CS300E PAC 031-1053-00
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ABB CS300E PAC 031-1053-00 Big discount
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Introduction
Only one main program is allowed in the robot program memory; all routines and data are shared by the system, no matter which module exists; all routines and data must be unique, unless otherwise specified.
1, the application (Program) of the composition:
The main module (Mainmodule)
Mainroutine
Programdata
Routines
· Program modules (Programmodules)
Programdata
Routines
2, the system module (Systemmodules) of the composition:
System data
Routines
All ABB robots come with two system modules, the USER module and the BASE module. Depending on the robot application, some robots are equipped with the system modules for the respective application. It is not recommended to modify any automatically generated system module.
Second, the programming window:
1, the menu key File:
Open: Open an existing file. (Program.prg or module.mod)
2, New: create a new program.
3, Saveprogram: save the changed existing program.
4, Saveprogramas: store a new program.
5, Print: print program, is now not used.
6, Preferences: define user-defined instruction set.
7, Checkprogram: test program, the cursor will prompt error.
Close: Close the program in the program memory.
9, Savemodule: Save the changed existing module. (Only exists in the Module window)
0, Savemoduleas: store a new module. (Only exists in the Module window)
2, the menu key Edit:
1, Cut: Cut, may lose instruction or data.
2, Copy: copy.
3, Paste: Paste, will cut or copy instructions or data paste to the appropriate location.
4, GotoTop: Move the cursor to the top.
5, GotoBottom: move the cursor to the bottom.
6, Mark: define a piece, blackened part.
7, ChangeSelected: Modify the data in the instruction, you can directly move the cursor to the corresponding position and press the Enter key.
8, Showvalue: input data, the cursor can be directly moved to the corresponding data Press the Enter key.
9, Modpos: modify the robot position, there is a function key.
0, Search: Finding instructions is useful when the program is complicated.
3, menu keys IPL1 and IPL2:
IPL1 and IPL2 are instruction directories.
Which IPL2 Mostcommt1, Mostcommt2 Mostcommt3 user-defined instruction directory can be defined in the menu key File Preference.
4, function keys:
Copy, Paste, Modpos can be found in the menu key Edit.
Test for programming window and test window switch key.
Third, the instructions:
1, the basic movement instruction:
MoveL: Linear Motion
MoveJ: joint axis movement (Joint)
MoveC: Circular motion
P1: target position. (robtarget)
V100: running speed mm / s (speeddata)
Z10: turning area size mm. (zonedata)
Tool1: tool center point TCP. (tooldata)
(1) speed selection: mm / s
Move the cursor to the speed data,
Press Enter to enter the selection window and select the desired speed.
Robot speed belongs to data type speeddata.
Commonly used operating speed in the Base module has been defined.
Special speed can be defined.
· Max speed is v5000, maximum speed defined in Base module is v7000, maximum speed robot may not be able to reach.
(2) corner size selection: mm
· Move the cursor to the size data of the curve area and press the Enter key to enter the selection window and select the desired curve size.
Robot corner size belongs to the data type zonedata.
Common corner zone size has been defined in the Base module.
Special corner area size can be defined.
· Fine refers to the robot TCP reaches the target point, and the target point speed drops to zero, continuous operation, the robot action pause.
· Zone refers to the robot TCP does not reach the target point, continuous operation, the robot moves smoothly and smoothly.
• The corner zone size defined in Base has a minimum size of z1 and a maximum of z200.
Try to use a larger corner area size.
(3) Parameters:
Cursor refers to the current instruction, press the function key OptArg, can choose parameter.
· [ Conc] (switch)
Collaborative exercise. The robot has not moved to the target point and the next instruction has been started.
· [ToPoint] (robtarget)
The target points are automatically generated * when using new instructions.
· [ V] (num)
Definition speed mm / s.
· [ T] (num)
Define time s. Decide speed by time.
· [ Z] (num)
Define the corner area size mm.
· [ Wobj] (wobjdata)
Department of coordinate system using the workpiece.
(4) Function Offs ():
MoveLp1, v100, ...
MoveLp2v100, ...
MoveLp3, v100, ...
MoveLp4, v100, ...
MoveLp1, v100, ...
To accurately determine p1, p2, p3, p4 points, you can use the function Offs ().
· Offs (p1, x, y, z) represents a point offset by x from the p1 point x-axis and y-axis deviation by y and z-axis by z.
· Move the cursor to the target point, press the Enter key to enter the target point selection window, select Func on the function key, and use the switch Offs () to select the function to be used.
MoveLp1, v100, ...
MoveLOffs (p1,100,0,0), v100, ...
MoveLOffs (p1,100, -50,0), v100, ...
MoveLOffs (p1,0, -50,0), v100, ...
MoveLp1, v100, ...
2, spindle motion instruction:
MoveAbsJ, jpos1, v100, z10, tool1
Jpos1: target location. (jointtarget)
V100: running speed mm / s (speeddata)
Z10: turning area size mm. (zonedata)
Tool1: tool center point TCP. (tooldata)
C, the output pulse signal instruction: ulseDO do1
Do1: output signal name. (signaldo) output a pulse signal, the pulse length of 0.2s
Parameters:
· [ PLength] (num) pulse length, 0.1s-32s.
(2) Input signal instruction:
WaitDI di1, 1
Di1: input signal name. (signaldi)
1: status. (dionum)
Parameters:
· [ MaxTime] (num) Waits for input signal for the longest time s.
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If only parameter [ MaxTime] is selected, the robot will stop running after waiting for the longest time, and the corresponding error message will be displayed. If the parameter [ MaxTime] and the parameter [ TimeFlag] are selected at the same time, the robot will automatically execute the next command after waiting for more than the longest time, no matter waiting to be satisfied. The logic is set to FALSE if the corresponding signal is received within the maximum waiting time and the logic is set to TRUE if the maximum latency is exceeded.
4, communication instructions (man-machine dialogue):
(1) Clear screen instruction: TPErase
(2) write screen instruction: PWrite String
Tring: the string displayed. (string) Displays string data on the teach pendant display. You can also define strings directly in the "..." format. Each write screen command displays a maximum of 80 characters.
(3) Function key read command: TPReadFK, Answer, Text, FK1, FK2. FK3, FK4, FK5
CS300E PAC 031-1053-00 was added in Dec 2017
CS300E PAC 031-1053-00 has been viewed 253 times
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