is there a manual to learn how to right a rapid pr

amindari

hi there,i'm a new user of abb1400,we use it in our design lab in deu university.

i have to give some simple moves to different axis of the robot . can anyone help me,how do i gonna write the rapid prog ???? and whether if there are any samples of the prog ??

thank you

graemepaulin

Hi,

 

To move the different axis of the robot use the MovAbsJ command.

Below is the example text from the RAPID manual, you can put the required angles for each axis into the data type JointTarget, or you can teach (modpos) the point, or assign them ito the postion via the code.

 

MoveAbsJ p50, v1000, z50, tool2;

The robot with the tool tool2 is moved along a non-linear path to the absolute axis position,p50, with velocity data v1000 and zone data z50.

 

Normally you do not care aboot the postions of the robot axis, only where the tool of the robot is (the Tool Center Point) TCP).

You would then use MoveJ, MoveL, or MoveC, where the postion is stored as X,Y,Z corordinates and rotation.

 

Hope this helps.

 

Regards

Graeme

amindari

thank you so much  graeme

for example if i want to move the first axe ,15 degress,what would be the rapid robot ?

if doesnt take time can you write the whol prog ?

 as i said ,im new user, and have no idea about rapid .!

graemepaulin

Hi,

 

Sorry about the delay, try this:

 

MODULE testit

      PERS jointtarget robot_pos1 := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E+09,9E+09, 9E+09, 9E+09, 9E+09] ];

      VAR num Axis1Val;

  PROC Main()

      TPErase;

      TPReadNum Axis1Val,"Enter axis one value ";

      robot_pos1.robax.rax_1:=Axis1Val;

      MoveAbsJ robot_pos1, v1000, z50, tool0;

  ENDPROC

ENDMODULE

 

If you run the program from the virtual Flexpendant you enter the number of degrees that you want the robot (axis one) to move to, then the robot will move there.

 

Regards

Graeme

graemepaulin2010-12-02 09:49:38

amindari

thank you so much for your reply mr.paulin

yes i wrote the prog and it worked so well.but what my teacher wants from me is,to run a module with pc whitout using flexpendent.

i mean he wants to rotate the first axe from pc whitout using flexpendent.and im confused,i checked the robotstudio-online but i couldnt find anythin,i can only transfer module to controller and run it from flexpendent.

how can i run a module from pc ????

charon

Hi amindari,

You can execute a program module from PC if you have "PC Interface" option on your controller. PC SDK manual has detailed sample codes for computer program which is written in C#.

BR.

doc-zee

Hi,charon!

can you give me some code example that can change the angle for each axis ?i can`t find the code in manual!

 

 

 

 

 

regards!!!