ROBOT Programming

ABB and Fanuc’s Commonly used Instructions / Statements

ABB FANUC
Motion Instructions
MOVEJ p10, v100, z15, tool0; 1: J P[2] 50% CNT25;
2: -- J speed data expressed in %;
MOVEL p20, v150, fine, tool0; 1: L P[5] 250 mm/sec FINE;
2: -- other speed option for L, cm/min, inch/min, ….;
MOVEC midpoint, targetpotint, v250, fine, tool0; 3: C P[5: midpoint] : P[11: targetpoint] 200
mm/sec FINE;
I/O Operations
SET DO3; 1: DO[3] = ON;
2: -- activate digital output number 3;
RESET DO3; ! RESET means 3: DO[3] = OFF;
4: -- deactivate the digital output number 3
deactivate
WAITDI DI7, 1; ! wait until digital input DI7 1: WAIT DI[7] = ON, TIMEOUT, LBL[33];
becomes high 2: -- wait until digital input 7 gets activated (high);
3: -- optional timeout clause causes the program pointer
to move to LBL[…] specified label;
Miscellaneous
! conditional branching ! conditional branching
IF <cond> THEN IF <condition expression>, <action; CALL or JMP>
<instructions / actions>
ELSE -- for newer controllers
<instructions / actions> IF <cond> THEN
ENDIF <instructions / actions>
ELSE
<instructions / actions>
ENDIF
! FOR loop ! FOR loop
FOR counter_var FROM initial_value TO final_value FOR R[..] = initial_value TO final_value
STEP step_value DO <instructions / actions >
<instructions / actions >;
ENDFOR ENDFOR
! WAIT instructions ! WAIT instructions
WAITUNTIL <condition>; WAIT <condition> ; or
WAIT <condition>, TIMEOUT, LBL[...];
WAITTIME <number of seconds> ;
WAITDI <digitl input>, <intended value>; WAIT <number of seconds>(sec);

OFFSET instruction
- for Fanuc, OFFSET instruction should be used with a position
OFFS function
register (PR), PR holds the actual Offset value with reference of a
this function is for moving the robot to a point without
already taught position.
teaching that point. Examples:-
Example:-
MOVEL pt1, v1000, fine, tool0;
10: PR[25, 1]= 25;
MOVEL Offs(pt1, 25, 0, 0), v100, fine, tool0;
11: L P[1] 250 mm/sec FINE;
! the above program lines will make the robot move to 'pt1'
12: L P[1] 250 mm/sec FINE OFFSET, PR[25]
first then 25 mm in 'x' direction from that point.
-- same action and result as the ABB program listed on the left
column;