What does call mean in the detailed explanation of ABB robot programming instructions?

The "call" instruction in the ABB robot programming instructions is a very important instruction, which allows the programmer to call another program or subroutine in the program.

Overview

In ABB robot programming, a program is composed of a series of instructions that control the movement, operation and logic of the robot. However, as the complexity of the program increases, putting all instructions in one program may make the code difficult to maintain and understand. To solve this problem, ABB provides the "call" instruction, which allows programmers to encapsulate a part of the code into a subroutine and then call this subroutine in the main program.

grammar

The basic syntax of the "call" instruction is as follows:

call [with ]

in:

`` is the name of the subroutine to be called.

[with ] is an optional parameter list used to pass data to the subroutine.

Function

The main function of the "call" instruction is to call a subroutine. A subroutine can be an independent program or a program block. Using the "call" instruction, programmers can encapsulate reusable code or complex logic in a subroutine, and then call this subroutine through the "call" instruction in the main program. This helps improve the readability, maintainability and reusability of the code.

Usage scenarios

Here are some common scenarios where the "call" instruction is used:

Reusable code: If a piece of code appears multiple times in a program, you can encapsulate it into a subroutine and then call it using the "call" instruction where needed.

Complex logic: If a certain logic in the program is complex, you can encapsulate this logic into a subroutine to simplify the main program code.

Parameterized operation: If an operation needs to execute different logic according to different parameters, you can encapsulate this operation into a subroutine and pass the corresponding parameters when calling it.

Example

Here is an example using the "call" instruction:

Suppose we have a robot that needs to perform the same operation at different locations. We can encapsulate this operation into a subroutine and then call this subroutine in the main program.

Subroutine (named "do_operation"):

do_operation:

MoveJ p1, v100, z100

WaitTime 1

MoveJ p2, v100, z100

WaitTime 1

EndSub

Main program:

MainProgram:

MoveJ home, v100, z100

call do_operation with p1:=[100, 0, 0, 0, 0, 90], p2:=[200, 0, 0, 0, 0, 90]

MoveJ home, v100, z100

call do_operation with p1:=[-100, 0, 0, 0, 0, 90], p2:=[-200, 0, 0, 0, 0, 90]

EndProgram

In this example, we defined a subroutine called "do_operation" that accepts two parameters p1 and p2. In the main program, we called the "do_operation" subroutine twice using the "call" instruction, passing different parameters each time.

Precautions

When using the "call" instruction, please note the following points:

Subprogram names should be unique to avoid confusion with other programs or subprograms.

When calling a subroutine, make sure the parameters you pass are consistent with the type and number of parameters defined in the subroutine.

If a subroutine needs to return a value, it can use the "return" instruction to return the value to the main program.

When writing a subroutine, make sure that the logic of the subroutine is independent and does not depend on the context of the main program.

in conclusion

The "call" instruction is a very useful tool in ABB robot programming. It allows programmers to encapsulate code into subroutines and then call these subroutines in the main program. This helps improve the readability, maintainability and reusability of the code. By using the "call" instruction properly, programmers can write more concise and efficient robot programs.