abb机器人searchl报错_ABB机器人指令格式及其参数——ABB机器人
一、机器人指令格式
二、机器人指令及其参数
Data :=Value
AccSetAccRamp
ActUnitMecUnit
AddNameAddValue
Break
CallBy VarNameNumber
ClearName
ClkResetClock
ClkStartClock
ClkStopClock
CloseIODevice
!Comment
ConfJ[\On] | [\Off]
ConfL[\On] | [\Off]
CONNECTInterruptWITHTrap routine
CorrCon Descr
CorrDiscon Descr
CorrWrite Descr Data
CorrClear
DeactUnitMecUnit
DecrName
EOffsSetEaxOffsErrWrite[ \W ] Header Reason
[ \RL2] [ \RL3] [ \RL4]
Exit
ExitCycle
FORLoop counterFROMStart valueTOEnd value
[STEPStep value]DO... ENDFOR
GOTOLabel
GripLoadLoad
IdeletInterrupt
IFCondition ...
IFConditionTHEN...
{ELSEIFConditionTHEN...}
[ELSE...]
ENDIF
IncrName
IndAMoveMecUnit Axis [ \ToAbsPos ] | [ \ToAbsNum ] Speed[ \Ramp ]
IndCMoveMecUnit AxisSpeed[ \Ramp ]
IndDMoveMecUnit Axis DeltaSpeed[ \Ramp ]
IndResetMecUnit Axis[ \RefPos ] | [ \RefNum ] | [ \Short ] | [ \Fwd ] |[ \Bwd ] | [ \Old ]
IndRMoveMecUnit Axis [ \ToRelPos ] | [ \ToRelNum ] | [ \Short ] |[ \Fwd ] | [ \Bwd ]Speed [ \Ramp ]
InvertDOSignal
IODisableUnitNameMaxTime
IOEnableUnitNameMaxTime
ISignalDI[ \Single ]SignalTriggValueInterrupt
ISignalDO[ \Single ]SignalTriggValueInterrupt
ISleepInterruptITimer[ \Single ]Time Interrupt
IVarValueVarNoValue,Interrupt
IWatchInterrupt
Label:
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 ]
OpenObject [\File] IODevice [\Read] | [\Write] | [\Append] | [\Bin]
PathResolValue
PDispOn[ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ]
PDispSetDispFrame
PulseDO[ \PLength ] Signal
RAISE[ Error no ]
ResetSignal
RETURN[ Return value ]
RewindIODevice
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 ]
SetSignal
SetAOSignal ValueSetDO[ \SDelay ] Signal Value
SetGOSignal Value
SingArea[ \Wrist] | [ \Arm] | [ \Off]
SoftActAxis Softness [\Ramp ]
Stop[ \NoRegain ]
TESTTest data {CASETest value {, Test value} :...}
[ DEFAULT:...] ENDTEST
TPReadFKAnswer String FK1 FK2 FK3 FK4 FK5 [\MaxTime]
[\DIBreak] [\BreakFlag]
TPReadNumAnswer String [\MaxTime] [\DIBreak] [\BreakFlag]
TPShowWindow
TPWriteString [\Num] | [\Bool] | [\Pos] | [\Orient]
TriggCCirPoint ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ][ \T4]
Zone Tool [ \WObj ]
TriggIntTriggData Distance [ \Start ] | [ \Time ] Interrupt
TriggIOTriggData Distance [ \Start ] | [ \Time ] [ \DOp ] | [ \GOp ]
|[\AOp ] SetValue [ \DODelay ] | [ \AORamp ]
TriggJToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3] [ \T4]Zone Tool [ \WObj]
TriggLToPoint Speed [ \T ] Trigg_1 [ \T2] [ \T3] [ \T4]Zone Tool[ \WObj ]
TuneServoMecUnit Axis TuneValue
TuneServoMecUnit Axis TuneValue [\Type]
UnLoadFilePath [\File]
VelSetOverride Max
WaitDISignal Value [\MaxTime] [\TimeFlag]
WaitDOSignal Value [\MaxTime] [\TimeFlag]
WaitTime[\InPos] TimeWaitUntil[\InPos] Cond [\MaxTime] [\TimeFlag]
WHILECondition DO ... ENDWHILE
WriteIODevice String [\Num] | [\Bool] | [\Pos] | [\Orient][\NoNewLine]
WriteBinIODevice Buffer NChar
WriteStrBinIODevice Str
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint
WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius
WZDisable WorldZone
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before]
Signal SetValue
WZEnable WorldZone
WZFree WorldZone
WZLimSup [\Temp] | [\Stat] WorldZone Shape
WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius
三、ABB机器人函数及其参数
Abs(Input)
ACos(Value)
AOutput (Signal)
ArgName(Parameter)
ASin(Value)
ATan(Value)
ATan2(Y X)
ByteToStr (ByteData [\Hex] | [\Okt] | [\Bin] | [\Char])
ClkRead(Clock)CorrRead
Cos(Angle)
CPos([Tool] [\WObj])
CRobT([Tool] [\WObj])
DefDFrame(OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
DefFrame(NewP1 NewP2 NewP3 [\Origin])
Dim(ArrPar DimNo)
DOutput(Signal)
EulerZYX([\X] | [\Y] | [\Z] Rotation)
Exp(Exponent)
GOutput(Signal)
GetTime( [\WDay] | [\Hour] | [\Min] | [\Sec] )
IndInposMecUnit Axis
IndSpeedMecUnit Axis [\InSpeed] | [\ZeroSpeed]
IsPers(DatObj)
IsVar(DatObj)
MirPos(Point MirPlane [\WObj] [\MirY])
NumToStr(Val Dec [\Exp])
Offs(Point XOffset YOffset ZOffset)
OrientZYX(ZAngle YAngle XAngle)
ORobT(OrgPoint [\InPDisp] | [\InEOffs])
PoseInv(Pose)
PoseMult(Pose1 Pose2)
PoseVect(Pose Pos)
Pow(Base Exponent)Present(OptPar)
ReadBin(IODevice [\Time])
ReadMotor [\MecUnit ]Axis
ReadNum(IODevice [\Time])
ReadStr(IODevice [\Time])
RelTool(Point Dx Dy Dz [\Rx] [\Ry] [\Rz])
Round( Val [\Dec])
Sin(An gl e )
Sqrt(Value)
StrFind(Str ChPos Set [\NotInSet])
StrLen(Str)
StrMap( Str FromMap ToMap)
StrMatch(Str ChPos Pattern)
StrMemb(Str ChPos Set)
StrOrder( Str1 Str2 Order)
StrPart(Str ChPos Len)
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
StrToVal( Str Val )
Tan(Angle)
TestDI(Signal)
Trunc( Val [\Dec] )
ValToStr( Val )
更多信息请点击：ABB机器人
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