ABB机器人程序指令汇总
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一指令格式
二指令及其参数
Data := Value
AccSet Acc Ramp
ActUnit MecUnit
Add Name A ddValue
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 Trap routine
CorrCon Descr
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 S tart value TO End value [STEP Step value] DO ... ENDFOR
GOTO L abel
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 ]
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 Interrupt ITimer [ \Single ] Time Interrupt
IVarValue VarNo Value, Interrupt
IWatch Interrupt
Labe l:
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
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 Value SetDO [ \SDelay ] Signal Value
SetGO Signal Value
SingArea [ \Wrist] | [ \Arm] | [ \Off]