ABB Robotics Basics

I. Program memory (Programmemory) composition:

Application programme (Program) System module (Systemmodules)

Robot programme memory, only allows the existence of a main program; all routines and data regardless of which module exists, all shared by the system; all routines and data in addition to special definitions, the name must be unique.

1. the composition of the application (Program):

-Main module (Mainmodule) Main program (Mainroutine) Program data (Programdata) Routines (Routines)

-Programmodules Programdata Routines

2. Composition of Systemmodules:

-Systemdata.

-Routines (Routines)

All ABB robots come with two system modules, the USER module and the BASE module. Depending on the application of the robot, some robots are equipped with system modules for the corresponding application. It is recommended not to modify any of the automatically generated system modules.

Second, ABB robot programming instructions and their meanings:

Link: This document is more comprehensive and instructions in accordance with the first letter of the alphabet is sorted very good to find what they need to know.

Third, ABB robots commonly used data types:

ABB robot data storage describes the properties of the robot controller inside the ABB robot controller data types up to more than 100 kinds of common data types including basic data, i/o data, motion-related data.

1. basic data

bool Logical value: the logical state given in the true or false. Logical value has two cases: established and not established, the logical value is true using true or 1 that is not established, the logical value is false using false or 0 that is

byte byte value: used to measure the storage capacity of a unit of measurement, the value range is (0-255)

num numeric value: variable, can store integer or decimal integer value range (-8388607~8388608)

dnum double numeric: can store integer and decimal, integer value range (-4503599627370495~+4503599627370496)

string String: string is a string of characters consisting of numbers, letters, and underscores. He represents the data type of text in programming languages.

==stringdig == numeric-only string: can handle positive integers not larger than 4294967295

2. i/o Data

dionum digital value: take the value of 0 or 1 for processing digital i/o signals, digital i/o signals in the 0 as a low level 0 ~ 0.7v, 1 as a high level 3.4 ~ 5.0v

signaldi/do Digital input/output signals: binary value input and output, such as switch on is 1. off is 0.

signalgi/go Digital Input/Output Signal Group: Multiple digital inputs or outputs are used in combination.

signalai analogue input: for example, a temperature value is collected by a temperature sampler, which has to be converted into a binary number that can be recognised by the PLC through a transmitter.

signalao analogue output: data - transmitter - actuator

3、Operation related data

robtarget Position data: Defines the position of the robot arm and additional axes.

robjoint Joint data: Define the position of each joint of the robotic arm.

speeddate Speed data: defines the movement rate of the robotic arm and the axes, and contains four parameters:

v_tcp denotes the tool centre point rate in mm/s; v_ori denotes the TCP repositioning rate in mm/s.

v_ori denotes the TCP repositioning rate in (°)/s; and

v_leax denotes the linear external axis rate in mm/s; v_reax denotes the rotary external axis rate in (°)/s; and

v_reax denotes the rate of rotational external axis in (°)/s

zonedata: also known as turn radius, this is used to define how close the robot axis will be to the programmed position before moving towards the next travelling position

tooldata Tool data: Used to define the characteristics of the tool, including the position and orientation of the tool centre point (TCP), and the load of the tool

wobjdata Workpiece data: used to define the position and state of the workpiece

loaddata load data: used to define the load of the robot arm mounting interface

4、Data storage type

ABB robot data storage type is divided into three kinds

CONST Constant: The data has been given a value at the time of definition, and cannot be modified in the programme unless it is manually modified.