IEC6113-3 Standard - supported programming languages

IEC6113-3 Standard - supported programming languages :

• Instruction List (IL)
• Ladder Diagram (LD)
• Structured Text (ST)
• Sequential Function Chart (SFC)
• Function Block Diagram (FBD)

ABB Control Builder for various ABB products supports all these programming languages.

ABB Robotstudio Tutorial, part 1 - Basic Station

I have started a series of tutorials for teaching how to work with Robotstudio for students at Robotica Osloensis

Reading a value from FlexPendant in ABB Robots, TPRead

On ABB robots, one have access to a syntax in RAPID programming language called TPRead. TPRead allows the programmer to read live values from the user (operator) while your code is being run.

TPReadNum reg1,"Text";


PROC readJNumFromPendant()
TPErase;
TPReadNum reg1,"Enter Input Number?";
readValue := reg1;
TPWrite "Read Value is: " + ValToStr(testRead);
ENDPROC

RAPID_refer4.0

Breaking a loop in Rapid ABB

To break an infinite loop in Rapid ABB try the following code:

WHILE (TRUE)
      Counter = Counter + 1;
      IF (Counter = 5) THEN
           Return;
     ENDIF
ENDWHILE

Reseting program pointer, ABB PC SDK

ResetProgramPointer method

Using ResetProgramPointer you can set the program pointer to the main entry point of the task.

VB:

aTask.ResetProgramPointer()

C#:

aTask.ResetProgramPointer();

Stop [ \NoRegain ], ABB RAPID

MoveL point_1, v1000, z10, tool1;
TPWrite “Jog the robot to the position for pallet corner 1”;
Stop \NoRegain;
p1_read := CRobT();
MoveL point_2, v500, z50, tool1;

Program execution stops with the robot at point_1. The operator jogs the robot to p1_read. For the next program start, the robot does not regain to point_1, so the position p1_read can be stored in the program

Printing out with ABB Rapid, TPWrite

TPWrite "The value is now "+ValToStr(pTemp.extax.eax_c);


This command would print out the data on FlexPendant. In robotStduio this would not be written in the output window(!), but you can follow this in Virtual FlexPendant.

For loop in ABB Rapid programming language

FOR index FROM initial_value TO final_value DO
      //Do Following ...
ENDFOR