RAPID程序指令与功能

變量指令
賦值指令 := WaitTime WaitUntil WaitDI WaitDO comment Load UnLoad Start Load Wait Load CancelLoad CheckProgRef Save EraseModule TryInt OpMode RunMode 變量功能
IndReset - Independent reset
IndRMove - Independent relative position movement
InvertDO - Inverts the value of a digital output signal
IOBusStart - Start of I/O bus
CallByVar - Call a procedure by a variable
CancelLoad - Cancel loading of a module
CirPathMode - Tool reorientation during circle path
Clear - Clears the value
DitherAct - Enables dither for soft servo
DropWObj - Drop work object on conveyor
EOffsOn - Activates an offset for external axes
EOfl axes using known values
ClearIOBuff - Clear input buffer of a serial channel
ClearRawBytes - Clear the contents of rawbytes data
ClkReset - Resets a clock used for timing
ClkStart - Starts a clock used for timing
獨立軸控制
路徑修正功能
路徑記錄功能
傳感器同步功能
有效載荷與碰撞檢測
關於位置的功能
輸入/輸出信號的處理
InvertDO PulseDO Reset Set SetAO SetDO SetGO AOutput DOutput GOutput TestDI ValidIO 讀取輸入/輸出信號值 WaitDI WaitDO WaitGI WaitGO WaitAI WaitAO IODisable IOEnable
GetDataVal - Get the value of a data object
GetSysData - Get system data
GetTrapData - Get interrupt data for current TRAP
GOTO - Goes to a new instruction
等待指令
程序注釋
程序模塊加載
變量功能
NonMotionMode Dim Present IsPers IsVar StrToByte ByteToStr
轉換功能
運動設定
MaxRobSpeed VelSet 速度設定 SpeedRefresh AccSet WorldAccLim PathAccLim ConfJ CONfL SingArea PDispOn PDispSet PDispOff EOffsOn EOffsSet EOffsOff DefDFrame DefFrame ORobT DefAccFrame 軟伺服功能 SoftAct SoftDeact TuneServo TuneReset PathResol CirPathMode WZBoxDef WZCylDef WZSphDef WZHomeJointDef WZLimJointDef WZLimSup WZDOSet
對輸入/輸出信號的值進行設定
IO模塊的控制
通信功能
TPErase TPWrite ErrWrite TPReadFK TPReadNum TPSHow Open Write Close WriteBin WriteAnyBin writeStrBin Rewind ClearIOBuff ReadAnyBin ReadNum ReadStr ReadBin ReadStrBin
機器人運動控制
搜索功能
指定位置觸發信號與中斷功能
出錯或中斷是的運動控制
外軸的控制
外軸的控制 IsMechUnitActive IndAMove IndCMove IndDMove IndRMove IndReset IndInPos IndSpeed CorrCon CorrWrite corrDiscon CorrClear CorrRead PathRecStart PathRecStop PathRecMoveBwd PathRecMoveFwd PathRecValidBwd PathRecValidFwd 輸送鏈跟蹤功能 WaitWObj DropWObj WaitSensor SyncToSensor DropSensor MotionSup LoadId ManLoadId Offs RelTool CalcRobT CPos CRobT CjointT ReadMotor CTool CWObj MirPos CalcJointT Distance PERtance CSpeedOverride
IOBusState - Get current state of I/O bus
IODisable - Disable I/O unit
IOEnable - Enable I/O unit
IPers - Interrupt at value change of a persistent variable
CorrDiscon - Disconnects from a correction generator
CorrWrite - Writes to a correction generator
DeactUnit - Deactivates a mechanical unit
Decr - Decrements by 1
軸配置管理 奇異點的管理
位置偏置功能
機器人參數調整功能
空間監控管理
空間監控管理
WZEnable WZFree
運動控制
MoveC MoveJ MoveL MoveAbsJ MoveExtJ MoveCDO MoveJDO MoveLDO MoveCSync MoveJSync MoveLSync SearchC SearchL SearchExtJ TriggIO TriggInt TriggCheckIO TriggEquip TriggRampAO TriggC TriggJ TriggL TriggLIOs StepBwdpath TriggStopProc TriggSpeed SotpMove StartMove StartMoveRetry StartMovReset StorePath RestoPath ClearPath PathLevel SyncMoveSuspend SyncMoveResume IsStopMoveAct DeactUnit ActUnit ActUnitLoad GetNextMechUnit
Instructions
AccSet - Reduces the acceleration
ActUnit - Activates a mechanical unit
Add - Adds a numeric value Usage
AliasIO - Define I/O signal with alias name
示教器上人機界面的功能
通過串口進行讀寫
Sockets通信 socketGetStatus
SocketCreate socketConnect socketSend socketReceive socketClose
中斷程序
CONNECT ISignalDI ISignalDO ISignalGI ISignalGO ISignalAI ISignalAO Itimer TriggInt IPers IError Idelete ISleep IWatch IDisable IEnable
中斷設定
中斷的控制
系統相關的指令
ClkReset ClkStart ClkStop 時間控制 ClkRead CDate CTime GetTime
數學運算
簡單運算 Clear Add Incr Decr Abs Round Trunc Sqrt Exp Pow ACos 算術功能
算術功能
ASin ATan ATan2 Cos Sin Tan EulerZYX OrientZXY
":=" - Assigns a value
BitClear - Clear a specified bit in a byte or dnum data
BitSet - Set a specified bit in a byte or dnum data
BookErrNo - Book a RAPID system error number
CONNECT - Connects an interrupt to a trap routine
CopyFile - Copy a file
CopyRawBytes - Copy the contents of rawbytes data
CorrCon - Connects to a correction generator
Incr - Increments by 1
IndAMove - Independent absolute position movement
IndCMove - Independent continuous movement
IndDMove - Independent delta position movement
ClkStop - Stops a clock used for timing
Close - Closes a file or serial channel
CloseDir - Close a directory
Comment - Comment
Compact IF - If a condition is met, then... (one instruction) ConfJ - Controls the configuration during joint movement ConfL - Monitors the configuration during linear movement
GripLoad - Defines the payload for a robot
IDelete - Cancels an interrupt
IError - Orders an interrupt on errors
IF - If a condition is met, then ...; otherwise …
EraseModule - Erase a module
ErrLog - Write an error message
ErrRaise - Writes a warning and calls an error handler
ErrWrite - Write an error message
FOR - Repeats a given number of times
RAPID程序指令與功能
程序
程序執行的控制
程序的調用 ProcCall CallByVar RETURN Compact IF IF FOR WHILE TEST GOTO Label Stop EXIT Break SystemStopAction ExitCycle
功能
指令
例行程序內的邏輯控制
停止程序執行
IRMQMessage - Orders RMQ interrupts for a data type
ISignalAI - Interrupts from analog input signal