[RobotStudio study notes] (three) program creation

1. Hierarchical structure
Open the main menu-program, you can see that the top line is the program name, T_ROB1/MainModule/main.

Among them, T_ROB1 is a task, and there are several tasks to choose from when there are several mechanical units. For example, if two robotic arms work together, ROB2 will appear.

The second layer is modules, which are divided into system modules and program modules. Module is to divide each function that the robot needs to realize into different modules. Can be understood as a folder.

The third layer is routine programs, which are some programs that the robot system actually executes.

2. New program
New module: Click File-New Module.


Enter the newly created module, you can see that the current module is just equivalent to a folder, and there is no place to create a program. So we need to create a routine first. Click on the routine at the top right, File-New Routine.


Click to display the routine program, you can enter the program editing page.
Record the current position and use the add instruction-MoveJ instruction.
Move the robot to another location and add the MoveJ instruction again. Click Debug-pp to move to Main, click Single Step on the right, you can see that the robot has moved in one step.

At the same time, the program can switch between single-week execution and continuous execution.