92 MoveCDO-Moves the robot circularly and sets digital output in the corner 233 1.93 Move- Moves the robot circularly and executes a raPid procedure 1.94 MoveExtj-Move one or several mechanical units without TCP ,,,,,..,,241 1.95 MoveJ- Moves the robot by joint movement 244 1.96 MoveJDO-Moves the robot by joint movement and sets digital output in the corner 1.97 MoveJSync Moves the robot by joint movement and executes a RaPId procedure 251 1.98 MoveL, Moves the robot linearly 254 1.99 MoveLDO-Moves the robot linearly and sets digital output in the corner 58 1. 100 MoveL SYnc -Moves the robot linearly and executes a RAPid procedure 1. 101 MToolRotCalib- Calibration of rotation for moving tool 264 1. 102 MToolTCPCalib-Calibration of TCP for moving tool.................. 267 1.103 Open -Opens a file or serial channel 1. 104 Open Dir-Open a directory 274 1.105 PackDNHeader-Pack DeviceNet Header into rawbytes data 276 106 PackRaw Bytes-Pack data into rawbytes data 1.107 PathAccLim- Reduce TCP acceleration along the path 283 3HAC 16581-1 Revision G Table of contents 1. 108 PathRecMove- Move path recorder backwards 286 1.109 PathRecMove F- Move path recorder forward .294 1. 110 PathRecstart- Start the path recorder 297 1. I I I PathRecStop- Stop the path recorder 300 1. 112 PathResol -Override path resolution 303 1. 113 PDispOff- Deactivates program displacement 305 1. 114 PDisp On- Activates program displacement 306 1. 115 PDispSet-Activates program displacement using known frame ..,..,,.,,310 1. 116 ProcCall-Calls a new procedure 312 1. 117 ProcerrRecovery-Generate and recover from process-move error............. 314 1. 8 PulseDO-Generates a pulse on a digital output signal 1. 1 19 RAISE -Calls an error handler 322 1.I20 RaiseToUser-Propagates an error to user level 325 1. 121 ReadAny Bin-Read data from a binary serial channel or file 328 1. 122 ReadBlock -read a block of data from device · .331 1. 123 ReadCfg Data-Reads attribute of a system parameter. 333 1. 124 ReadErrData- Gets information about an error 337 1. 125 ReadRaw Bytes-Read rawbytes data 340 1. 126 RemoveDir-Delete a directory 343 1.127 Remove File- Delete a file 1.128 Rename File Rename a file 345 1.129 Reset-Resets a digital output signal 347 1. 130 ResetPPMoved -Reset state for the program pointer moved in manual mode 348 1.131 Resetretry Count-Reset the number of retries 349 1. 132 RestoPath-Restores the path after an interrupt 350 1. 133 RETRY-Resume execution after an error 352 134 REtURN- Finishes execution of a routine 353 1. 135 Rewind Rewind file position 55 1. 136 RMQFindSlot -Find a slot identity from the slot name 1. 137 RMQGetmessage-Get an RMQ message.............,.... ..359 1. 138 RMQGetMsgData-Get the data part from an rMQ message 1.139 RMQGietMsgheader-Get header information from an rmQ message 365 1. 140 RMQSendMessage - Send an rmq data message 368 1. 141 RMQSend Wait- Send an rmQ data message and wait for a response 372 1. 142 Save- Save a program module 1. 143 SCWrite- Send variable data to a client application 381 1. 144 SearchC-Searches circularly using the robot ∴......384 1. 145 SearchExt-Search with one or several mechanical units without tcp 391 1. 146 Search- Searches linearly using the robot 397 1. 1 47 SenDevice-connect to a sensor device 1. 148 Set-Sets a digital output signal 407 1.149 SetAllData Val- Set a value to all data objects in a defined set ......,...,409 1. 150 SetAo-Changes the value of an analog output signal 411 1. 151 Set Search- Define the symbol set in a search sequence................ 413 1. 152 Set Data Val- Set the value of a data object 417 1. 153 SetDO-Changes the value of a digital output signal 420 1. 154 SetGo-Changes the value of a group of digital output signals 422 1. 155 SetSys Data- Set system data 1. 156 Sing Area-Defines interpolation around singular points ..427 1. 157 SkipWarn-Skip the latest warning ..,429 1. 158 Socket 1. 159 SocketBind- Bind a socket to my IP-address and port 43 1. 160 Socketclose -Close a s 435 1.161 SocketConnect -Connect to a remote compute ....,,,,,437 1.162 Socketcreate-Create 440 3HAC 16581-1 Revision G Table of contents 1. 163 SocketListen -Listen for incoming connections 442 1. 1 64 Socket Receive- Receive data from remote computer 444 1. 165 Socket Send- Send data to remote computer 449 1 66 SoftAct- Activating the soft servo 453 1. 167 SoftDeact-Deactivating the soft servo 455 1. 168 Speed Refresh-Update speed override for ongoing movement 456 1. 169 Spy Start- Start recording of execution time data 459 1. 171 StartLoad-Load a program module during execution 1. 170 Spy Stop- Stop recording of time execution data .461 1. 172 StartMove-Restarts robot movement 466 73 Start MoveRetry-Restarts robot movement and execution 46 1. 1 74 STCalib-Calibrate a Servo Tool 472 1.175 STClose - Close a Servo tool 476 1. 176 Step BwdPath-Move backwards one step on path 479 1. 177 STIndGun-Sets the gun in independent mode 1. 178 STInd GunReset-Resets the gun from independent mode 1.179 SToolRotCalib- Calibration of TcP and rotation for stationary tool 1.180 SToolTCPCalib -Calibration of TcP for stationary tool 487 1.181- Stops program execution 490 1.182 STOpen-Open a Servo Too 1.183 StopMove- Stops robot movement 495 1. 184 StopMoveReset-Reset the system stop move state 4 185 StorePath-Stores the path when an interrupt occurs ,,,,,,,50 1. 186 STTune Tuning Servo Tool 1. 187 STTuneReset-Resetting Servo tool tuning 507 1. 188 SyncMoveOff-End coordinated synchronized movements 508 1. 189 SyncMoveon-Start coordinated synchronized movements 1.190 SyncMoveResume- Set synchronized coordinated movements........ 520 1. 191 SyncMoveSuspend- Set independent-semicoordinated movements 1.192 SyncMoveUndo- Set independent movements 524 1.193 System StopAction-Stop the robot system 526 194 TEST-Depending on the value of an expression 528 1. 195 TestSign - Define test signa 1.196 TestSignReset-Reset all test signal definitions 532 1.197 TextTabInstall -Installing a text table 1. 198 TPErase-Erases text printed on the FlexPendant 1. 199 TPReadFK- Reads function keys .536 1.200 TPReadNum- Reads a number from the flex pendant .540 201 TPShow-Switch window on the flex Pendant 543 1. 202 TPWrite-Writes on the flex Pendant 1.203 TriggC-Circular robot movement with evellso 546 1.204 Trigg CheckIo-Defines IO check at a fixed position 553 1. 205 TriggEquip -Define a fixed position and time l/O event on the path 58 1. 206 Trigglnt-Defines a position related 563 1. 207 Triggl0-Define a fixed position or time 1/O event near a stop point 567 1. 20& Trigg J- Axis-wise robot m ts with 1.209 Trigg Linear robot movements with events 578 1. 210 TriggLIOs-Linear robot movements with I/O events 1.211 TriggRampAO-Define a fixed position ramp Ao event on the path 1. 212 Trigg - Defines TCP speed proportional analog output with fixed position-time scale event. 597 1. 213 Trigg StopProc-Generate restart data for trigg signals at stop ..,.,,.,,604 1. 214 TryInt- Test if data object is a valid integer ......,610 1. 215 TRYNEXT-Jumps over an instruction which has caused an error 612 216 TuneReset-Resetting servo tuning 1. 217 Tune Servo- Tuning servos 614 3HAC 16581-1 Revision G Table of contents 1. 218 UIMsg Box -User Message Dialog Box type basic 620 1.219 UIShow- User Interface show 627 1. 220 UnLoad- UnLoad a program module during execution 63 1. 22 1 Unpack Raw Bytes -Unpack data from rawbytes data 634 1. 222 Velset-Changes the programmed velocity 638 1. 223 WaitAl-Waits until an analog input signal value is set 1. 224 WaitAo-Waits until an analog output signal value is set 642 1. 225 WaitDI-Waits until a digital input signal is set .,644 1. 226 WaitDo-Waits until a digital output signal is set 6416 1. 227 WaitGl-Waits until a group of digital input signals are set 648 1. 228 WaitGO-Waits until a group of digital output signals are set 1. 229 WaitLoad-Connect the loaded module to the task 654 1. 230 Waitrob-Wait until stop point or zero speed .,,,,..,658 1. 23 1 WaitSyncTask-Wait at synchronization point for other program tasks 1.232 WaitTestAndSet-Wait until variable unset-then set 664 1. 233 Wait Time-Waits a given amount of time ......,,,.,,,,,,..,667 1.234 WaitUntil -waits until a condition is met 1. 235 Wait wObj-Wait for work object on conveyor ..672 1. 236 Warm Start- Restart the controller 675 1. 237 WHILE-Repeats as long as 1. 238 WorldAccLim-Control acceleration in world coordinate system ...678 1.239 Write- Writes to a character-based file or serial channel 680 1. 240 WriteAny Bin-Writes data to a binary serial channel or file 683 1. 241 Write Bin- Writes to a binary serial channel 68 1.242 WriteBlock - write block of data to device 688 1. 243 WriteCfelata-Writes attribute of a system parameter 1. 244 WriteRaw- Write rawbytes data 694 1. 245 WriteStrBin-Writes a string to a binary serial channel ..696 1. 246 Write Var- write variable 698 1. 247 WZBox Def- Define a box-shaped world zone · ··· 1. 248 WZCy - Define a cylinder-shaped world zone 702 1. 249 WZDisable-Deactivate temporary world zone supervision 704 1.250 WZDOSet- Activate world zone to set digital output )6 1. 251 WZEnable-Activate temporary world zone supervision 710 1. 252 WZFree- Erase temporary world zone supervision 712 1. 253 WZHomeJoint Def - Define a world zone for home joints 714 1. 254 WZLimJoint -Define a world zone for limitation in joints 717 1.255 WZLim Sup- Activate world zone limit supervision ..721 1. 256 WZSphDef-Define a sphere-shaped world zone 724 E 2 Functions 727 2.1 Abs -Gets the al 2 ACos Calculates the arc co 729 2.3 AOutput- Reads the value of an analog output signal .730 argument 2.5 A Sin- Calculates the arc sine value ·····.·· 2.6 ATan- Calculates the arc tangent value 736 2.7 ATan2-Calculates the arc tangent 2 value 737 2. 8 BitAnd -Logical bitwise AND-operation on byte data 738 2.9 Bit Check-Check if a specified bit in a byte data is set 2.10 BitLSh-Logical bitwise LEFT SHIFT-operation on byte 742 2. 11 BitNeg-Logical bitwise NEGATlON-operation on byte data 744 2. 12 BitOr-Logical bitwise OR-operation on byte data 2. 13 BitRSh-Logical bitwise RIGHT SHIFT-operation on byte 48 74 2. 14 Bit XOr-Logical bitwise XOR -operation on byte data 750 3HAC 16581-1 Revision G Table of contents 2. 15 ByteToStr-Converts a byte 752 2.16 CalcJointT- Calculates joint angles from robtarget 754 2. 17 CalcRobT-Calculates robtarget from jointtarget 757 2 18 CalcRotAx FrameZ-Calculate a rotational axis frame 759 2.19 CalcRotAxislrame-Calculate a rotational axis frame 763 2.20 CDate -Reads the current date as a string 2.21 CJointT-Reads the current joint angles 768 2.22 ClkRead- Reads a clock used for timing 770 2.23 CorrRead- Reads the current total offsets 2.24 Cos -Calculates the cosine value 2.25 CPos-Reads the current position (pos )data 77 2.26 CRobT-Reads the current position(robtarget)data 775 2.27 CSpeedoverride-Reads the current override speed 778 2.28 CTime -Reads the current time as a string ∴.,.,..,,779 2.29 CTool- Reads the current tool data .780 2.30 C]- Reads the current work object data ,......,,781 2.3 1 DecToHex-Convert from decimal to hexadecimal 2.32 DefAccframe- Define an accurate frame 2.33 DetDframe- Define a displacement frame 786 2.34 Defframe- Define a frame 2.35 Dim-Obtains the size of an array 792 2.36 Distance- Distance between two points 2.37 DotProd -Dot product of two pos vectors 796 2.38 DOutput-Reads the value of a digital output signal 798 2.39 FulerZYx-Gets euler angles from orient 800 2.40 Event lype-Get current event type inside any event routine 802 2.41 Exec- Get type of execution handler 804 2.42 ExecLevel-Get execution level 805 2.43 Exp- Calculates the exponential value .806 2.44 Filesize- Retrieve the size of a file 8( 2 45 FileTime-Retrieve time information about a file .810 2.46 FSSize- Retrieve the size of a file system 813 2.47 GetMecUnitName- Get the name of the mechanical unit 815 2.48 GetNextMechUnit-Get name and data for mechanical units 816 2.49 GetNextSym-Get next matching symbol 819 2.50 Get SysInfo-Get information about the system 2. 51 GetTaskName- Gets the name and number of current task 824 2.52 Get Time-Reads the current time as a numeric value .826 2.53 GOutput-Reads the value of a group of digital output signals 828 2.54 HlexToDec-Convert from hexadecimal to decimal 830 2.55 IndInpos-Independent axis in position status 83 2.56 IndSpeed -Independent speed status 833 2.57 IOUnit State-Get current state of I/o unit .835 2.58 Is -Check the type of a file ∴....,,838 2.59 IsMechUnitactive-Is mechanical unit active .842 2.60 IsPers-Is persistent 843 2.61 IsStop- Is stop move flags active 844 2.62 IsStop State Event- Test whether moved program pointer 846 2.63 IsSyncMoveOn-Test if in synchronized movement mode 848 2.64 IsSysld- Test system identity 850 2.65 IsVar- Is variable 85 2.66 Max Rob Speed- Maximum robot speed ...852 2.67- Mirroring of a position 853 2.68 ModExist-Check if program module exist 855 2.69 ModTime- Get file modify time for the loaded module 856 3HAC 16581-1 Revision G

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