1. The composition of the program memory (Programmemory):
Application (Program)
System modules (Systemmodules)
Only one main program is allowed in the robot program memory; all routines and data are shared by the system no matter which module they exist in; all routines and data must be unique in name except for special definitions.
1. The composition of the application program (Program):
·Main module (Mainmodule) Main program (Mainroutine) Program data (Programdata) Routines (Routines)
·Program modules (Programmodules) Program data (Programdata) Routines (Routines)
2. The composition of system modules:
·System data
· Routines (Routines)
All ABB robots come with two system modules, USER module and BASE module. According to different robot applications, some robots will be equipped with corresponding application system modules. It is recommended not to modify any automatically generated system modules.
2. Programming window:
1. Menu key File:
1. Open: Open an existing file. (Program.prg or module.mod)
2. New: Create a new program.
3. Saveprogram: save the changed existing program.
4. Saveprogramas: save a new program.
5. Print: Print program, which is no longer used.
6. Preferences: Define customized instruction set.
7. Checkprogram: Check the program, the cursor will indicate an error.
8. Close: Close the program in the program memory.
9. Savemodule: Save the changed existing module. (Only exists in the Module window)
10. Savemoduleas: Save a new module. (Only exists in the Module window)
2. Menu key Edit:
1. Cut: Cut, command or data may be lost.
2. Copy: Copy.
3. Paste: Paste, paste the cut or copied instruction or data to the corresponding position.
4. GotoTop: Move the cursor to the top.
5. GotoBottom: Move the cursor to the bottom.
6. Mark: Define a block and black out the part.
7. ChangeSelected: To modify the data in the instruction, you can directly move the cursor to the corresponding position and press the Enter key.
8. Showvalue: Enter data, you can directly move the cursor to the corresponding data and press Enter.
9. Modpos: Modify the robot position, there is on the function key.
10. Search: Find instructions, useful when the program is complicated.
11. Function keys: Copy, Paste, Modpos can be found in the menu key Edit.
3. Instructions:
1. Basic motion instructions:
MoveL: Linear motion (Linear)
MoveJ: Joint axis movement (Joint)
MoveC: Circular movement (Circular)
p1: target position. (robtarget)
v100: running speed mm/s. (speeddata)
z10: The size of the turning area in mm. (zonedata)
tool1: Tool center point TCP. (tooldata)
(1) Speed selection: mm/s
·Move the cursor to the speed data and press the Enter key to enter the selection window and select the desired speed.
·The robot running speed belongs to the data type speeddata.
·Common operating speed has been defined in the Base module.
·Special speed can be self-defined.
·The max speed is v5000, the maximum speed defined in the Base module is v7000, the maximum speed may not be reached by the robot.
(2) Selection of turning area size: mm
·Move the cursor to the turning area size data, press Enter to enter the selection window and select the desired turning area size.
·The size of the robot turning area belongs to the data type zonedata.
·The size of the common turning area has been defined in the Base module.
·The size of special turning area can be defined by yourself.
·Fine means that the robot TCP reaches the target point and the speed at the target point drops to zero. During continuous operation, the robot moves to a halt.
·Zone means that the robot TCP does not reach the target point, and the robot moves smoothly and smoothly when it runs continuously.
·The minimum size of the turning area defined in the Base module is z1 and the maximum is z200.
·Try to use a larger turning area size.
(3) Parameters:
When the cursor is pointing at the current command, press the function key OptArg to select the parameter variable.
· \Conc collaborative movement. The robot has not moved to the target point and has already started to execute the next instruction.
· When ToPoint adopts a new instruction, the target point is automatically generated*. · \V defines the speed in mm/s.
· \T defines the time s. Speed is determined by time.
· \Z defines the size of the turning area in mm.
· \Wobj adopts the workpiece coordinate system.
(4) Function Offs():
MoveLp1,v100,…
MoveLp2v100,…
MoveLp3,v100,…
MoveLp4,v100,…
MoveLp1,v100,…
·In order to accurately determine the points p1, p2, p3, and p4, the function Offs() can be used.
·Offs(p1, x, y, z) represents a point where the X-axis deviation from the point p1 is x, the Y-axis deviation is y, and the Z-axis deviation is z.
·Move the cursor to the target point, press the Enter key to enter the target point selection window, select Func on the function key, and use the switch to select the function Offs().
MoveLp1,v100,…
MoveLOffs (p1,100,0,0), v100,
MoveLOffs (p1,100, -50.0), v100,…
MoveLOffs (p1.0, -50.0), v100,
MoveLp1,v100,…
2. Input and output group commands:
·Do refers to the robot output signal.
·Di means input robot signal.
·The input and output signals must be defined in the system parameters.
· There are two states of input and output signals, 1 (High) means on, 0 (Low) means off.
(1) Output signal instruction:
A. Output output signal instruction: set dol do1: output signal name. (signaldo) Assign an output signal to 1.
B. Reset output signal instruction: Reset do1 do1: output signal name. (signaldo) Assign a value of 0 to an output signal.
C. Output pulse signal command: PulseDO\PLength:=0.2, do1 do1: output signal name. (signaldo) output a pulse signal with a pulse length of 0.2s.
Parameters:
· \PLength pulse length, 0.1s-32s.
(2) Input signal instruction:
WaitDI di1, 1
di1: Input signal name. (signaldi)
3. Parameters:
· \MaxTime The maximum time s waiting for the input signal.
· \TimeFlag logical quantity, TRUE or FALSE.
If only the parameter [\MaxTime] is selected, the robot will stop running and display the corresponding error message after waiting for the maximum time. If both the parameter variable [\MaxTime] and the parameter variable [\TimeFlag] are selected at the same time, the robot will automatically execute the next command after waiting for the maximum time, regardless of the waiting state. If the corresponding signal is obtained within the longest waiting time, the logical quantity is set to FALSE, if the longest waiting time is exceeded, the logical quantity is set to TRUE.
4. Communication instructions (man-machine dialogue):
(1) Clear screen command: TPErase
(2) Screen writing command: PWrite String tring: the displayed character string. (string) Display character string data on the display screen of the teach pendant. You can also directly define a character string in the form of "...". Each screen writing command can display up to 80 characters.
(3) Function key read instructions: TPReadFK, Answer, Text, FK1, FK2. FK3, FK4, FK5 Answer: Assign numeric variables. (num) Text: The string displayed on the screen. (string) FK1: The character string displayed by function key 1. (string) FK2: The character string displayed by function key 2. (string) FK3: The character string displayed by function key 3. (string) FK4: The character string displayed by function key 4. (string) FK5: The character string displayed by function key 5. (string)
Display the character string data on the display screen of the teach pendant, display the corresponding character string on the function key, select and press the corresponding function key, the robot automatically assigns the corresponding value 1-5 to the digital variable.
5. Program operation stop instruction:
(1) Stop command Stop: the robot stops running, and the soft stop command (Soft Stop) directly starts the robot in the next sentence.
(2) Stop instruction Exit: The robot stops running, resets the entire running program, and moves the program running pointer to the first line of the main program. The robot program must be run from the beginning.
(3) Stop command Break: the robot will stop running immediately, if there is an impact, start the robot directly in the next command.
6. Timing instruction:
(1) Clock reset command: ClKReset Clock Clock: Robot clock name. (clock)
(2) Clock start command: ClKStart Clock Clock: the name of the robot clock. (clock)
(3) Clock stop command: ClKStop Clock Clock: Robot clock name. (clock)
7. Speed control commands: VelSet, Override, Max
Override: Robot running speed %. (num)
Max: The maximum speed of the robot mm/s. (num)
Each robot motion command has a running speed. After the speed control command is executed, the actual running speed of the robot is the running speed specified by the motion command multiplied by the robot running speed (Override), and does not exceed the maximum robot running speed (Max).
8. Waiting for instructions:
WaitTime ， Time
Time: The robot waiting time s. (num)
Waiting for instructions just makes the robot program run for a while.
9. Assignment instruction:
Data:=Value
Data: The assigned data. (All)
Value: The value assigned to the data.
For example:
ABB: = FALSE; (bool)
ABB: = reg1 + reg3; (num)
ABB:=“WELCOME”;(string)
Home:=p1;(robotarget)
tool1.tframe.trans.x:=tool1.tframe.trans.x+20;(tooldata)
10. Load definition instruction:
GripLoad Load
Load: The current load of the robot, the data type is Loaddata.
This article is reproduced https://baijiahao.baidu.com/s?id=1655414380236774371&wfr=spider&for=pc