ABB机器人常用指令详解-中文(三)

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:=]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)];RAPIDRAPIDRAPID236MoveL1010speeddataZone1047zonedatazone1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/OI/ORAPIDRAPIDI/O1.98.MoveLSyncRAPIDMoveLSyncTCPRAPIDTCPT_ROB1by1MoveLSyncp1,v1000,z30,tool2,proc1;tool2TCPp1v1000zonez30p1proc1MoveLSyncToPoint[\ID]Speed[\T]ZoneTool[\WObj]ProcNameToPointrobtarget*[\ID]IDidentnoIDIDroutineSpeedspeeddataTCP[\T]numZonezonedatazoneTooltooldataTCP[\Wobj]bywobjdataTCPProcNamestringRAPIDMoveJTCPMoveJSyncRAPIDMoveLRAPIDRAPIDRAPIDRAPIDMoveLSyncTRAPRAPIDMoveLSyncby[ToPoint:=]robtarget(IN),[ID:=identno(IN)],[Speed:=]speeddata(IN)[T:=num(IN)],[Zone:=]zonedata(IN)[Tool:=]tooldata(PERS)[WObj:=wobjdata(PERS)],[ProcName:=]string(IN)];RAPIDRAPIDRAPID236MoveL1010speeddataZone1047zonedatazone1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/OWorldZone10lTCPll1.227WZBoxDefWorldZoneWZBoxDefWorldZoneWorldZoneWorldby1VARshapedatavolume;CONSTposcorner1:=[200,100,100];CONSTposcorner2:=[600,400,400];WZBoxDef\Inside,volume,corner1,corner2;Worldcorner1corner2WZBoxDef[\Inside]|[\Outside]ShapeLowPointHighPoint[\Inside]:switch[\OutSide]:switch\Inside\OutsideShapeshapedataprivateLowPointposx,y,zHighPoint:posx,y,zshapedataShapeWZLimSupWZDOSetbyLowPointHighPointxyzLowPointHighPointwobj0robtargettransp1.transWZBoxDef[[Inside]|[Outside],[LowPoint:=]posIN,[Shape:=]shapedataVAR,[HighPoint:=]posIN;WorldZonesRAPIDRAPIDI/OWorldZoneWorldZone1004shapedataWorldZoneWorldZone636WZSphDefWorldZoneWorldZone613WZCylDefWorldZonehomeWorldZone625WZHomeJointDefhomeWorldZoneWorldZone629WZLimJointDefWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZone1.228WZCylDefWorldZoneWZCylDefWorldZoneWorldZoneWorldz1VARshapedatavolume;CONSTposC2:=[300,200,200];CONSTnumR2:=100;CONSTnumH2:=200;byWZCylDef\Inside,volume,C2,R2,H2;C2R2H2WZCylDef[\Inside]|[\Outside]ShapeCenterPointRadiusHeight[\Inside]:switch[\Outside]:switch\Inside\OutsideShape:shapedataprivateCentrePoint:posxyzRadiusnumHeightnum+zCentrePointHeight-zCentrePointshapedataShapeWZLimSupWZDOSetCentrePointwobj0robtargettransp1.transbyWZCylDef[Inside]|[Outside],[Shape:=]shapedataVAR,[CentrePoint:=]posIN,[Radius:=]numIN,[Height:=]numIN;WorldZonesRAPIDRAPIDI/OWorldZoneWorldZone1004shapedataWorldZoneWorldZone636WZSphDefWorldZoneWorldZone611WZBoxDefWorldZonehomeWorldZone625WZHomeJointDefhomeWorldZoneWorldZone629WZLimJointDefWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZone1.229WZDisableWorldZoneWZDisableWorldZoneWorldZone1VARwztemporarywzone;PROCWZLimSup\Temp,wzone,volume;MoveLp_pick,v500,z40,tool1;WZDisablewzone;MoveLp_place,v200,z30,tool1;ENDPROCp_pickTCPwzonebyp_placeWZDisableWorldZoneWorldZonewztemporaryWztemporaryWorldZoneWorldZoneTCPWZEnableWorldZoneWorldZoneWZDisable[WorldZone:=]wztemporatyINOUT;WorldZonesRAPIDRAPIDI/OWorldZoneWorldZone613WZCylDefWorldZoneWorldZone1045wztemporaryWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZoneWorldZone621WZEnableWorldZone623WZFreeWorldZone1.230WZDOSetWorldZoneWZDOSetWorldZoneWorldZoneTCP/WorldZoneWorldZone1VARwztemporaryservice;byPROCzone_output()VARshapedatavolume;CONSTposp_service:=[500,500,700];WZSphDef\Inside,volume,p_service,50;WZDOSet\Temp,service\Inside,volume,do_service,1;ENDPROCWorldZoneserviceTCPdo_serviceWZDOSet[\Temp]|[\Stat]WorldZone[\Inside]|[\Before]ShapeSignalSetValue[\Temp]switchWorldZoneWorldZone[\Stat]switchWorldZoneWorldZone[\Temp][\Stat]WorldZonewztemporarywzstationaryWorldZone\Tempwztemporary\Statwzstationary[\Inside]switchTCP[\Before]switchTCPby[\Inside][\Before]ShapeshapedataWorldZoneSignalsignaldoWorldZoneRAPIDFPSetValue:dionumTCP10TCPWorldZoneTCP/TCP/\Inside\BeforeWZDOSetWZHomeJointDefWZLimJointDef1VARwztemporaryhome;VARwztemporaryservice;PERSwztemporaryequip1:=[0];PROCmain()!WorldZoneZone_output;!equip1WZEnableequip1;by!equip1WZDisableequip1;!equip1WZFreeequip1;ENDPROCPROCzone_output()VARshapedatavolume;CONSTposp_home:=[800,0,800];CONSTposp_service:=[800,800,800];CONSTposp_equip1:=[