The beginning of the ABB robotics programming language adds , What does it mean

Robot programming languages vary from vendor to vendor.

In terms of style, it is mainly divided into Europe and the United States, such as kuka and abb; and Japanese, such as motoman, fanuc. Two categories.

The difference is that Europeans think that you should program on the computer first, and then use the teaching pendant to set the coordinates of the tool points and the robot hand posture. The Japanese believe that you should write down your ideas in a notebook first, and then use the teaching box to press the program little by little.

In terms of programming language style, similar high-level languages in Europe and the United States (relatively speaking), similar to C or Python. The Japanese feel is a lot like a compilation, and if you've used a CNC machine, you'll be familiar with it.

But now, even in Japan, there is a shift towards offline programming and graphics. In other words, the 3D drawings of the project (Pro E, Catia, SOLIDWORKS, etc.) are imported into the offline programming software, and then the motion simulation path is planned for direct programming.

Therefore, if the landlord wants to learn robot programming, he can first understand object-oriented programming, and then go to the assembly workshop more, communicate with workers, and test equipment. Learning on the job and staying under pressure are the most effective.

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1. Absolute position motion means that each axis of the robot has an absolute zero point, and each axis of the robot at any position is how many angles are turned at the position of the absolute zero point (or how many pulses of the absolute encoder of each axis), any form of motion trajectory is to mark each program point in this way, and the specific point-to-point motion trajectory can be selected in three ways: straight line, arc and each axis reaches the target point at the fastest speed, in which the straight line and arc trajectory are regular, and the axis trajectory is irregular and difficult to control.

2. Similarly, the angle of the external axis is also how many angles it rotates relative to the zero point after setting a zero point.

3. The external shaft refers to the shaft that is configured according to the needs in addition to the shaft of the robot itself, such as positioner, spot welding pliers, etc.

4. The turning data refers to the proximity or accuracy of the robot to each program point in the process of walking, the smaller the data, the closer to the teaching program point, the higher the accuracy; The larger the data, the more it deviates from the teach-in point, and the lower the accuracy.

As shown in the figure below, P1, P2, and P3 are the actual teaching points, and the curve is the trajectory point of the robot.

The number of keywords for ABB robot programming is not fixed, because different machines and programming languages may have different keyword sets. However, typically, the number of keywords used in ABB robot programming is relatively small, generally around a few hundred to a thousand.

Here are some common ABB robot programming keywords:

Common keywords for scum in g** (g** is a general-purpose robot programming language) include:

M03 (Move quickly to a safe location).

g90 (absolute coordinate mode).

g28 (back to the default position).

Common keywords in o** (o** is an object-oriented robotics programming language) include:

task

robot

event

variable

Common keywords in D** (D** is a specialized programming language for ABB robots) include:

move

joint

load

This is an offline mode under the manual control of the ABB robot.

X, Y, Z is the end of the robot according to the linear coordinates of the movement, in the ABB robot is generally six axes, that is, there are 6 degrees of freedom, then the target motion is only X, Y, Z motion three degrees of freedom, so from the robot motion equation to achieve X, Y, Z three-way motion, it is necessary to add three degrees of freedom, that is, Q1, Q2, Q3 three parameters, so that this equation can determine the only solution, otherwise it is multiple solutions, that is, the control is uncertain, to achieve X, Y,Z three movements can be in many ways, then the robot doesn't know how to move, so it is necessary to supplement the parameters Q1,Q2,Q3,Q4 is the coordination parameter, mainly in the linear motion mode of our robot is prone to singularity, this has played with industrial robots should be encountered, and under the control of the axis mode, there will be no problem.