ABB机器人-RAPID程序指令与功能简述

5ABB1105.6RAPID5.6.11.ProcCallCallByVarRETURN2.CompactIFIFFORWHILETESTGOTOLable3.StopEXITBreakSystemStopActionExitCyclePP5.6.21.:=2.WaitTimeWaitUntil5ABB210WaitDIWaitDO3.Comment4.LoadUnLoadStartLoadWaitLoadStartLoadCancelLoadCheckProgRefSaveEraseModule5.TryIntOpModeRunModeNonMotionModeDimPresentIsPersIsVar6.StrToByteByteToStr5.6.31.MaxRobSpeedTCP5ABB310VelSetSpeedRefreshAccSetWorldAccLimPathAccLimTCP2.ConfJConfL3.SingArea4.PDispOnPDispSetPDispOffEOffsOnEOffsSetEOffsOffDefDFrameDefFrameORobTDefAccFrame5.SoftActSoftDeact6.TuneServoTuneResetPathResolCirPathMode5ABB4107.WZBoxDefWZCylDefWZSphDefWZHomeJointDefWZLimJointDefWZLimSupWZDOSetWZEnableWZFreeWorldzones5.6.41.MoveCTCPMoveJMoveLTCPMoveAbsJMoveExtJMoveCDOTCPMoveJDOMoveLDOTCPMoveCSyncTCPMoveJSyncMoveLSyncTCP2.SearchCTCPSearchLTCPSearchExtJ3.TriggIOTriggIntTriggCheckIOI/OTriggEquip5ABB510TriggRampAOTriggCTriggJTriggLTriggLIOsStepBwdPathRESTARTTriggStopProcSTOPQSTOPTriggSpeedTCP4.StopMoveStartMoveStartMoveRetryStopMoveResetStorePath*RestoPath*ClearPathPathLevelSyncMoveSuspend*StorePathSyncMoveResume*StorePath*Pathrecovery5.DeactUnitActUnitMechUnitLoadGetNextMechUnitIsMechUnitActive/6.IndAMoveIndCMoveIndDMoveIndRMoveIndReset5ABB610IndependentmovementIndInposIndSpeedIndependentmovement7.CorrConCorrWriteCorrDisconCorrClearPathoffsetorRobotWare-ArcsensorCorrReadPathoffsetorRobotWare-Arcsensor8.PathRecStartPathRecStopPathRecMoveBwdPathRecMoveFwdPathRecMoveBwdPathrecoveryPathRecValidBwdPathRecValidFwdPathrecovery9.WaitWObjDropWObjConveyortracking10.WaitSensorSyncToSensor/DropSensor5ABB710Sensorsynchronization11.MotionSup*/LoadIdManLoadId*Collisiondetection12.OffsRelToolCalcRobTjointtargetrobtargetCPosXYZCRobTrobtargetCJointTReadMotorCToolCWObjMirPosCalcJointTrobtargetjointtargetDistancePFRestartCSpeedOverride5.6.5/1./InvertDOPulseDOReset0Set1SetAOSetDOSetGO2./AOutputDOutput5ABB810GOutputTestDI1ValidIOI/OWaitDIWaitDOWaitGIWaitGOWaitAIWaitAO3.I/OIODisableI/OIOEnableI/O5.6.61.TPEraseTPWriteErrWriteTPReadFKTPReadNumTPShowRAPID2.OpenWriteCloseWriteBinWriteAnyBinWriteStrBinRewindClearIOBuffReadAnyBin5ABB910ReadNumReadStrReadBinReadStrBin3.SocketsSocketCreatesocketSocketConnectSocketSendSocketReceiveSocketClosesocketSocketGetStatussocket5.6.71.CONNECTISignalDIISignalDOISignalGIISignalGOISignalAIISignalAOITimerTriggIntIPersIErrorIDelete2.ISleepIWatchIDisableIEnable5ABB10105.6.81.ClkResetClkStartClkStopClkReadCDateCTimeGetTime5.6.91.ClearAddIncr1Decr12.AbsRoundTruncSqrtExpe^xPowACosASinATan[-90,90]ATan2[-180,180]CosSinTanEulerZYXOrientZYX