ABB机器人常用指令详解-中文(二)

byRAPIDRAPIDI/OI/ORAPIDRAPIDI/O1.92MoveExtJTCPMoveExtJTCPllTCP2251MoveExtJjpos10,vrot10,z50;jpos1010/zonez502MoveExtJ\Conc,jpos20,vrot10\T:=5,fine\InPos:=inpos20;5jpos20jpos20inpos20MoveExtJ[\Conc]ToJointPos[\ID]Speed[\T]Zone[\Inpos][\Conc]switchflybypointsCPU\Conc5StorePathRestorePath\ConcToPointzonebyToJointPosjointtarget*[\ID]IDidentnoIDIDroutineSpeedspeeddata[\T]numZonezonedatazone[\Inpos]stoppointdataTCPzonezoneCONSTjointtargetj1:=[[9E9,9E9.9E9.9E9.9E9.9E9],[0,9E9,9E9,9E9,9E9,9E9]];byCONSTjointtargetj2:=[[9E9,9E9.9E9.9E9.9E9.9E9],[30,9E9,9E9,9E9,9E9,9E9]];CONSTjointtargetj3:=[[9E9,9E9.9E9.9E9.9E9.9E9],[60,9E9,9E9,9E9,9E9,9E9]];CONSTjointtargetj4:=[[9E9,9E9.9E9.9E9.9E9.9E9],[90,9E9,9E9,9E9,9E9,9E9]];CONSTspeeddatarot_ax_speed:=[0,0,0,45];MoveeExtJj1,rot_ax_speed,fine;MoveeExtJj2,rot_ax_speed,z20;MoveeExtJj3,rot_ax_speed,z20;MoveeExtJj4,rot_ax_speed,fine0,30,609045/MoveExtJ[Conc,][ToJointPos:=]jointtargetIN[ID:=identnoIN],[Speed:=]speeddataIN[T:=numIN],[Zone:=]zonedataIN[Inpos:=stoppointdataIN];RAPIDRAPIDRAPIDjointtarget959jointtarget1010speeddataZone1047zonedatazoneRAPIDRAPIDI/ORAPIDRAPIDI/O1.93MoveJMoveJbyT_ROB12281MoveJp1,vmax,z30,tool2;tool2TCPp1vmaxzonez302MoveJ*,vmax\T:=5,fine,grip3;grip3TCP*5MoveJ[\Conc]ToPoint[\ID]Speed[\V]|[\T]Zone[\Z][\Inpos]Tool[\WObj][\Conc]switchflybypointsCPU\Conc5StorePathRestorePath\ConcToPointzoneToPointrobtarget*[\ID]IDidentnoIDIDroutinebySpeedspeeddataTCP[\V]numTCPmm/s[\T]numZonezonedatazone[\Z]ZonenumTCPmmzonezone[\Inpos]stoppointdataTCPzonezoneTooltooldataTCP[\Wobj]wobjdatabyTCPTCPTCPTCPTCPzone1MoveJ*,v2000\V:=2200,z40\Z:=45,grip3;grip3TCPv2000z40TCPzone2200mm/s45mm2MoveJp5,v2000,fine\Inpos:=inpos50,grip3;grip3TCPp5fine50%50%2stoppointdatainpos503MoveJ\Conc,*,v2000,z40,grip3;grip3TCP4MoveJstart,v2000,z40,grip3\WObj:=fixture;grip3TCPstartfixtureMoveJ[Conc,][ToPoint:=]robtarget(IN),_[ID:=identno(IN)],_[Speed:=]speeddata(IN)_[V:=num(IN)]_|[T:=num(IN)],_[Zone:=]zonedata(IN)_[Z:=num(IN)]_[Inpos:=stoppointdata(IN)],_by[Tool:=]tooldata(PERS)_[WObj:=wobjdata(PERS)];RAPIDRAPIDRAPID1010speeddataZone1047zonedatazone1014stoppointdata1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/ORAPIDRAPIDI/O1.94MoveJDOMoveJDO/T_ROB11MoveJDOp1,vmax,z30,tool2,do1,1;tool2TCPp1vmaxzonez30p1do1MoveJDOToPoint[\ID]Speed[\T]ZoneTool[\WObj]SignalValueToPointrobtarget*[\ID]byIDidentnoIDIDroutineSpeedspeeddataTCP[\T]numZonezonedatazoneTooltooldataTCP[\Wobj]wobjdataTCPSignalsignaldoValuedionum01MoveJby/MoveJ/MoveJSetDOMoveJDO/I/O/MoveJDO_[ToPoint:=]robtarget(IN),_[ID:=identno(IN)],_[Speed:=]speeddata(IN)_[T:=num(IN)],_[Zone:=]zonedata(IN),_[Tool:=]tooldata(PERS)_[WObj:=wobjdata(PERS)],_[Signal:=]signaldo(VAR)],_[Value:=]dionum(IN)];RAPIDRAPIDRAPID226MoveJ1010speeddataZone1047zonedatazoneby1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/OI/ORAPIDRAPIDI/O1.95.MoveJSyncRAPIDMoveJSyncRAPIDT_ROB11MoveJSyncp1,vmax,z30,tool2,proc1;tool2TCPp1vmaxzonez30p1proc1MoveJSyncToPoint[\ID]Speed[\T]ZoneTool[\WObj]ProcNameToPointrobtarget*[\ID]IDidentnoIDIDroutineSpeedbyspeeddataTCP[\T]numZonezonedatazoneTooltooldataTCP[\Wobj]wobjdataTCPProcNamestringRAPIDMoveJTCPMoveJSyncRAPIDbyMoveJRAPIDRAPIDRAPIDRAPIDMoveJSyncTRAPRAPIDMoveJSync[ToPoint:=]robtarget(IN),[ID:=identno(IN)],[Speed:=]speeddata(IN)[T:=num(IN)],[Zone:=]zonedata(IN)[Z:=num(IN)],[Tool:=]tooldata(PERS)[WObj:=wobjdata(PERS)],[ProcName:=]string(IN)];byRAPIDRAPIDRAPID226MoveJ1010speeddataZone1047zonedatazone1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/O1.96.MoveLMoveLTCPTCPT_ROB12381MoveLp1,v1000,z30,tool2;Tool2TCPp1v1000zonez302MoveL*,v1000\T:=5,fine,grip3;Grip3TCP*5MoveL[\Conc]ToPoint[\ID]Speed[\V]|[\T]Zone[\Z][\Inpos]Tool[\WObj][\Corr][\Conc]switchflybypointsCPU\Conc5StorePathRestorePathby\ConcToPointzoneToPointrobtarget*[\ID]IDidentnoIDIDroutineSpeedspeeddataTCP[\V]numTCPmm/s[\T]numZonezonedatazone[\Z]ZonenumTCPmmzonezoneby[\Inpos]stoppointdataTCPzonezoneTooltooldataTCP[\Wobj]wobjdataTCP[\Corr]switchCorrWritelTCPllTCPzone1MoveL*,v2000\V:=2200,z40\Z:=45,grip3;Grip3TCPv2000z40TCPzone2200mm/s45mm2MoveLp5,v2000,fine\Inpos:=inpos50,grip3;byGrip3TCPp5fine50%50%stoppointdatainpos503MoveL\Conc,*,v2000,z40,grip3;Grip3TCP4MoveLstart,v2000,z40,grip3\WObj:=fixture;Grip3TCPstartfixtureMoveL_[Conc,]_[ToPoint:=]robtarget(IN),[ID:=identno(IN)],_[Speed:=]speeddata(IN)_[V:=num(IN)]_|[T:=num(IN)],_[Zone:=]zonedata(IN)_[Z:=num(IN)]_[Inpos:=stoppointdata(IN)],_[Tool:=]tooldata(PERS)_[WObj:=wobjdata(PERS)]_[Corr];RAPIDRAPIDRAPID1010speeddataZone1047zonedatazone1014stoppointdata1031tooldata1039wobjdata67CorrWriteRAPIDRAPIDI/ORAPIDRAPIDI/ObyRAPIDRAPIDI/O1.97.MoveLDOMoveLDOTCP/TCPT_ROB11MoveLDOp1,v1000,z30,tool2,do1,1;tool2TCPp1v1000zonez30p1do1MoveLDOToPoint[\ID]Speed[\T]ZoneTool[\WObj]SignalValueToPointrobtarget*[\ID]IDidentnoIDIDroutineSpeedspeeddataTCP[\T]numbyZonezonedatazoneTooltooldataTCP[\Wobj]wobjdataTCPSignalsignaldoValuedionum01MoveL/MoveLDO/MoveJSetDOMoveLDOby/I/O/MoveLDO_[ToPoint:=]