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ABB机器人程序指令汇总

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nal)GetTime([\WDay]|[\Hour]|[\Min]|[\Sec])IndInposMecUnitAxisIndSpeedMecUnitAxis[\InSpeed]|[\ZeroSpeed]IsPers(DatObj)IsVar(DatObj)MirPos(PointMirPlane[\WObj][\MirY])NumToStr(ValDec[\Exp])Offs(PointXOffsetYOffsetZOffset)OrientZYX(ZAngleYAngleXAngle)ORobT(OrgPoint[\InPDisp]|[\InEOffs])PoseInv(Pose)PoseMult(Pose1Pose2)PoseVect(PosePos)Pow(BaseExponent)Present(OptPar)ReadBin(IODevice[\Time])ReadMotor[\MecUnit]AxisReadNum(IODevice[\Time])ReadStr(IODevice[\Time])RelTool(PointDxDyDz[\Rx][\Ry][\Rz])Round(Val[\Dec])Sin(Angle)Sqrt(Value)StrFind(StrChPosSet[\NotInSet])StrLen(Str)StrMap(StrFromMapToMap)StrMatch(StrChPosPattern)StrMemb(StrChPosSet)StrOrder(Str1Str2Order)StrPart(StrChPosLen)StrToByte(ConStr[\Hex]|[\Okt]|[\Bin]|[\Char])StrToVal(StrVal)Tan(Angle)TestDI(Signal)Trunc(Val[\Dec])ValToStr(Val)

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