机器人程序指令汇总.docVIP

一 指令格式 二 指令及其参数 Data := Value AccSet Acc Ramp ActUnit MecUnit Add Name AddValue Break CallBy Var Name Number Clear Name ClkReset Clock ClkStart Clock ClkStop Clock Close IODevice ! Comment ConfJ [\On] | [\Off] ConfL [\On] | [\Off] CONNECT Interrupt WITH Trap routine CorrCon Descr CorrDiscon Descr CorrWrite Descr Data CorrClear DeactUnit MecUnit Decr Name EOffsSet EaxOffs ErrWrite [ \W ] Header Reason [ \RL2] [ \RL3] [ \RL4] Exit ExitCycle FOR Loop counter FROM Start value TO End value [STEP Step value] DO ... ENDFOR GOTO Label GripLoad Load IDelete Interrupt IF Condition ... IF Condition THEN ... {ELSEIF Condition THEN ...} [ELSE ...] ENDIF Incr Name IndAMove MecUnit Axis [ \ToAbsPos ] | [ \ToAbsNum ] Speed[ \Ramp ] IndCMove MecUnit Axis Speed [ \Ramp ] IndDMove MecUnit Axis Delta Speed [ \Ramp ] IndReset MecUnit Axis [ \RefPos ] | [ \RefNum ] | [ \Short ] | [ \Fwd ] |[ \Bwd ] | [ \Old ] IndRMove MecUnit Axis [ \ToRelPos ] | [ \ToRelNum ] | [ \Short ] |[ \Fwd ] | [ \Bwd ] Speed [ \Ramp ] InvertDO Signal IODisable UnitName MaxTime IOEnable UnitName MaxTime ISignalDI [ \Single ] Signal TriggValue Interrupt ISignalDO [ \Single ] Signal TriggValue Interrupt ISleep InterruptITimer [ \Single ] Time Interrupt IVarValue VarNo Value, Interrupt IWatch Interrupt 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 ] Open Object [\File] IODevice [\Read] | [\Write] | [\Append] | [\Bin] PathResol Value PDispOn [ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ] PDispSet DispFrame PulseDO [ \PLength ] Signal RAISE [ Error no ] Reset Signal RETURN [ Return value ] Rewind IODevice SearchC [ \Stop ] | [ \PStop ] | [ \Sup ] Signal SearchPoint CirPoint ToPoint S