Basic Characteristics RAPID

More documents

Recommendations

Info

Example tive method to the use of TuneServo. Tune_kp, tune_kv, tune_ti external axes These tune types affect position control gain (kp), speed control gain (kv) and speed control integration time (ti) for external axes. These are used for adapting external axes to different load inertias. Basic tuning of external axes can also be simplified by using these tune types. Tune_kp, tune_kv, tune_ti robot axes Arguments For robot axes, these tune types have another significance and can be used for reducing path errors at low speed (< 500 mm/s). Recommended values: tune_kv 100 - 180%, tune_ti 50 - 100%. Tune_kp should not be used for robot axes. Too high or low values of tune_kv/tune_ti cause vibrations or oscillations. Never use these tune types at high speed or when the required path accuracy is fulfilled. TuneServo IRB, 2, 90; Activating of tuning type TUNE_DF with the tuning value 90% on axis 2 in the mechanical unit IRB. TuneServo MecUnit Axis TuneValue [\Type] MecUnit (Mechanical Unit) Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1 - 6). TuneValue Data type: num Tuning value in percent (1 - 200). 100% is the normal value. [\Type] Data type: tunetype Type of servo tuning. Available types are TUNE_DF, TUNE_KP, TUNE_KV and TUNE_TI. These types are predefined in the system with constants. 8-TuneServo-2 RAPID Reference Manual
Example This argument can be omitted when using tuning type TUNE_DF. TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP; Program execution Syntax Activating of tuning type TUNE_KP with the tuning value 110% on axis 1 in the mechanical unit MHA160R1. The specified tuning type and tuning value are activated for the specified axis. This value is applicable for all movements until a new value is programmed for the current axis, or until the tuning types and values for all axes are reset using the instruction TuneReset. TuneServo [MecUnit ’:=’ ] < variable (VAR) of mecunit> ’,’ [Axis ’:=’ ] < expression (IN) of num> ’,’ [TuneValue ’:=’ ] < expression (IN) of num> [’\’ Type ’:=’ ]’;’ Related information Described in: Other motion settings Summary Rapid - Motion Settings Types of servo tuning Data Types - tunetype Reset of all servo tunings Instructions - TuneReset Tuning of external axes - System parameters - Manipulator RAPID Reference Manual 8-TuneServo-3
Page 1 and 2:
ABB Flexible Automation AB RAPID Re
Page 3 and 4:
CONTENTS RAPID Reference Manual 1-1
Page 5 and 6:
Page 11 Mathematics ...............
Page 7 and 8:
Page 7.2 Logical expressions.......
Page 9 and 10:
Page speeddata - Speed data .......
Page 11 and 12:
Page SetAO - Changes the value of a
Page 13 and 14:
Page ReadMotor - Reads the current
Page 15 and 16:
Page 6 The Service Window..........
Page 17 and 18:
A Abs 9-Abs-1 absolute value 9-Abs-
Page 19 and 20:
H heat 13-seamdata-4 I I/O principl
Page 21 and 22:
measuring system 8-IndReset-1 Resto
Page 23 and 24:
CONTENTS Introduction 1 Other Manua
Page 25 and 26:
Introduction 1 Other Manuals Introd
Page 27 and 28:
Simplified syntax Example: 2.3 Form
Page 29 and 30:
CONTENTS RAPID Summary 1 The Struct
Page 31 and 32:
RAPID Summary 12.3 Principles of Sp
Page 33 and 34:
RAPID Summary The Structure of the
Page 35 and 36:
RAPID Summary Controlling the Progr
Page 37 and 38:
RAPID Summary Various Instructions
Page 39 and 40:
RAPID Summary Motion Settings 4.3 D
Page 41 and 42:
RAPID Summary Motion Settings 4.10
Page 43 and 44:
RAPID Summary Motion 5.2 Positionin
Page 45 and 46:
RAPID Summary Motion 5.8 Position f
Page 47 and 48:
RAPID Summary Input and Output Sign
Page 49 and 50:
RAPID Summary Communication 7 Commu
Page 51 and 52:
RAPID Summary Interrupts 8 Interrup
Page 53 and 54:
RAPID Summary Error Recovery 9 Erro
Page 55 and 56:
RAPID Summary System & Time 10 Syst
Page 57 and 58:
RAPID Summary Mathematics 11.4 Arit
Page 59 and 60:
RAPID Summary Spot Welding SpotWare
Page 61 and 62:
RAPID Summary Spot Welding 12.5 Spo
Page 63 and 64:
RAPID Summary Arc Welding 13.3 Arc
Page 65 and 66:
RAPID Summary GlueWare 14.4 Glue da
Page 67 and 68:
RAPID Summary Service Instructions
Page 69 and 70:
RAPID Summary String Functions 17 S
Page 71 and 72:
RAPID Summary Syntax Summary 18 Syn
Page 73 and 74:
RAPID Summary Syntax Summary MoveL
Page 75 and 76:
RAPID Summary Syntax Summary ClkRea
Page 77 and 78:
CONTENTS Basic Characteristics RAPI
Page 79 and 80:
Basic Characteristics RAPID Basic E
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Basic Characteristics RAPID Modules
Page 87 and 88:
Basic Characteristics RAPID Routine
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Basic Characteristics RAPID Data Ty
Page 97 and 98:
Basic Characteristics RAPID Data Fi
Page 99 and 100:
Basic Characteristics RAPID Data Sy
Page 101 and 102:
Basic Characteristics RAPID Instruc
Page 103 and 104:
Basic Characteristics RAPID Express
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Basic Characteristics RAPID Error R
Page 111 and 112:
Basic Characteristics RAPID Interru
Page 113 and 114:
Basic Characteristics RAPID Backwar
Page 115 and 116:
Basic Characteristics RAPID Multita
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
CONTENTS Motion and I/O Principles
Page 123 and 124:
Motion and I/O Principles Coordinat
Page 125 and 126:
Page 127 and 128:
Page 129 and 130:
Page 131 and 132:
Page 133 and 134:
Motion and I/O Principles Positioni
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144:
Page 145 and 146:
equired to obtain the same force. T
Page 147 and 148:
3 Synchronization with logical inst
Page 149 and 150:
Execution of SetDO p1 DT MoveL p1,
Page 151 and 152:
The accuracy is ±2 ms. On the part
Page 153 and 154:
Usually you want the robot to attai
Page 155 and 156:
4.2 Related information Described i
Page 157 and 158:
Singularity points/IRB 6400C Betwee
Page 159 and 160:
6.2 System signals An output can be
Page 161 and 162:
ool Logical values Description Exam
Page 163 and 164:
clock Time measurement Description
Page 165 and 166:
confdata Robot configuration data D
Page 167 and 168:
Example Structure VAR confdata conf
Page 169 and 170:
dionum Digital values 0 - 1 Descrip
Page 171 and 172:
errnum Error number Description Exa
Page 173 and 174:
Characteristics ERR_REFUNKFUN Refer
Page 175 and 176:
extjoint Position of external joint
Page 177 and 178:
intnum Interrupt identity Descripti
Page 179 and 180:
iodev Serial channels and files Des
Page 181 and 182:
jointtarget Joint position data Des
Page 183 and 184:
loaddata Load data Description Comp
Page 185 and 186:
Examples Limitations Predefined dat
Page 187 and 188:
mecunit Mechanical unit Description
Page 189 and 190:
motsetdata Motion settings data Des
Page 191 and 192:
Example Predefined data IF C_MOTSET
Page 193 and 194:
num Numeric values (registers) Desc
Page 195 and 196:
o_jointtarget Original joint positi
Page 197 and 198:
orient Orientation Description Comp
Page 199 and 200:
Example 1 A tool is orientated so t
Page 201 and 202:
o_robtarget Original position data
Page 203 and 204:
pos Positions (only X, Y and Z) Des
Page 205 and 206:
pose Coordinate transformations Des
Page 207 and 208:
progdisp Program displacement Descr
Page 209 and 210:
objoint Joint position of robot axe
Page 211 and 212:
obtarget Position data Description
Page 213 and 214:
Limitations Structure VAR robtarget
Page 215 and 216:
signalxx Digital and analog signals
Page 217 and 218:
speeddata Speed data Description Co
Page 219 and 220:
Structure < dataobject of speeddata
Page 221 and 222:
string Strings Description Example
Page 223 and 224:
symnum Symbolic number Description
Page 225 and 226:
tooldata Tool data Description Comp
Page 227 and 228:
Examples Limitations Predefined dat
Page 229 and 230:
triggdata Positioning events - trig
Page 231 and 232:
tunetype Servo tune type Descriptio
Page 233 and 234:
wobjdata Work object data Descripti
Page 235 and 236:
Example Limitations Predefined data
Page 237 and 238:
zonedata Zone data Description Zone
Page 239 and 240:
P1 Components MoveL with 200 mm mov
Page 241 and 242:
Predefined data Structure A number
Page 243 and 244:
System Data System data is the inte
Page 245 and 246:
“:=” Assigns a value Examples A
Page 247 and 248:
AccSet Reduces the acceleration Exa
Page 249 and 250:
ActUnit Activates a mechanical unit
Page 251 and 252:
Add Adds a numeric value Examples A
Page 253 and 254:
Break Break program execution Examp
Page 255 and 256:
CallByVar Call a procedure by a var
Page 257 and 258:
Clear Clears the value Example Argu
Page 259 and 260:
ClkReset Resets a clock used for ti
Page 261 and 262:
ClkStart Starts a clock used for ti
Page 263 and 264:
ClkStop Stops a clock used for timi
Page 265 and 266:
Close Closes a file or serial chann
Page 267 and 268:
comment Comment Example Arguments C
Page 269 and 270:
Compact IF If a condition is met, t
Page 271 and 272:
ConfJ Controls the configuration du
Page 273 and 274:
ConfL Monitors the configuration du
Page 275 and 276:
CONNECT Connects an interrupt to a
Page 277 and 278:
DeactUnit Deactivates a mechanical
Page 279 and 280:
Decr Decrements by 1 Example Argume
Page 281 and 282:
EOffsOff Deactivates an offset for
Page 283 and 284:
EOffsOn Activates an offset for ext
Page 285 and 286:
EOffsSet Activates an offset for ex
Page 287 and 288:
ErrWrite Write an Error Message Exa
Page 289 and 290:
EXIT Terminates program execution E
Page 291 and 292:
FOR Repeats a given number of times
Page 293 and 294:
Related information Described in: E
Page 295 and 296:
GOTO Goes to a new instruction Exam
Page 297 and 298:
GripLoad Defines the payload of the
Page 299 and 300:
IDelete Cancels an interrupt Exampl
Page 301 and 302:
IDisable Disables interrupts Exampl
Page 303 and 304:
IEnable Enables interrupts Example
Page 305 and 306:
IF If a condition is met, then ...;
Page 307 and 308:
Incr Increments by 1 Example Argume
Page 309 and 310:
IndAMove Independent Absolute posit
Page 311 and 312:
Example Error handling Syntax ActUn
Page 313 and 314:
IndCMove Independent Continuous Mov
Page 315 and 316:
Error handling Syntax Axis 2 of Sta
Page 317 and 318:
IndDMove Independent Delta position
Page 319 and 320:
Example Error handling Syntax IndAM
Page 321 and 322:
IndReset Independent Reset Example
Page 323 and 324:
Limitations Example Error handling
Page 325 and 326:
IndRMove Independent Relative posit
Page 327 and 328:
Limitations Examples The speed can
Page 329 and 330:
InvertDO Inverts the value of a dig
Page 331 and 332:
ISignalDI Orders interrupts from a
Page 333 and 334:
Syntax PROC main ( ) VAR intnum sig
Page 335 and 336:
ISignalDO Interrupts from a digital
Page 337 and 338:
Syntax PROC main ( ) VAR intnum sig
Page 339 and 340:
ISleep Deactivates an interrupt Exa
Page 341 and 342:
ITimer Orders a timed interrupt Exa
Page 343 and 344:
IWatch Activates an interrupt Examp
Page 345 and 346:
label Line name Example Arguments L
Page 347 and 348:
Load Load a program module during e
Page 349 and 350:
Related information Described in: U
Page 351 and 352:
MoveAbsJMoves the robot to an absol
Page 353 and 354:
Program execution Examples Error ha
Page 355 and 356:
Related information Described in: O
Page 357 and 358:
MoveC Moves the robot circularly Ex
Page 359 and 360:
[ \WObj] (Work Object) Data type: w
Page 361 and 362:
Related information Described in: O
Page 363 and 364:
MoveJ Moves the robot by joint move
Page 365 and 366:
Examples Syntax MoveJ *, v2000\V:=2
Page 367 and 368:
MoveL Moves the robot linearly Exam
Page 369 and 370:
Examples Syntax MoveL *, v2000 \V:=
Page 371 and 372:
Open Opens a file or serial channel
Page 373 and 374:
PDispOff Deactivates program displa
Page 375 and 376:
PDispOn Activates program displacem
Page 377 and 378:
Example at the two positions. The d
Page 379 and 380:
PDispSet Activates program displace
Page 381 and 382:
ProcCall Calls a new procedure Exam
Page 383 and 384:
PulseDO Generates a pulse on a digi
Page 385 and 386:
RAISE Calls an error handler Exampl
Page 387 and 388:
Reset Resets a digital output signa
Page 389 and 390:
RestoPath Restores the path after a
Page 391 and 392:
RETRY Restarts following an error E
Page 393 and 394:
RETURN Finishes execution of a rout
Page 395 and 396:
SearchC Searches circularly using t
Page 397 and 398:
[ \WObj] (Work Object) Data type: w
Page 399 and 400:
Syntax SearchC [ ’\’ Stop’,
Page 401 and 402:
SearchL Searches linearly using the
Page 403 and 404:
Program execution Examples This arg
Page 405 and 406:
Error handling Example An error is
Page 407 and 408:
Set Sets a digital output signal Ex
Page 409 and 410:
SetAO Changes the value of an analo
Page 411 and 412:
SetDO Changes the value of a digita
Page 413 and 414:
SetGO Changes the value of a group
Page 415 and 416:
SingArea Defines interpolation arou
Page 417 and 418:
SoftAct Activating the soft servo E
Page 419 and 420: SoftDeact Deactivating the soft ser
Page 421 and 422: StartMove Restarts robot motion Exa
Page 423 and 424: Stop Stops program execution Exampl
Page 425 and 426: StopMove Stops robot motion Example
Page 427 and 428: StorePath Stores the path when an i
Page 429 and 430: TEST Depending on the value of an e
Page 431 and 432: TPErase Erases text printed on the
Page 433 and 434: TPReadFK Reads function keys Exampl
Page 435 and 436: Syntax TPReadFK [Answer’:=’]
Page 437 and 438: TPReadNum Reads a number from the t
Page 439 and 440: TPWrite Writes on the teach pendant
Page 441 and 442: TriggC Circular robot movement with
Page 443 and 444: [ \WObj] (Work Object) Data type: w
Page 445 and 446: TriggEquip Defines a fixed position
Page 447 and 448: Program execution Examples If this
Page 449 and 450: TriggInt Defines a position related
Page 451 and 452: Examples Limitations The position r
Page 453 and 454: TriggIO Defines a fixed position I/
Page 455 and 456: Examples Limitations The distance s
Page 457 and 458: TriggJ Axis-wise robot movements wi
Page 459 and 460: Program execution Examples Limitati
Page 461 and 462: TriggL Linear robot movements with
Page 463 and 464: Program execution Examples Limitati
Page 465 and 466: TRYNEXT Jumps over an instruction w
Page 467 and 468: TuneReset Resetting servo tuning Ex
Page 469: TuneServo Tuning servos Description
Page 473 and 474: UnLoad UnLoad a program module duri
Page 475 and 476: Related information Described in: L
Page 477 and 478: VelSet Changes the programmed veloc
Page 479 and 480: WaitDI Waits until a digital input
Page 481 and 482: WaitDO Waits until a digital output
Page 483 and 484: WaitTime Waits a given amount of ti
Page 485 and 486: WaitUntil Waits until a condition i
Page 487 and 488: WHILE Repeats as long as ... Exampl
Page 489 and 490: Write Writes to a character-based f
Page 491 and 492: Error handling Syntax If an error o
Page 493 and 494: WriteBin Writes to a binary serial
Page 495 and 496: Abs Gets the absolute value Example
Page 497 and 498: ACos Calculates the arc cosine valu
Page 499 and 500: ASin Calculates the arc sine value
Page 501 and 502: ATan Calculates the arc tangent val
Page 503 and 504: ATan2 Calculates the arc tangent2 v
Page 505 and 506: CDate Reads the current date as a s
Page 507 and 508: CJointT Reads the current joint ang
Page 509 and 510: ClkRead Reads a clock used for timi
Page 511 and 512: Cos Calculates the cosine value Exa
Page 513 and 514: CPos Reads the current position (po
Page 515 and 516: CRobT Reads the current position (r
Page 517 and 518: CTime Reads the current time as a s
Page 519 and 520: CTool Reads the current tool data E
Page 521 and 522:
CWObj Reads the current work object
Page 523 and 524:
DefDFrame Define a displacement fra
Page 525 and 526:
DefFrame Define a frame Example Def
Page 527 and 528:
Syntax Other values, or if Origin i
Page 529 and 530:
Dim Obtains the size of an array Ex
Page 531 and 532:
DOutput Reads the value of a digita
Page 533 and 534:
EulerZYX Gets Euler angles from ori
Page 535 and 536:
Exp Calculates the exponential valu
Page 537 and 538:
GetTime Reads the current time as a
Page 539 and 540:
GOutput Reads the value of a group
Page 541 and 542:
IndInpos Independent In position st
Page 543 and 544:
IndSpeed Independent Speed status E
Page 545 and 546:
IsPers Is Persistent Example IsPers
Page 547 and 548:
IsVar Is Variable Example IsVar is
Page 549 and 550:
MirPos Mirroring of a position Exam
Page 551 and 552:
NumToStr Converts numeric value to
Page 553 and 554:
Offs Displaces a robot position Exa
Page 555 and 556:
OpMode Read the operating mode Exam
Page 557 and 558:
OrientZYX Builds an orient from Eul
Page 559 and 560:
ORobT Removes a program displacemen
Page 561 and 562:
PoseInv Inverts the pose Example Po
Page 563 and 564:
PoseMult Multiplies pose data Examp
Page 565 and 566:
PoseVect Applies a transformation t
Page 567 and 568:
Pow Calculates the power of a value
Page 569 and 570:
Present Tests if an optional parame
Page 571 and 572:
ReadBin Reads from a binary serial
Page 573 and 574:
ReadMotor Reads the current motor a
Page 575 and 576:
ReadNum Reads a number from a file
Page 577 and 578:
ReadStr Reads a string from a file
Page 579 and 580:
RelTool Make a displacement relativ
Page 581 and 582:
Round Round is a numeric value Exam
Page 583 and 584:
RunMode Read the running mode Examp
Page 585 and 586:
Sin Calculates the sine value Examp
Page 587 and 588:
Sqrt Calculates the square root val
Page 589 and 590:
StrFind Searches for a character in
Page 591 and 592:
StrLen Gets the string length Examp
Page 593 and 594:
StrMap Maps a string Example StrMap
Page 595 and 596:
StrMatch Search for pattern in stri
Page 597 and 598:
StrMemb Checks if a character belon
Page 599 and 600:
StrOrder Checks if strings are orde
Page 601 and 602:
StrPart Finds a part of a string Ex
Page 603 and 604:
StrToVal Converts a string to a val
Page 605 and 606:
Tan Calculates the tangent value Ex
Page 607 and 608:
TestDI Tests if a digital input is
Page 609 and 610:
Trunc Truncates a numeric value Exa
Page 611 and 612:
ValToStr Converts a value to a stri
Page 613 and 614:
CONTENTS 1 System Module User .....
Page 615 and 616:
1 System Module User 1.1 Contents I
Page 617 and 618:
CONTENTS 1 Programming Off-line ...
Page 619 and 620:
Programming Off-line 1 Programming
Page 621 and 622:
• Create a new system module wher
Page 623 and 624:
CONTENTS seamdata Seam data weaveda
Page 625 and 626:
seamdata Seam data Description Seam
Page 627 and 628:
Components Component group: Ignitio
Page 629 and 630:
The unit is defined in System Param
Page 631 and 632:
Structure The unit is defined in th
Page 633 and 634:
weavedata Weave data Description Co
Page 635 and 636:
Y w Figure 5 The width (W) of the w
Page 637 and 638:
weave_bias (weave centre bias) Data
Page 639 and 640:
welddata Weld data Description Weld
Page 641 and 642:
The welding sequence sched-no 4 x a
Page 643 and 644:
In a weld end instruction the delay
Page 645 and 646:
The type of weld shown in Figure 4
Page 647 and 648:
ArcC Arc welding with circular moti
Page 649 and 650:
CirPoint Data type: robtarget The c
Page 651 and 652:
Tool Data type: tooldata The tool u
Page 653 and 654:
Example MoveL ... ArcL \On, *,v100,
Page 655 and 656:
ArcL Arc welding with linear motion
Page 657 and 658:
ToPoint Data type: robtarget The de
Page 659 and 660:
Program execution When this argumen
Page 661 and 662:
Syntax MoveL xxxxxx weld5, weave1 A
Page 663 and 664:
CONTENTS gundata Spot weld gun data
Page 665 and 666:
gundata Spot weld gun data Descript
Page 667 and 668:
Structure build_up_p3 1 Data type:
Page 669 and 670:
spotdata Spot weld data Description
Page 671 and 672:
SpotL Spot Welding with motion Exam
Page 673 and 674:
Program execution Internal sequence
Page 675 and 676:
Gun closure The gun closure is acti
Page 677 and 678:
Simulated welding Error handling Fu
Page 679 and 680:
Restart by choice Service (If SpotW
Page 681 and 682:
For a complete description of the I
Page 683 and 684:
System Module SWUSER Contents Data
Page 685 and 686:
Routines Normally it is suitable to
Page 687 and 688:
sw_service_wf (spotweld service wel
Page 689 and 690:
System Module SWUSRC Contents Data
Page 691 and 692:
The following predefined data is us
Page 693 and 694:
User defined independent supervisio
Page 695 and 696:
PROC sw_open_gun (num context) spot
Page 697 and 698:
System Module SWUSRF Contents Data
Page 699 and 700:
Default functionality: No functions
Page 701 and 702:
System Module SWTOOL Contents The s
Page 703 and 704:
Functions The following predefined
Page 705 and 706:
CONTENTS ggundata Gluing gun data G
Page 707 and 708:
ggundata Gluing gun data Descriptio
Page 709 and 710:
Limitations Predefined data Structu
Page 711 and 712:
GlueC Gluing with circular motion E
Page 713 and 714:
an * in the instruction). ToPoint D
Page 715 and 716:
Instruction by instruction executio
Page 717 and 718:
RAPID Reference Manual 15-GlueC-7
Page 719 and 720:
GlueL Gluing with linear motion Exa
Page 721 and 722:
Speed Data type: speeddata The spee
Page 723 and 724:
Calculation of the glue flow values
Page 725 and 726:
The gluing is restarted with the ne
Page 727 and 728:
System Module GLUSER Contents Data
Page 729 and 730:
CONTENTS 1 The Jogging Window .....
Page 731 and 732:
1 The Jogging Window 1.1 Window: Jo
Page 733 and 734:
2.1.2 Menu: Edit Command: Used to:
Page 735 and 736:
3.2 General menus 3.2.1 Menu: File
Page 737 and 738:
3.2.3 Menu: View View 1 Instr.”
Page 739 and 740:
3.4 Window: Program Routines Routin
Page 741 and 742:
3.5 Window: Program Data Data type
Page 743 and 744:
3.6 Window: Program Data Types Data
Page 745 and 746:
3.8 Window: Program Modules Modules
Page 747 and 748:
4.1.3 Menu: View View 1 Info ... 2
Page 749 and 750:
5.1.2 Menu: Edit Command: Used to:
Page 751 and 752:
6.1.3 Menu: View View 1 Log 2 Date
Page 753 and 754:
6.3 Window Service Calibration Cali
Page 755 and 756:
7 The System Parameters 7.1 Window:
Page 757:
The contents under the chapter “S
show all

Basic Characteristics RAPID

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?