The ABB industrial robot program uses the RAPID language, and the RAPID language supports hierarchical programming. In a hierarchical programming scheme, new programs, data objects, and data types can be installed for a particular robotic system. The program can customize the programming environment (expanding the functionality of the programming environment) and is fully supported by the RAPID programming language. In addition, the RAPID language comes with several powerful features:
• Modular programming of tasks and modules
• No return value program and program with return value
• Type definition
排列五质合走势图• Variables, permanent data objects, constants
• Control structure
排列五质合走势图• Step back execution support
排列五质合走势图• Error recovery
排列五质合走势图• Undo execution support
排列五质合走势图• Interrupt processing
What these said means that the language of ABB industrial robot programming is a high-level language similar to VB and C.
Typical industrial robot motions are controlled by programs. A typical program consists of a main program framework, a logic control section, a motion execution section, an IO control section, and a communication transmission section. We will talk about the smallest program next, including only the main program framework and motion execution.
排列五质合走势图1. The main program framework is as follows:
MODULE MainModule main module
PROC main() main program
<SMT> instruction section
ENDPROC ends the main program
ENDMODULE ends the main module
排列五质合走势图2. Instructions section:
Motion instruction - MoveL
排列五质合走势图Application: The robot moves to the target point in a linear movement mode. The current point and the target point determine a straight line. The robot's motion state is controllable, the motion path remains unique, and singularities may occur, which are often used to move the robot in the working state.
排列五质合走势图Motion instruction - MoveJ
Application: The robot moves to the target point in the quickest way. The robot's motion state is not completely controllable, but the motion path remains unique, which is often used for robots to move in a wide range of space.