资源描述：
《abb机器人程序指令汇总》由会员上传分享，免费在线阅读，更多相关内容在应用文档-天天文库。
1、一指令格式二指令及其参数Data:=ValueAccSetAccRampActUnitMecUnitAddNameAddValueBreakCallByVarNameNumberClearNameClkResetClockClkStartClockClkStopClockCloseIODevice!CommentConfJ[On]
2、[Off]ConfL[On]
3、[Off]CONNECTInterruptWITHTraproutineCorrConDescrCorrDisconDescrCorrWriteDescrDataCorrClearDeactUnitMec
4、UnitDecrNameEOffsSetEaxOffsErrWrite[W]HeaderReason[RL2][RL3][RL4]ExitExitCycleFORLoopcounterFROMStartvalueTOEndvalue[STEPStepvalue]DO...ENDFORGOTOLabelGripLoadLoadIDeleteInterruptIFCondition...IFConditionTHEN...{ELSEIFConditionTHEN...}[ELSE...]ENDIFIncrNameIndAMoveMecUnitAxis[ToAbsP
5、os]
6、[ToAbsNum]Speed[Ramp]IndCMoveMecUnitAxisSpeed[Ramp]IndDMoveMecUnitAxisDeltaSpeed[Ramp]IndResetMecUnitAxis[RefPos]
7、[RefNum]
8、[Short]
9、[Fwd]
10、[Bwd]
11、[Old]IndRMoveMecUnitAxis[ToRelPos]
12、[ToRelNum]
13、[Short]
14、[Fwd]
15、[Bwd]Speed[Ramp]InvertDOSignalIODisableUnitNameMaxTimeIOEnableUni
16、tNameMaxTimeISignalDI[Single]SignalTriggValueInterruptISignalDO[Single]SignalTriggValueInterruptISleepInterruptITimer[Single]TimeInterruptIVarValueVarNoValue,InterruptIWatchInterruptLabel:MoveAbsJ[Conc]ToJointPosSpeed[V]
17、[T]Zone[Z]Tool[WObj]MoveC[Conc]CirPointToPointSpeed[V]
18、[
19、T]Zone[Z]Tool[WObj]MoveJ[Conc]ToPointSpeed[V]
20、[T]Zone[Z]Tool[WObj]MoveL[Conc]ToPointSpeed[V]
21、[T]Zone[Z]Tool[WObj]OpenObject[File]IODevice[Read]
22、[Write]
23、[Append]
24、[Bin]PathResolValuePDispOn[Rot][ExeP]ProgPointTool[WObj]PDispSetDispFramePulseDO[PLength]SignalRAISE[Error
25、no]ResetSignalRETURN[Returnvalue]RewindIODeviceSearchC[Stop]
26、[PStop]
27、[Sup]SignalSearchPointCirPointToPointSpeed[V]
28、[T]Tool[WObj]SearchL[Stop]
29、[PStop]
30、[Sup]SignalSearchPointToPointSpeed[V]
31、[T]Tool[WObj]SetSignalSetAOSignalValueSetDO[SDelay]SignalValueSetGOSignalValueSingArea[
32、Wrist]
33、[Arm]
34、[Off]SoftActAxisSoftness[Ramp]Stop[NoRegain]TESTTestdata{CASETestvalue{,Testvalue}:...}[DEFAULT:...]ENDTESTTPReadFKAnswerStringFK1FK2FK3FK4FK5[MaxTime][DIBreak][BreakFlag]TPReadNumAnswerString[MaxTime][DIBreak][BreakFlag]TPShowWindowTPWriteString[
