If you want to trigg signals on the move without having multitasking on your ABB robot, triggLIOs would help you. This signal would help you to set values to different types of signals (up to 50). One could set Digital Output / Analog Ouput / String Output or Group Output signals with help of this command. This commands also allows one the choice to trigger signals based on distance / time after the start or distance to the end of the movement.
ABB Robots Family
See below examples from RAPID (ABB robots programming language) reference manual:
TriggLIOs [\Conc] ToPoint [\ID] Speed [\T] [\TriggData1] [\TriggData2] [\TriggData3] Zone [\Inpos] Tool [\WObj] [\Corr] [\TLoad]
If you cant think of programming without Notepad++ and you would like to write your ABB RAPID codes in Notepad++, then you are in the right page. Thanks to the chinese website whose link also follows (as source), I have found an XML file (plugin) that would add the ABB RAPID syntax highlighting to Notepad++. Download the XML file from the download link and follow the instruction with screenshots down here.
XML file download link.
View – User Defined Dialogue
User Defined Dialogue – Import – Select XML file
Notepad++ with ABB RAPID highlighting
Source : http://www.brucebot.com/2010/07/rapid-for-notepad/
To break an infinite loop in Rapid ABB try the following code:
Counter = Counter + 1;
IF (Counter = 5) THEN
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,”Enter Input Number?”;
readValue := reg1;
TPWrite “Read Value is: ” + ValToStr(testRead);
This is a sample code to show how this cheap component from DealExtreme works with Ardunio (2.5$ with free shipping). These are very useful sensors for building [b]firefighting robots[/b] Look at the sample code for more info.
Sensor detecting match flame
This week I hold my first course in ABB Robotstudio for a course at university of Oslo (INF3480, introduction to robotics). I was a guest lecture and hold a 2 hours lecture about offline visual programming and simulation for industrial manipulators (with focus on ABB robots with Robotstudio). I would be also holding a course (introduction to ABB Robotstudio) for Robotica Osloensis at university of Oslo on Friday 27.04.12 which would be much more practical for senior university students who are entering the job market.
The lecture notes(in PDF format) could be downloaded from here.
Robotstudio lecture at Introduction to Robotics course
Robotstudio workshop at Robotica Osloensis, UiO
MoveL point_1, v1000, z10, tool1;
TPWrite “Jog the robot to the position for pallet corner 1”;
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
Using ResetProgramPointer you can set the program pointer to the main entry point of the task.
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.