ABB机器人IRC操作手册Introduction to RAPID（英文版）.pdfABB机器人I

文件名称: ABB机器人IRC操作手册Introduction to RAPID（英文版）.pdf

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详细说明：ABB机器人IRC操作手册Introduction to RAPID（英文版）pdf,ABB机器人IRC操作手册Introduction to RAPID（英文版）Operating manual Introduction to raPid Robotware 5.0 Document iD: 3HAC029364-001 Revision g The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABb for losses, damages to persons or property, fitness for a specific purpose or the like In no event shall aBb be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted Additional copies of this manual may be obtained from ABB at its then current charge 了 Copyright 2007 ABB All rights reserved ABB AB Robotics products SE-721 68 Vasteras Sweden Table of contents Product documentation. M2004 着 Terminale 1 RAPID basics 11 l I About rapid 1.2 RAPId data 12 1. 2.1 Variable 12 1. 2. 2 Persistent variables 1. 2. 3 Constants 1. 2. 4 Operators 1.3 Controlling the program flow 1.3.1 IF THEN 16 1.3.2 Examples with logical conditions and IF statements 18 1.3.3 FOR loop 1.3. 4 WHILE loop... 1.4 Rules and recommendations for RAPID syntax................... 21 1. 4. 1 General RaPid syntax rules 14.2 Recommendations for rapid code 2 RAPID robot functionality 2.1 Move instructions 2.1.1 MoveL instruction 2.1.2 Coordinate systems 2. 1. 3 Examples with moveL 2.1. 4 Other move instructions 28 2.1.5 Exccution behavior in corner zones 2.2 1/0 signals 31 2.2.1 o Signals 2.3 User interaction 2.3. 1 Communicate with the Flex pendant · 3 Structure 35 3. 1 RAPID procedure 3.2 Modules 33 Structured d 38 g 4 Data with multiple values 43 4.2 Composite data ty pes 9 5 RAPID instructions and functions 47 5.1In 47 5.2 Functions 48 e 6 What to read next 49 6.1 Where to find more information 49 Index 51 3HAC029364-001 Revision Table of contents 了 3HAC029364-001 Revision Overview about this manual This manual is intended as a first introduction to RAPID. A lot of functionality in RaPId is left out, but the most essential parts are described so that it can be easily understood for everybody. This manual does not make you an expert RAPID programmer, but it can help you understand the concept of programming with RAPID. The details can always be found in the reference manua ds Usage This manual should be read before starting to program. It does not contain everything you need to know, but you need to be familiar with most things in this manual, before starting to write a RaPid program This manual does not replace the educational courses in raPid, but can complement it Who should read this manual? This manual is intended for someone with no previous experience in programming, e.g.a robot operator who wants to learn how to program the robot. Prerequisites There are no prerequisites for this manual Organization of Chapters The manual is organized in the following chapters Chapter Contents 1. RAPId basics The fundamentals of programming. This functionality is similar in most high level programming languages 2. RAPiD robot functionality Describes the functionality that makes RAPid unique, i.e. move instructions, o signals and communication with a flexPendant 3. Structure Describes how to create procedures. Also contains a brief introduction to how to apply a structured design of a g program 4. Data with multiple values Describes arrays and complex data type 5. RAPID instructions and A short explanation of what the RAPid instructions and functions functions are 6. What to read next Where to find more information if you want to continue our studies of rapid References Reference Document ld Technical reference manual- RAPid overview 3HAC16580-1 Technical reference manual- RAPid Instructions Functions and 3HAC16581-1 Data types Technical reference manual raPid kernel 3HAC16585-1 Operating manual -IRC5 with FlexPendant 3HAC16590 Continues on next page 3HAC029364-001 Revision: Overview nue Revisions Revision Description First edition 了 3HAC029364-001 Revision Product documentation m2004 Product documentation, M2004 General The robot documentation is divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems Product manuals All hardware robots and controllers, will be delivered with a Product manual that contains Safety information Installation and commissioning(descriptions of mechanical installation, electrical connections) Maintenance(descriptions of all required preventive maintenance procedures including intervals) Repair(descriptions of all recommended repair procedures including spare parts) Additional procedures. if any(calibration, decommissioning Reference information(article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards) Part list Foldouts or exploded views Circuit diagrams Technical reference manuals The following manuals describe the robot software in general and contain relevant reference information RAPID Overview: An overview of the rapid programming language RAPID Instructions, Functions and Data types: Description and syntax for all g RAPID instructions, functions and data types System parameters: Description of system parameters and configuration workflows Application manuals Specific applications (for example software or hardware options)are described in Application manuals. An application manual can describe one or several applications An application manual generally contains information about: The purpose of the application(what it does and when it is useful) What is included (for example cables, I/O boards, RAPID instructions, system parameters,CD with PC software) How to use the application Examples of how to use the application Continues on next page 3HAC029364-001 Revision Product documentation M2004 Continued Operating manuals This group of manuals is aimed at those having first hand operational contact with the robot that is production cell operators, programmers and trouble shooters. The group of manuals Emergency safety information Getting started -IRCs and robotstudio IRC5 with flex Pendant · Robotstudio Trouble shooting-IRC5 for the controller and robot 了 3HAC029364-001 Revision

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