2024ABB RAPID指令、函數(shù)和數(shù)據(jù)類型技術參考手冊

ROBOTICS技術參考手冊RAPID指令、函數(shù)和數(shù)據(jù)類型目錄目錄手冊概述.............................................................................................................................................

171指令

211.1

AccSet－降低加速度...........................................................................................

211.2

ActEventBuffer

-事件緩沖啟用.............................................................................

241.3

ActUnit-啟用機械單元........................................................................................

261.4

Add-增加數(shù)值....................................................................................................

281.5

AliasCamera－用別名定義攝像裝置......................................................................

301.6

AliasIO-確定I/O信號以及別名..............................................................................

321.7

AliasIOReset-重置I/O信號以及別名........................................................................

351.8

":="-分配一個數(shù)值.............................................................................................

371.9

BitClear-在一個字節(jié)或雙數(shù)值數(shù)據(jù)中清除一個特定位.................................................

391.10

BitSet-在一個字節(jié)或者雙數(shù)值數(shù)據(jù)中設置一個特定位................................................

421.11

BookErrNo-登記RAPID系統(tǒng)錯誤編號....................................................................

451.12

Break-打破循環(huán)................................................................................................

471.13

DebugBreak-中斷程序執(zhí)行.................................................................................

481.14

CallByVar-通過變量，調(diào)用程序...........................................................................

491.15

CamFlush-從攝像頭刪除集合數(shù)據(jù)........................................................................

511.16

CamGetParameter-獲取不同名稱的攝像頭參數(shù).......................................................

521.17

CamGetResult-從集合獲取攝像頭目標..................................................................

541.18

CamLoadJob-加載攝像頭任務到攝像頭..................................................................

561.19

CamReqImage-命令攝像頭采集圖像.....................................................................

581.20

CamSetExposure-設置具體攝像頭的數(shù)據(jù)..............................................................

601.21

CamSetParameter-設置不同名稱的攝像頭參數(shù).......................................................

621.22

CamSetProgramMode-命令攝像頭進入編程模式.....................................................

641.23

CamSetRunMode-命令攝像頭進入運行模式...........................................................

651.24

CamStartLoadJob-開始加載攝像頭任務到攝像頭.....................................................

661.25

CamStartSetParameter

-啟動參數(shù)設置的設定操作....................................................

681.26

CamWaitLoadJob–等待攝像頭任務加載完畢..........................................................

711.27

CamWaitSetParameter

-等待設定操作準備就緒.......................................................

731.28

CancelLoad-取消模塊加載.................................................................................

741.29

CapAPTrSetupAI-設置由模擬輸入信號控制的At-Point-Tracker。................................

761.30

CapAPTrSetupAO-設置由模擬輸出信號控制的At-Point-Tracker.................................

791.31

CapAPTrSetupPERS-設置由持續(xù)變量控制的At-Point-Tracker...................................

821.32

CapC-CAP圓周運動指令...................................................................................

851.33

CapEquiDist-產(chǎn)生等距事件.................................................................................

951.34

CapInitSupervision

-重置CAP的所有監(jiān)控...............................................................

971.35

CapL-CAP線性運動指令...................................................................................

981.36

CapNoProcess-無需進程的情況下，運行CAP........................................................

1071.37

CapRefresh-更新CAP數(shù)據(jù).................................................................................

1091.38

CapRemoveSupervision

-撤除一個信號的條件........................................................

1111.39

CapSetDOAtStop-設置TCP停止時的數(shù)字輸出信號..................................................

1131.40

CapSetupSupervision

-設置CAP信號監(jiān)控條件........................................................

1151.41

CapWeaveSync-設置擺動同步信號和電平.............................................................

1181.42

CheckProgRef-檢查程序參考..............................................................................

1201.43

CirPathMode-圓周路徑期間的工具方位調(diào)整...........................................................

1211.44

Clear-清除數(shù)值................................................................................................

1261.45

ClearPath-清除當前路徑....................................................................................

1271.46

ClearRawBytes-清除原始數(shù)據(jù)字節(jié)數(shù)據(jù)的內(nèi)容........................................................

1301.47

ClkReset-重置用于定時的時鐘............................................................................

1321.48

ClkStart-啟動用于定時的時鐘..............................................................................

1331.49

ClkStop-停止用于定時的時鐘..............................................................................

1351.50

Close-關閉一份文件或I/O設備...........................................................................

1361.51

CloseDir-關閉路徑............................................................................................

1371.52

Comment-評論................................................................................................

1381.53

CompactIF-如果滿足條件，那么...（一個指令）.....................................................

1391.54

ConfJ-接頭移動期間,控制配置.............................................................................

140技術參考手冊-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC065038-010修訂:M5目錄1.55

ConfL-線性運動期間,監(jiān)測配置.............................................................................

1421.56

CONNECT-將中斷與軟中斷程序相連....................................................................

1441.57

ContactL-線性接觸移動.....................................................................................

1461.58

Continue-跳過循環(huán)的其余部分............................................................................

1511.59

CopyFile-復制文件...........................................................................................

1521.60

CopyRawBytes-復制原始數(shù)據(jù)字節(jié)數(shù)據(jù)的內(nèi)容........................................................

1541.61

CornerPathWarning

-顯示或隱藏圓角路徑警告........................................................

1561.62

CorrClear-移除所有修正發(fā)電機............................................................................

1581.63

CorrCon-與修正發(fā)電機相連................................................................................

1591.64

CorrDiscon-與修正發(fā)電機斷開............................................................................

1641.65

CorrWrite-寫入修正發(fā)電機..................................................................................

1651.66

DeactEventBuffer

-事件緩沖啟用..........................................................................

1661.67

DeactUnit-停用機械單元....................................................................................

1681.68

Decr-遞減量為1...............................................................................................

1701.69

DropSensor-使物體落于傳感器上.........................................................................

1721.70

DropWObj-使工件落于傳送帶上...........................................................................

1731.71

EOffsOff-停用附加軸的偏移量.............................................................................

1741.72

EOffsOn-啟用附加軸的偏移量.............................................................................

1751.73

EOffsSet-啟用附加軸（使用已知值）的偏移量........................................................

1771.74

EraseModule-擦除模塊......................................................................................

1791.75

ErrLog-寫入錯誤消息........................................................................................

1811.76

ErrRaise-寫入警告，調(diào)用錯誤處理器....................................................................

1841.77

ErrWrite-寫入錯誤消息......................................................................................

1881.78

EXIT-終止程序執(zhí)行...........................................................................................

1901.79

ExitCycle-中斷當前循環(huán)，并開始下一循環(huán).............................................................

1911.80

FitCircle—使圓圈與3D點擬合。............................................................................

1931.81

FitLine-使線與一組點擬合..................................................................................

1971.82

FitPlane-使平面與一組點擬合..............................................................................

1991.83

FitSphere-使球體與一組點擬合............................................................................

2011.84

FOR-重復給定的次數(shù)........................................................................................

2031.85

FricIdInit-開始摩擦識別......................................................................................

2061.86

FricIdEvaluate-評估摩擦識別..............................................................................

2071.87

FricIdSetFricLevels

-在摩擦識別后設置摩擦等級......................................................

2101.88

GetDataVal-獲得數(shù)據(jù)對象的值............................................................................

2121.89

GetGroupSignalInfo

-讀取有關數(shù)字群組信號的信息..................................................

2151.90

GetJointData-獲取具體關節(jié)數(shù)據(jù)..........................................................................

2171.91

GetSysData-獲取系統(tǒng)數(shù)據(jù).................................................................................

2191.92

GetTrapData-獲取當前軟中斷例行程序的中斷數(shù)據(jù)...................................................

2221.93

GOTO-轉(zhuǎn)到新的指令.........................................................................................

2241.94

GripLoad-定義機械臂的有效負載.........................................................................

2261.95

HollowWristReset-重置中空腕節(jié).........................................................................

2281.96

ICap-將CAP事件與軟中斷子程序關聯(lián)起來..............................................................

2301.97

ICapPathPos-獲取擺動時的中心線機器人位置。.....................................................

2341.98

IDelete-取消中斷..............................................................................................

2361.99

IDisable-禁用中斷............................................................................................

2371.100

IEnable-啟用中斷.............................................................................................

2381.101

IError-調(diào)整關于錯誤的中斷.................................................................................

2391.102

IF-如果滿足條件，那么...；否則...........................................................................

2421.103

Incr-增量為1....................................................................................................

2441.104

IndAMove-獨立的絕對位置運動...........................................................................

2461.105

IndCMove-獨立的連續(xù)運動.................................................................................

2491.106

IndDMove-獨立的德爾塔位置運動........................................................................

2521.107

IndReset-獨立重置...........................................................................................

2551.108

IndReset-獨立的相對位置運動.............................................................................

2591.109

InvertDO-轉(zhuǎn)化數(shù)字信號輸出信號值.......................................................................

2631.110

IOActivate-激活I/O設備....................................................................................

2651.111

IODeactivate-停用I/O設備。.............................................................................

2671.112

IODeviceMute-關閉來自設備的I/O事件消息..........................................................

2701.113

IPers-在永久變量數(shù)值改變時中斷.........................................................................

2716技術參考手冊-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC065038-010修訂:M目錄1.114

IRMQMessage-下達數(shù)據(jù)類型的RMQ中斷指令........................................................

2731.115

ISignalAI-模擬信號輸入信號的中斷.......................................................................

2771.116

ISignalAO-模擬信號輸出信號的中斷.....................................................................

2861.117

ISignalDI-下達數(shù)字信號輸入信號中斷指令..............................................................

2891.118

ISignalDO-數(shù)字信號輸出信號的中斷.....................................................................

2921.119

ISignalGI-下達一組數(shù)字信號輸入信號中斷的指令.....................................................

2951.120

ISignalGO-下達一組數(shù)字信號輸出信號中斷的指令...................................................

2981.121

ISleep-停用一個中斷.........................................................................................

3011.122

ITimer-下達定時中斷的指令................................................................................

3031.123

IVarValue-下達變量值中斷指令............................................................................3051.124

IWatch-啟用中斷..............................................................................................

3081.125

Label-線路名稱................................................................................................

3101.126

Load-執(zhí)行期間，加載普通程序模塊......................................................................

3111.127

LoadId-工具或有效負載的負載識別.......................................................................

3151.128

MakeDir-創(chuàng)建新路徑.........................................................................................

3211.129

ManLoadIdProc-IRBP機械臂的負載識別...............................................................

3221.130

MatrixAdd-計算兩個矩陣之和..............................................................................

3261.131

MatrixInverse-反轉(zhuǎn)矩陣.....................................................................................

3291.132

MatrixMult-兩個矩陣相乘或矩陣與標量相乘............................................................

3321.133

MatrixReset-將矩陣中的所有元素設置為0.............................................................

3371.134

MatrixSolve－解算一則線性方程組........................................................................

3391.135

MatrixSolveQR－計算一次QR－因式分解...............................................................

3411.136

MatrixSub-計算兩個矩陣的差值...........................................................................

3431.137

MatrixSVD－計算一次奇異值分解.........................................................................

3461.138

MatrixTranspose-轉(zhuǎn)置矩陣.................................................................................

3491.139

MechUnitLoad-確定機械單元的有效負載...............................................................

3521.140

MotionProcessModeSet

-設置運動過程模式...........................................................

3561.141

MotionSup-禁用/啟用運動監(jiān)控............................................................................

3581.142

MoveAbsJ-移動機械臂至絕對接頭位置..................................................................

3611.143

MoveC-使機械臂沿圓周移動...............................................................................

3671.144

MoveCAO-使機械臂沿圓周運動，設置拐角處的模擬信號輸出.....................................

3741.145

MoveCDO-使機械臂沿圓周運動，設置拐角處的數(shù)字信號輸出.....................................

3791.146

MoveCGO-機械臂沿圓周運動，設置拐角處的組輸出信號..........................................

3831.147

MoveCSync-機械臂沿圓周運動，執(zhí)行RAPID無返回值程序。.....................................

3881.148

MoveExtJ-在沒有TCP的情況下，移動一個或數(shù)個機械單元........................................

3931.149

MoveJ-通過接頭移動，移動機械臂.......................................................................

3961.150

MoveJAO-通過接頭移動來移動機械臂，設置拐角處的模擬信號輸出............................

4011.151

MoveJDO-通過接頭移動來移動機械臂，設置拐角處的數(shù)字信號輸出............................

4051.152

MoveJGO-通過接頭移動來移動機械臂，設置拐角處的組輸出信號...............................

4091.153

MoveJSync-通過接頭移動來移動機械臂，執(zhí)行RAPID無返回值程序。..........................

4131.154

MoveL-使機械臂沿直線移動................................................................................

4171.155

MoveLAO-使機械臂沿直線運動，設置拐角處的模擬信號輸出.....................................

4231.156

MoveLDO-使機械臂沿直線運動，設置拐角處的數(shù)字信號輸出.....................................

4271.157

MoveLGO-使機械臂沿直線運動，設置拐角處的組輸出信號........................................

4311.158

MoveLSync-機械臂沿直線運動，執(zhí)行RAPID無返回值程序........................................

4351.159

MovePnP—使機器人沿拾取和放置路徑移動。..........................................................

4401.160

MToolRotCalib-移動工具旋轉(zhuǎn)校準........................................................................

4501.161

MToolTCPCalib-關于移動工具的TCP的校準...........................................................

4531.162

Open-打開一份文件或I/O設備............................................................................

4561.163

OpenDir-打開路徑............................................................................................

4601.164

PackDNHeader-將DeviceNet標題裝入原始數(shù)據(jù)字節(jié)數(shù)據(jù)中。....................................

4621.165

PackRawBytes-將數(shù)據(jù)裝入原始數(shù)據(jù)字節(jié)數(shù)據(jù).........................................................

4651.166

PathAccLim-降低路徑沿線的TCP加速度................................................................

4701.167

PathLengthReset-重置計數(shù)器的當前路徑長度值.......................................................

4731.168

PathLengthStart-激活監(jiān)控路徑長度的計數(shù)器............................................................

4751.169

PathLengthStop-停止監(jiān)控路徑長度的計數(shù)器............................................................

4771.170

PathRecMoveBwd-將路徑記錄器向后移動.............................................................

4791.171

PathRecMoveFwd-向前移動路徑記錄器................................................................

4851.172

PathRecStart-起動路徑記錄器.............................................................................

488技術參考手冊-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC065038-010修訂:M7目錄1.173

PathRecStop-停止路徑記錄器.............................................................................

4901.174

PathResol-覆蓋路徑分辨率.................................................................................

4931.175

PDispOff-停用程序位移.....................................................................................

4951.176

PDispOn-啟用程序位移.....................................................................................

4961.177

PDispSet-啟用使用已知坐標系的程序位移.............................................................

5001.178

ProcCall-調(diào)用新無返回值程序.............................................................................

5021.179

ProcerrRecovery

-由過程運動錯誤產(chǎn)生和恢復.........................................................

5041.180

PrxActivAndStoreRecord

-啟用和儲存已記錄的配置文件數(shù)據(jù).....................................

5091.181

PrxActivRecord-啟用已記錄的配置文件數(shù)據(jù)...........................................................

5111.182

PrxDbgStoreRecord

-儲存和調(diào)試已記錄的配置文件數(shù)據(jù)............................................

5131.183

PrxDeactRecord-停用記錄.................................................................................

5141.184

PrxResetPos-重置傳感器零位置..........................................................................

5151.185

PrxResetRecords

-重置和停用所有記錄.................................................................

5161.186

PrxSetPosOffset

-設置傳感器的參考位置...............................................................

5171.187

PrxSetRecordSampleTime

-設置有關記錄配置文件的樣本時間...................................

5181.188

PrxSetSyncalarm

-設置同步報警行為....................................................................

5191.189

PrxStartRecord

-記錄新的配置文件.......................................................................

5201.190

PrxStopRecord-停止記錄配置文件.......................................................................

5221.191

PrxStoreRecord

-儲存已記錄的配置文件數(shù)據(jù)..........................................................

5231.192

PrxUseFileRecord-使用已記錄的配置文件數(shù)據(jù).......................................................

5251.193

PulseDO-產(chǎn)生關于數(shù)字信號輸出信號的脈沖...........................................................

5261.194

RAISE-調(diào)用錯誤處理器......................................................................................

5291.195

RaiseToUser-將錯誤傳播至用戶等級....................................................................

5321.196

ReadAnyBin-讀取來自二進制通道I/O設備或文件的數(shù)據(jù)...........................................

5351.197

ReadCfgData-讀取系統(tǒng)參數(shù)的屬性.......................................................................

5371.198

ReadErrData-獲取關于錯誤的信息.......................................................................

5411.199

ReadRawBytes-讀取原始數(shù)據(jù)字節(jié)數(shù)據(jù).................................................................

5441.200

ReadVarArr－從一件傳感器裝置上讀取多個變量......................................................

5471.201

RemoveAllCyclicBool-刪除全部Cyclicbool條件......................................................

5491.202

RemoveCyclicBool-刪除一個Cyclicbool條件.........................................................

5511.203

RemoveDir-刪除路徑........................................................................................

5531.204

RemoveFile-刪除文件.......................................................................................

5551.205

RenameFile-重命名文件....................................................................................

5561.206

Reset-重置數(shù)字信號輸出信號...............................................................................

5581.207

ResetAxisDistance

－重置該軸的橫越距離信息........................................................

5601.208

ResetAxisMoveTime－重置該軸的移動計時器.........................................................

5621.209

ResetPPMoved-重置以手動模式移動的程序指針的狀態(tài)............................................

5641.210

ResetRetryCount-重置重試次數(shù)..........................................................................

5651.211

ResetTorqueMargin

-重置最小扭矩余量.................................................................

5661.212

RestoPath-中斷之后，恢復路徑...........................................................................

5671.213

RETRY-在錯誤后恢復執(zhí)行..................................................................................

5691.214

RETURN-完成程序的執(zhí)行..................................................................................

5701.215

Rewind-重繞文件位置.......................................................................................

5721.216

RMQEmptyQueue-空白RAPID消息隊列................................................................

5731.217

RMQFindSlot-從槽名中尋找槽識別號....................................................................

5741.218

RMQGetMessage-獲取RMQ消息.........................................................................

5761.219

RMQGetMsgData-從RMQ消息獲取數(shù)據(jù)部分..........................................................

5791.220

RMQGetMsgHeader-從RMQ消息獲取標題信息.......................................................

5821.221

RMQReadWait-從RMQ返回消息..........................................................................

5851.222

RMQSendMessage-發(fā)送RMQ數(shù)據(jù)消息.................................................................

5881.223

RMQSendWait-發(fā)送RMQ數(shù)據(jù)消息，并等待響應.....................................................

5921.224

SafetyControllerSyncRequest

-硬件同步程序的初始化..............................................

5971.225

Save-保存編程模塊...........................................................................................

5981.226

SaveCfgData-將系統(tǒng)參數(shù)保存至文件....................................................................

6011.227

SearchC-使用機械臂沿圓周進行搜索....................................................................

6031.228

SearchExtJ-在沒有TCP的情況下，搜索一個或多個機械單元......................................

6111.229

SearchL-使用機械臂沿直線進行搜索.....................................................................

6181.230

SenDevice-與傳感器設備相連.............................................................................

6271.231

Set-設置數(shù)字信號輸出信號.................................................................................

6298技術參考手冊-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC065038-010修訂:M目錄1.232

SetAllDataVal-在定義設置下，設置所有數(shù)據(jù)對象的值...............................................

6311.233

SetAO-變更數(shù)字信號輸出信號值..........................................................................

6331.234

SetDataSearch-定義在搜索序列中設置的符號.........................................................

6351.235

SetDataVal-設置數(shù)據(jù)對象的值.............................................................................

6391.236

SetDO-改變數(shù)字信號輸出信號值..........................................................................

6421.237

SetGO-變更一組數(shù)字信號輸出信號的值.................................................................

6441.238

SetLeadThrough-啟用和停用導通........................................................................

6471.239

SetSysData-設置系統(tǒng)數(shù)據(jù)..................................................................................

6501.240

SetupCyclicBool-建立一個Cyclicbool條件............................................................

6521.241

SimCollision-模擬碰撞......................................................................................

6551.242

SingArea-確定奇點周圍的插補............................................................................

6561.243

SkipWarn-跳過最近的警告.................................................................................

6581.244

SocketAccept-接受輸入連接...............................................................................