Cc cu lnh c bn thng

dng
 MoveL/MoveJ

c
Speed : t
L linearly : tuy
n TCP
tnh data type: speeddata
Data type: tooldata
J joint movement
n
: chuy ng cong

MoveL p1, v100, z10, tool1;

m
i n Zone

Data type: robotarget data type: zonedata

 MoveC

linearly
L
speed
joint movement
J TCP
data type: speeddata
C- circularly Data type: tooldata

MoveC p1, p2, v100, z10, tool1;

Mt i
m trn vng m
i n Zone
trn di chuyn c
a
Data type: robotarget Data type :zone data
robot
Data type :robotarget
Example
 Function

MoveL Offs(p1,100,50,0), v100,

Offs(p1,100,50,0) Ta cch im p1
100 mm theo trc X, 50 mm theo trc
Y v 0 mm theo trc Z.
Hng x,y,z trong Offs() l ca h ta
Wobj.
 Function

MoveL RelTool(p1,100,50,0\Rx:=0 \Ry:=-

0\Rz:=25), v100,
RelTool(p1,100,50,0\Rx:=30\Ry:=-60 \Rz:=45)
Robot di chuyn n v tr cch im P1
100mm theo trc X, 50mm theo trc Y, 0mm
theo trc Z, ng thi xoay quanh trc Z mt
gc 25 .
Hng x,y,z ca RelTool() l ca h ta
Tool
 Function
V hnh ch nht, kch thc l
100mm*50mm
MoveL p1,v100,
MoveL p2,v100,
MoveL p3,v100,
MoveL p4,v100,
MoveL p1,v100,
C th dng lnh xc nh 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,
 MoveAbsJ

speed
TCP
Data type: speeddata
Data type: tooldata

MoveAbsJ jpos1, v100, z10, tool1;

Destination point zone

Data type :jointtarget Data type:zonedata
 Set

Set do1;

do1 Kiu d liu: signaldo

Tn hiu do1 s c thit lp gi tr 1.
Set dng thit lp gi tr ca tn hiu
thnh 1.
 Reset

Reset do1;

do1 Kiu d liu : signaldo

Gi tr ca tn hiu do1 s thnh 0.
Reset dng thit lp gi tr tn hiu v 0.
 PulseDO
PulseDO do1;
do1 Kiu d liu : signaldo
Khi to mt xung vi tn do1.
PulseDO dng khi to xung t mt tn hiu
ri rc.
[\PLength] ( num )

Chiu di xung c th t (0.1 32 giy).

Nu mc nh th l 0.2 giy.
 WaitDI

WaitDI di1, 1;
di1 Kiu d liu : signaldi

Tn hiu.
1 Kiu d liu : dionum

Gi tr ch i ca tn hiu.
i n khi tn hiu di1 c gi tr 1.
[\MaxTime] ( num )

Thi gian i ti a, theo giy

[\TimeFlag] ( bool )
BoolTRUE or FALSE
 WaitDI
WaitDI di1, 1\MaxTime:=5\TimeFlag:=flag1;
Nu ch khai bo [\MaxTime], khi thi gian vt qu thi
gian quy nh, on chng trnh x l li(error handler)
s c gi nu c (ERR_WAIT_MAXTIME), nu khng
c th chng trnh s bo li v ngng chy.
Nu khai bo c [\MaxTime] v [\TimeFlag],
Khi khng c error handler th chng trnh vn chy
tip.
Bin flag s nhn gi tr TRUE nu vt thi gian
maxtime, v ngc li l FALSE.
 TPErase

TPErase;

Xa dng thng bo trn FlexPendant

 TPWrite

TPWrite string;

stringDng ch s c ghi (ti a 80 k

t).( string )
Ghi dng ch ln FlexPendant.
 TPReadFK
TPReadFK Answer, Text, FK1, FK2,
FK3, FK4, FK5;
AnswerL bin m gi tr ca n ph thuc vo Phm no
c nhn,gi tr t 1 n 5. Nu phm chc nng s 1 c
nhn, bin s nhn gi tr 1. ( num )
TextDng ch s hin ra trn FlexPendant ( string )
FK1 Fk1 text ( string )
FK2 Fk 2 text ( string )
FK3 Fk 3 text ( string )
FK4 Fk 4 text ( string )
FK5 Fk 5 text ( string )
TPReadFK dng ghi ch ln Phm chc nng, v tm xem
phm no c nhn.
 IF

IF <exp> THEN
Yes-part
ENDIF TRUE
IF cond instructions
IF <exp> THEN FALSE
ELSEIF cond instructions
Yes-part
ELSE ELSE instructions

Not-part
ENDIF
 TEST
TEST c dng khi cc lnh khc nhau c thi hnh da
trn gi tr ca mt biu thc hoc d liu.
TEST reg1
CASE 1:
PATH 1;
CASE 2:
PATH 2;
DEFAULT:
Error;
ENDTEST
Cc lnh khc nhau c thi hnh da trn gi tr ca reg1
 WHILE

reg1:=1;
WHILE reg1< 5 DO
reg1:=reg1+1;
ENDWHILE

WHILE c s dng khi cc lnh c lp i

lp li nhiu ln cho n khi biu thc iu
kin t gi tr TRUE.
 Stop

Stop;

Stop c dng tm dng chng

trnh
 Exit

Exit;

Dng chy chng trnh

 ClkReset

ClkReset clock1;

clock1 Data type: clock

Ci li ng h v 0.
 ClkStart

ClkStart clock1;

clock1 Data type: clock

Bt u chy ng h.

ClkStop

ClkStop clock1;

clock1 Data type: clock

Dng chy ng h.
 Lnh c gi tr hin thi ca ng h :
ClkRead
reg1:=ClkRead(clock1)
 VelSet

VelSet 100, 5000;

100 Tc mong mun bng x phn trm ca
tc t chng trnh. ( num )
5000Tc ti a mm/s. ( num )
VelSet dng tng v gim tc bng
chng trnh ti v tr cu lnh. Lnh ny cn
dng tng tc ln ti a.
 AccSet
AccSet 100, 100;
100Tng tc v gim tc theo phn trm gi tr bnh
thng. Gi tr ti a l 100% . ( num )
100Tc tng v gim tc ( num )
 WaitTime

WaitTime 5;
5Thi gian dng li ch, tnh theo giy ( num )

i mt khong thi gian xc nh.

 Gn gi tr :=

Data:=Value;
Data: Bin d liu mi. (All)
Valuegi tr mong mun. ( Same as Data )
e.g:
ABB := FALSE; ( bool )
ABB := reg1+reg3; ( num )
ABB := WELCOME ; ( string )
pHome := p1; ( robotarget )
tool1.tframe.trans.x :=
tool1.tframe.trans.x+20; ( num )
 GripLoad

GripLoad load0;

load0Gi tr th hin ti hin thi. ( num )

Xc nh ti ca robot