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发表于 2009-1-14 09:37:40
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来自: 中国山东泰安
第四个文件:3HAC16580-1_revD_en_library.pdf+ W7 C& H, S l
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Contents
' B; n) X- _3 m. h N8 S1 Introduction............................................................................................................................... 1
: h6 S$ V3 c" {1.1 Other manuals................................................................................................................... 1
' p& R/ J, u# L+ W/ F$ Z/ S9 d1 ^1.2 How to read this manual ................................................................................................... 1
& r) w& h5 s* [2 `7 K Typographic conventions ................................................................................................. 2
, d8 D, J5 n% X; @, k* ^ o/ w& A Syntax rules...................................................................................................................... 2! \- A$ o9 e2 M$ w9 i
Formal syntax................................................................................................................... 3# |% n2 @1 l! z* n
2 The structure of the language .................................................................................................. 5
, ^3 v q! A: t7 ~8 G9 E1 j3 Controlling the program flow .................................................................................................. 7% b) G; ^9 q, T5 z; s( c( P
3.1 Programming principles ................................................................................................... 7
5 y# U) [/ V; s9 c. B3.2 Calling another routine ..................................................................................................... 73 j7 S5 q7 a" e ]5 @* G+ J
3.3 Program control within the routine................................................................................... 7
" W; x+ j0 }3 \$ E% \9 o3 H3.4 Stopping program execution............................................................................................. 8
! a# {4 R: y5 B7 ~7 A) H3.5 Stop current cycle ............................................................................................................. 85 N) |& N1 ^: _) |. r
4 Various instructions .................................................................................................................. 93 T* e; T* @7 Z/ F) [' F- }3 U0 D
4.1 Assigning a value to data..................................................................................................9! ^' t% O' d7 f5 C E
4.2 Wait................................................................................................................................... 9
, H/ c" B, a& Z! V5 v8 n* K4.3 Comments......................................................................................................................... 99 X" q. q3 V0 h
4.4 Loading program modules.............................................................................................. 10, E2 m8 t& L, [
4.5 Various functions ............................................................................................................ 10& n* B+ V4 T) b" D! V6 E
4.6 Basic data........................................................................................................................ 10
9 b3 x1 r7 s4 U: q+ ?* }. a4.7 Conversion function ....................................................................................................... 11
* O0 l8 e1 |" s$ B0 z2 M5 Motion settings ........................................................................................................................ 13* X+ B3 |/ s7 \7 y j6 @% Y
5.1 Programming principles ................................................................................................. 13
. d% m9 A+ P( [' _: @" R5.2 Maximum TCP speed ..................................................................................................... 13
/ W- s+ w) {; k3 a8 N3 `9 ?- a5.3 Defining velocity ............................................................................................................ 14 m* k* V* G4 ]; Y
5.4 Defining acceleration......................................................................................................14$ u* l0 Z) D2 P0 ^. Z
5.5 Defining configuration management .............................................................................. 14
( O4 @+ b. r2 x5.6 Defining the payload ...................................................................................................... 14
2 r6 c' O1 h: I5.7 Defining the behaviour near singular points................................................................... 15
- g6 C$ `- r0 N. k( Y& N4 [5.8 Displacing a program...................................................................................................... 15- i6 ~! k% n% |) T/ a' n! @
5.9 Soft servo........................................................................................................................ 15
7 e1 r l$ [- S* U; F- f9 g* C5.10 Adjust the robot tuning values...................................................................................... 16
- M. s; S0 f0 N8 x; g: j9 l5.11 World Zones.................................................................................................................. 172 j0 x8 K% C% z) Y0 @* J. s
5.12 Data for motion settings ............................................................................................... 175 g% L( F! g' D: Y4 o
6 Motion ...................................................................................................................................... 19
- p2 r, C5 O. h/ C j+ d& ~6.1 Programming principles ................................................................................................. 19
- |/ H% y% |# O5 p+ z6.2 Positioning instructions .................................................................................................. 200 a$ Z) o+ E+ y9 t8 \1 t& Q4 V
6.3 Searching ........................................................................................................................ 20
1 d5 k7 J# |, u7 ` RII RAPID overview/ X$ O! ]$ v! w6 A0 q- u8 k" i! C
6.4 Activating outputs or interrupts at specific positions ..................................................... 21! p3 }7 r3 M: g, X. o9 Q1 i
6.5 Control of analog output signal proportional to actual TCP .......................................... 21
- ` C" j9 {! k$ Z6.6 Motion control if an error/interrupt takes place ............................................................. 22
, g6 U, |) _! V9 S6.7 Get robot info in a MultiMove system........................................................................... 22
. e8 j/ d4 _) W/ A1 L* x8 f6.8 Controlling external axes................................................................................................ 23* ~' w6 }- A9 T ]) o% R4 ?9 s \$ I
6.9 Independent axes ............................................................................................................ 24
' t0 }5 L& U4 f$ F7 h" Q9 k; U6.10 Path correction.............................................................................................................. 25
1 F3 E/ v# z7 Y6.11 Path Recorder ............................................................................................................... 25
, x; I: j0 L, e' t/ O& n6.12 Conveyor tracking ........................................................................................................ 26
5 h4 P# }4 l0 \. [6.13 Sensor synchronization................................................................................................. 26
4 C! F2 ~6 c( r+ o: B$ L6.14 Load identification and collision detection .................................................................. 26" B0 W$ ^8 G5 E) L9 }
6.15 Position functions ......................................................................................................... 27
# g( x" z/ [9 m% d+ v# K, \6.16 Check interrupted path after power failure................................................................... 276 r7 {/ }$ ]# x! ?; D8 w
6.17 Status functions ............................................................................................................ 27) i+ ]. a+ Z) j. y' U9 K
6.18 Motion data................................................................................................................... 28
# W2 J! y) k$ `+ Z f3 F6.19 Basic data for movements ............................................................................................ 28
% z7 X: ]; r$ ~7 T% v# [7 Input and output signals......................................................................................................... 29
$ c$ e1 U2 X/ G; W0 `7 Q7.1 Programming principles ................................................................................................. 297 r' r' w: k. g5 ?9 _2 O2 r( W
7.2 Changing the value of a signal ....................................................................................... 29* t+ v7 E% U/ y, s# F7 b% `
7.3 Reading the value of an input signal .............................................................................. 29
7 E: q/ u4 Q( S M9 j4 t$ h9 g6 p7.4 Reading the value of an output signal ............................................................................ 30
5 M, z0 ^* X! q7.5 Testing input on output signals....................................................................................... 30 f6 S% |" d: a" l7 @
7.6 Disabling and enabling I/O modules .............................................................................. 30: z. U8 Y/ t2 ]) U+ b7 |
7.7 Defining input and output signals .................................................................................. 31
/ b4 k/ d, T7 a8 v7.8 Get status of I/O bus and unit ......................................................................................... 31
; l; u+ @1 G4 r6 O, r8 Communication....................................................................................................................... 33
) _. a/ {" ?9 i7 C0 c& ^8.1 Programming principles ................................................................................................. 33
6 W2 e9 g% T9 f' Y& I. a8.2 Communicating using the FlexPendant, function group TP .......................................... 33$ v! W. `6 F/ O! {- M$ D! Y
8.3 Communicating using the FlexPendant, function group UI........................................... 349 f, Y. h; m0 C1 @( h
8.4 Reading from or writing to a character-based serial channel/file................................... 35: T8 q2 \& B2 A3 g9 r& n: q8 n, _
8.5 Communicating using binary serial channels/files/field buses ...................................... 359 v# y$ E! m! E, X, V# N% t7 E) [
8.6 Communication using rawbytes ..................................................................................... 36! F, U* ]# i) ]' A" D
8.7 Data for serial channels/files/field buses........................................................................ 37
4 a2 L( a7 G, ]) M2 {, w7 T9 Interrupts................................................................................................................................. 39
9 R& @3 e, c( X0 |, H6 x9.1 Programming principles ................................................................................................. 39
, ?$ ~4 T' p7 Q% O1 v% \' ?8 q9.2 Connecting interrupts to trap routines ............................................................................ 39
: ~9 C$ Y8 A7 ]& S4 D9.3 Ordering interrupts ......................................................................................................... 40
9 e) h/ c/ r0 k* G1 j, G9.4 Cancelling interrupts..................................................................................................... 40' E) }- r3 G1 ?' o- M+ p9 i8 D
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