9_baisic instruction

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ClkStart
ClkStart clock1;
clock1
( clock )
ClkStop
ClkStop clock1;
clock1
( clock )
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VelSet VelSet 100, 5000;
100 5000 % mm/s VelSet
( num ) ( num )
“Yes-part”
“Yes-part”
“Not-part”
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IF
IF <exp1> THEN “Yes-part 1” ELSEIF <exp2> THEN “Yes-part 2” ELSE “Not-part” ENDIF 1 “Yes-part 1” 2 “Yes-part 2”
MoveAbsJ
:
mm/s : speeddata
( TCP ) : tooldata
MoveAbsJ jpos1, v100, z10, tool1;
:jointtarget
:
mm : zonedata
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DO DI 24V – 1 ( High ) – 0 ( Low )
“Not-part”
TEST
TEST reg1 CASE 1: PATH 1; CASE 2: PATH 2; …… DEFAULT: Error; ENDTEST ( CASE 1 2 CASE 2 CASE DEFAULT ) 1
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Your nameFra bibliotekWHILE
reg1:=1; WHILE reg1< 5 DO reg1:=reg1+1; ENDWHILE WHILE ENDWHILE WHILE
( robtarget )
*
( num )
• [\T] s • [\Z] mm • [\Wobj]
( num )
( num )
( wobjdata )
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Functions, Offs() RelTool()
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MoveL Offs(p1,100,50,0), v100,……
• Offs(p1,100,50,0) 100mm Y 0 Offs() p1 X 50mm Z Wobj
MoveL RelTool(p1,100,50,0\Rx:=30 \Ry:=-60\Rz:=45), v100,……
• RelTool(p1,100,50,0\Rx:=30\Ry:=-60 \Rz:=45) p1 X 100mm Y 50mm Z 0 X 30 Y 60 Z 45 RelTool() Tool
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(
)
TPErase
TPErase;
(
)
TPWrite
TPWrite string;
string “xxxxxx” 80
( string )
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(
)
TPReadFK
TPReadFK Answer, Text, FK1, FK2, FK3, FK4, FK5;
reg1 < 5 ENDWHILE
Stop
Stop;
( Soft Stop )
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Exit
Exit;
( Soft Stop )
ClkReset
ClkReset clock1;
clock1
( clock )
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Answer Text FK1 FK2 FK3 FK4 FK5
( num ) ( string )
1 2 3 4 5
( string ) ( string ) ( string ) ( string ) ( string )
1-5
IF
IF <exp> THEN “Yes-part” ENDIF IF <exp> THEN “Yes-part” ELSE “Not-part” ENDIF
MoveC p1, p2, v100, z10, tool1;
:robotarget
: robotarget
:
mm : zonedata
Optional Argument
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• [\Conc]
( switch )
• [ToPoint] • [\V] mm/s
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100mm 50mm MoveL p1,v100,… MoveL p2,v100,… MoveL p3,v100,… MoveL p4,v100,… MoveL p1,v100,… p1 p2 p3 p4 MoveL p1,v100,… MoveL Offs(p1,100,0,0),v100,… MoveL Offs(p1,100,-50,0),v100,… MoveL Offs(p1,0,-50,0),,v100,… MoveL p1,v100,…
( num ) ( num ) ( string ) ( robotarget ) ( All ) ( Same as Data )
( bool )
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GripLoad
GripLoad load0;
load0
( num )
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MoveL/MoveJ
L J
:
mm/s : speeddata
( TCP ) : tooldata
MoveL p1, v100, z10, tool1;
: robotarget
:
mm : zonedata
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MoveC
L J C : mm/s : speeddata ( TCP ) : tooldata
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Set
Set do1;
do1 1 I/O 24V
( signaldo )
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Reset
Reset do1;
do1 0 I/O 24V
( signaldo )
PulseDO
PulseDO do1;
do1 [\PLength] 0.1s-32s
( signaldo )
0.2 s
( num )
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WaitDI WaitDI di1, 1;
di1 1
( signaldi ) ( dionum )
[\MaxTime] s [\TimeFlag] TRUE
( num )
( bool )
FALSE
WaitDI
WaitDI di1, 1\MaxTime:=5\TimeFlag:=flag1; [\MaxTime] ( Error Handler ) [\MaxTime] [\TimeFlag] FALSE TRUE
AccSet AccSet 100, 100;
100 100 % %
( num ) ( num )
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WaitTime
WaitTime 5;
5 s
( num )
“ := ” Data:=Value;
Data Value
ABB := FALSE; ABB := reg1+reg3; ABB := “ WELCOME ”; pHome := p1; tool1.tframe.trans.x := tool1.tframe.trans.x+20;