2024ABB ROBOTICS RAPID指令、函數(shù)和數(shù)據(jù)類型

ROBOTICS技術(shù)參考手冊(cè)RAPID指令、函數(shù)和數(shù)據(jù)類型技術(shù)參考手冊(cè)RAPID指令、函數(shù)和數(shù)據(jù)類型RobotWare6.15.06文檔編號(hào):3HAC050917-010修訂:V目錄目錄手冊(cè)概述.............................................................................................................................................

191指令

251.1

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

251.2

ActEventBuffer

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

281.3

ActUnit-啟用機(jī)械單元........................................................................................

301.4

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

321.5

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

341.6

AliasIO-確定I/O信號(hào)以及別名..............................................................................

361.7

AliasIOReset-重置I/O信號(hào)以及別名........................................................................

391.8

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

411.9

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

431.10

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

461.11

BookErrNo-登記RAPID系統(tǒng)錯(cuò)誤編號(hào)....................................................................

491.12

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

511.13

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

521.14

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

541.15

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

551.16

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

571.17

CamLoadJob-加載攝像頭任務(wù)到攝像頭..................................................................

591.18

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

611.19

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

631.20

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

651.21

CamSetProgramMode-命令攝像頭進(jìn)入編程模式.....................................................

671.22

CamSetRunMode-命令攝像頭進(jìn)入運(yùn)行模式...........................................................

681.23

CamStartLoadJob-開始加載攝像頭任務(wù)到攝像頭.....................................................

691.24

CamStartSetParameter

-啟動(dòng)參數(shù)設(shè)置的設(shè)定操作....................................................

711.25

CamWaitLoadJob–等待攝像頭任務(wù)加載完畢..........................................................

741.26

CamWaitSetParameter

-等待設(shè)定操作準(zhǔn)備就緒.......................................................

761.27

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

771.28

CapAPTrSetup-設(shè)置At-Point-Tracker..................................................................

791.29

CapAPTrSetupAI-設(shè)置由模擬輸入信號(hào)控制的At-Point-Tracker。................................

811.30

CapAPTrSetupAO-設(shè)置由模擬輸出信號(hào)控制的At-Point-Tracker.................................

841.31

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

871.32

CapC-CAP圓周運(yùn)動(dòng)指令...................................................................................

901.33

CapCondSetDO-設(shè)置TCP停止時(shí)的數(shù)字輸出信號(hào)....................................................

1001.34

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

1021.35

CapL-CAP線性運(yùn)動(dòng)指令...................................................................................

1041.36

CapLATrSetup-設(shè)置Look-Ahead-Tracker..............................................................

1131.37

CapNoProcess-無需進(jìn)程的情況下，運(yùn)行CAP........................................................

1181.38

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

1201.39

CAPSetStopMode-為執(zhí)行錯(cuò)誤設(shè)置停止模式............................................................

1221.40

CapWeaveSync-設(shè)置擺動(dòng)同步信號(hào)和電平.............................................................

1231.41

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

1251.42

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

1261.43

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

1311.44

ClearIOBuff-清除串行通道的輸入緩存...................................................................

1321.45

ClearPath-清除當(dāng)前路徑....................................................................................

1341.46

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

1371.47

ClkReset-重置用于定時(shí)的時(shí)鐘............................................................................

1391.48

ClkStart-啟動(dòng)用于定時(shí)的時(shí)鐘..............................................................................

1401.49

ClkStop-停止用于定時(shí)的時(shí)鐘..............................................................................

1421.50

Close-關(guān)閉一份文件或I/O設(shè)備...........................................................................

1431.51

CloseDir-關(guān)閉路徑............................................................................................

1441.52

Comment-評(píng)論................................................................................................

1451.53

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

1461.54

ConfJ-接頭移動(dòng)期間,控制配置.............................................................................

147技術(shù)參考手冊(cè)-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC050917-010修訂:V5目錄1.55

ConfL-線性運(yùn)動(dòng)期間,監(jiān)測(cè)配置.............................................................................

1491.56

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

1511.57

ContactL-線性接觸移動(dòng).....................................................................................

1531.58

CopyFile-復(fù)制文件...........................................................................................

1581.59

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

1601.60

CornerPathWarning

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

1621.61

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

1641.62

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

1651.63

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

1701.64

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

1711.65

DeactEventBuffer

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

1721.66

DeactUnit-停用機(jī)械單元....................................................................................

1741.67

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

1761.68

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

1781.69

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

1791.70

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

1801.71

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

1811.72

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

1831.73

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

1851.74

ErrLog-寫入錯(cuò)誤消息........................................................................................

1871.75

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

1901.76

ErrWrite-寫入錯(cuò)誤消息......................................................................................

1941.77

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

1961.78

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

1971.79

FitCircle—使圓圈與3D點(diǎn)擬合。............................................................................

1991.80

FitLine-使線與一組點(diǎn)擬合..................................................................................

2031.81

FitPlane-使平面與一組點(diǎn)擬合..............................................................................

2051.82

FitSphere-使球體與一組點(diǎn)擬合............................................................................

2071.83

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

2091.84

FricIdInit-開始摩擦識(shí)別......................................................................................

2121.85

FricIdEvaluate-評(píng)估摩擦識(shí)別..............................................................................

2131.86

FricIdSetFricLevels

-在摩擦識(shí)別后設(shè)置摩擦等級(jí)......................................................

2161.87

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

2181.88

GetGroupSignalInfo

-讀取有關(guān)數(shù)字群組信號(hào)的信息..................................................

2211.89

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

2231.90

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

2251.91

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

2281.92

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

2301.93

GripLoad-定義機(jī)械臂的有效負(fù)載.........................................................................

2321.94

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

2341.95

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

2361.96

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

2401.97

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

2411.98

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

2421.99

IError-調(diào)整關(guān)于錯(cuò)誤的中斷.................................................................................

2431.100

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

2461.101

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

2481.102

IndAMove-獨(dú)立的絕對(duì)位置運(yùn)動(dòng)...........................................................................

2501.103

IndCMove-獨(dú)立的連續(xù)運(yùn)動(dòng).................................................................................

2531.104

IndDMove-獨(dú)立的德爾塔位置運(yùn)動(dòng)........................................................................

2561.105

IndReset-獨(dú)立重置...........................................................................................

2591.106

IndReset-獨(dú)立的相對(duì)位置運(yùn)動(dòng).............................................................................

2631.107

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

2671.108

InvertDO-轉(zhuǎn)化數(shù)字信號(hào)輸出信號(hào)值.......................................................................

2681.109

IOBusStart-StartofI/Onetwork..........................................................................

2701.110

IOBusState-獲取I/O網(wǎng)絡(luò)的當(dāng)前狀態(tài).....................................................................

2711.111

IODisable-停用I/O設(shè)備......................................................................................

2741.112

IOEnable-啟用I/O設(shè)備.......................................................................................

2771.113

IOEventMessage-打開/關(guān)閉來自設(shè)備的I/O事件消息.................................................

2796技術(shù)參考手冊(cè)-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC050917-010修訂:V目錄1.114

IPathPos-獲取擺動(dòng)時(shí)的中心線機(jī)器人位置。...........................................................

2811.115

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

2831.116

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

2851.117

ISignalAI-模擬信號(hào)輸入信號(hào)的中斷.......................................................................

2891.118

ISignalAO-模擬信號(hào)輸出信號(hào)的中斷.....................................................................

2981.119

ISignalDI-下達(dá)數(shù)字信號(hào)輸入信號(hào)中斷指令..............................................................

3011.120

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

3041.121

ISignalGI-下達(dá)一組數(shù)字信號(hào)輸入信號(hào)中斷的指令.....................................................

3071.122

ISignalGO-下達(dá)一組數(shù)字信號(hào)輸出信號(hào)中斷的指令...................................................

3101.123

ISleep-停用一個(gè)中斷.........................................................................................

3131.124

ITimer-下達(dá)定時(shí)中斷的指令................................................................................

3151.125

IVarValue-下達(dá)變量值中斷指令............................................................................3171.126

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

3201.127

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

3221.128

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

3231.129

LoadId-工具或有效負(fù)載的負(fù)載識(shí)別.......................................................................

3271.130

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

3331.131

ManLoadIdProc-IRBP機(jī)械臂的負(fù)載識(shí)別...............................................................

3341.132

MatrixAdd-計(jì)算兩個(gè)矩陣之和..............................................................................

3381.133

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

3411.134

MatrixMult-兩個(gè)矩陣相乘或矩陣與標(biāo)量相乘............................................................

3441.135

MatrixReset-將矩陣中的所有元素設(shè)置為0.............................................................

3491.136

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

3511.137

MatrixSolveQR－計(jì)算一次QR－因式分解...............................................................

3531.138

MatrixSub-計(jì)算兩個(gè)矩陣的差值...........................................................................

3551.139

MatrixSVD－計(jì)算一次奇異值分解.........................................................................

3581.140

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

3611.141

MechUnitLoad-確定機(jī)械單元的有效負(fù)載...............................................................

3641.142

MotionProcessModeSet

-設(shè)置運(yùn)動(dòng)過程模式...........................................................

3681.143

MotionSup-禁用/啟用運(yùn)動(dòng)監(jiān)控............................................................................

3701.144

MoveAbsJ-移動(dòng)機(jī)械臂至絕對(duì)接頭位置..................................................................

3731.145

MoveC-使機(jī)械臂沿圓周移動(dòng)...............................................................................

3791.146

MoveCAO-使機(jī)械臂沿圓周運(yùn)動(dòng)，設(shè)置拐角處的模擬信號(hào)輸出.....................................

3861.147

MoveCDO-使機(jī)械臂沿圓周運(yùn)動(dòng)，設(shè)置拐角處的數(shù)字信號(hào)輸出.....................................

3901.148

MoveCGO-機(jī)械臂沿圓周運(yùn)動(dòng)，設(shè)置拐角處的組輸出信號(hào)..........................................

3941.149

MoveCSync-機(jī)械臂沿圓周運(yùn)動(dòng)，執(zhí)行RAPID無返回值程序。.....................................

3981.150

MoveExtJ-在沒有TCP的情況下，移動(dòng)一個(gè)或數(shù)個(gè)機(jī)械單元........................................

4021.151

MoveJ-通過接頭移動(dòng)，移動(dòng)機(jī)械臂.......................................................................

4051.152

MoveJAO-通過接頭移動(dòng)來移動(dòng)機(jī)械臂，設(shè)置拐角處的模擬信號(hào)輸出............................

4101.153

MoveJDO-通過接頭移動(dòng)來移動(dòng)機(jī)械臂，設(shè)置拐角處的數(shù)字信號(hào)輸出............................

4141.154

MoveJGO-通過接頭移動(dòng)來移動(dòng)機(jī)械臂，設(shè)置拐角處的組輸出信號(hào)...............................

4181.155

MoveJSync-通過接頭移動(dòng)來移動(dòng)機(jī)械臂，執(zhí)行RAPID無返回值程序。..........................

4221.156

MoveL-使機(jī)械臂沿直線移動(dòng)................................................................................

4261.157

MoveLAO-使機(jī)械臂沿直線運(yùn)動(dòng)，設(shè)置拐角處的模擬信號(hào)輸出.....................................

4311.158

MoveLDO-使機(jī)械臂沿直線運(yùn)動(dòng)，設(shè)置拐角處的數(shù)字信號(hào)輸出.....................................

4351.159

MoveLGO-使機(jī)械臂沿直線運(yùn)動(dòng)，設(shè)置拐角處的組輸出信號(hào)........................................

4391.160

MoveLSync-機(jī)械臂沿直線運(yùn)動(dòng)，執(zhí)行RAPID無返回值程序........................................

4431.161

MovePnP—使機(jī)器人沿拾取和放置路徑移動(dòng)。..........................................................

4471.162

MToolRotCalib-移動(dòng)工具旋轉(zhuǎn)校準(zhǔn)........................................................................

4571.163

MToolTCPCalib-關(guān)于移動(dòng)工具的TCP的校準(zhǔn)...........................................................

4601.164

Open-打開一份文件或I/O設(shè)備............................................................................

4631.165

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

4671.166

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

4691.167

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

4721.168

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

4761.169

PathLengthReset-重置計(jì)數(shù)器的當(dāng)前路徑長(zhǎng)度值.......................................................

4791.170

PathLengthStart-激活監(jiān)控路徑長(zhǎng)度的計(jì)數(shù)器............................................................

4811.171

PathLengthStop-停止監(jiān)控路徑長(zhǎng)度的計(jì)數(shù)器............................................................

4831.172

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

485技術(shù)參考手冊(cè)-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC050917-010修訂:V7目錄1.173

PathRecMoveFwd-向前移動(dòng)路徑記錄器................................................................

4911.174

PathRecStart-起動(dòng)路徑記錄器.............................................................................

4941.175

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

4961.176

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

4991.177

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

5011.178

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

5021.179

PDispSet-啟用使用已知坐標(biāo)系的程序位移.............................................................

5061.180

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

5081.181

ProcerrRecovery

-由過程運(yùn)動(dòng)錯(cuò)誤產(chǎn)生和恢復(fù).........................................................

5101.182

PrxActivAndStoreRecord

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

5151.183

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

5171.184

PrxDbgStoreRecord

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

5191.185

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

5201.186

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

5211.187

PrxResetRecords

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

5221.188

PrxSetPosOffset

-設(shè)置傳感器的參考位置...............................................................

5231.189

PrxSetRecordSampleTime

-設(shè)置有關(guān)記錄配置文件的樣本時(shí)間...................................

5241.190

PrxSetSyncalarm

-設(shè)置同步報(bào)警行為....................................................................

5251.191

PrxStartRecord

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

5261.192

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

5281.193

PrxStoreRecord

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

5291.194

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

5311.195

PulseDO-產(chǎn)生關(guān)于數(shù)字信號(hào)輸出信號(hào)的脈沖...........................................................

5321.196

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

5351.197

RaiseToUser-將錯(cuò)誤傳播至用戶等級(jí)....................................................................

5381.198

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

5411.199

ReadBlock-讀取設(shè)備的數(shù)據(jù)塊.............................................................................

5431.200

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

5451.201

ReadErrData-獲取關(guān)于錯(cuò)誤的信息.......................................................................

5491.202

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

5521.203

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

5551.204

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

5571.205

RemoveCyclicBool-刪除一個(gè)Cyclicbool條件.........................................................

5591.206

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

5611.207

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

5631.208

RemoveSuperv-撤除一個(gè)信號(hào)的條件....................................................................

5641.209

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

5661.210

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

5681.211

ResetAxisDistance

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

5701.212

ResetAxisMoveTime－重置該軸的移動(dòng)計(jì)時(shí)器.........................................................

5721.213

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

5741.214

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

5751.215

ResetTorqueMargin

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

5761.216

RestoPath-中斷之后，恢復(fù)路徑...........................................................................

5771.217

RETRY-在錯(cuò)誤后恢復(fù)執(zhí)行..................................................................................

5791.218

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

5801.219

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

5821.220

RMQEmptyQueue-空白R(shí)APID消息隊(duì)列................................................................

5831.221

RMQFindSlot-從槽名中尋找槽識(shí)別號(hào)....................................................................

5841.222

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

5861.223

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

5891.224

RMQGetMsgHeader-從RMQ消息獲取標(biāo)題信息.......................................................

5921.225

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

5951.226

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

5981.227

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

6021.228

SafetyControllerSyncRequest

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

6071.229

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

6081.230

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

6111.231

SCWrite-將變量數(shù)據(jù)發(fā)送到客戶端應(yīng)用..................................................................

6138技術(shù)參考手冊(cè)-RAPID指令、函數(shù)和數(shù)據(jù)類型3HAC050917-010修訂:V目錄1.232

SearchC-使用機(jī)械臂沿圓周進(jìn)行搜索....................................................................

6161.233

SearchExtJ-在沒有TCP的情況下，搜索一個(gè)或多個(gè)機(jī)械單元......................................

6241.234

SearchL-使用機(jī)械臂沿直線進(jìn)行搜索.....................................................................

6311.235

SenDevice-與傳感器設(shè)備相連.............................................................................

6411.236

Set-設(shè)置數(shù)字信號(hào)輸出信號(hào).................................................................................

6431.237

SetAllDataVal-在定義設(shè)置下，設(shè)置所有數(shù)據(jù)對(duì)象的值...............................................

6451.238

SetAO-變更數(shù)字信號(hào)輸出信號(hào)值..........................................................................

6471.239

SetDataSearch-定義在搜索序列中設(shè)置的符號(hào).........................................................

6491.240

SetDataVal-設(shè)置數(shù)據(jù)對(duì)象的值.............................................................................

6531.241

SetDO-改變數(shù)字信號(hào)輸出信號(hào)值..........................................................................

6561.242

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

6581.243

SetLeadThrough-啟用和停用導(dǎo)通........................................................................

6611.244

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