ABB DSDX453 5716075-AN扩展单元模块
修改指令大多数指令都有参数，用于指定如何执行指令。例如，MoveL指令具有指定机器人移动到目标的速度和精度的参数。有关步骤，请参阅第405页的修改说明。注意！从虚拟控制器读取一些参数。如果虚拟控制器尚未启动，则只能修改存储在工作站中的参数。转换为循环移动要向指令目标创建循环运动，必须将运动类型转换为循环运动（即RAPID中的MoveC）。圆形运动由两条运动指令定义，其中第一条是通过点，第二条包含圆形运动的终点。圆周运动只能用于开放圆弧，而不能用于闭合圆。要创建闭合圆的路径，请使用两个圆形运动创建RAPID指令以设置I/O信号。为了控制机器人程序中的I/O信号，可以使用RAPID命令来设置信号。这些要求您首先为设置信号的指令创建指令模板。
Modifying an instruction
Most instructions have arguments that specify how the instruction shall be carried out. For
example, the MoveL instruction has arguments that specify the speed and accuracy with
which the robot moves to the target.
For a procedure, see Modify Instruction on page 405.
NOTE!
Some arguments are read from the virtual controller. If the virtual controller has not been
started, only the arguments stored in the station can be modified.
Converting to move circular
To create a circular motion to an instruction target, you must convert the motion type to
circular motion (that is, MoveC in RAPID).
A circular motion is defined by two motion instructions, where the first is the via-point and
the second contains the end point of the circular motion.
The circular motion can only be used for open circular arcs, not for closed circles. To create
a path for a closed circle, use two circular motions Creating RAPID instructions for setting I/O signals
For controlling I/O signals in the robot program, you use RAPID commands that set the
signals. These require that you first create instruction templates for the instructions that set
the signals.
