What are the motion instructions of ABB industrial robots?

ABB industrial robots are automation equipment widely used in manufacturing, logistics, medical and other fields. Their motion instructions are the key to achieving precise control of the robot. The following is a detailed introduction to the motion instructions of ABB industrial robots:

1. Motion Commands Overview

The motion instructions of ABB industrial robots are mainly used to control the robot's motion trajectory, speed, acceleration and other parameters to achieve precise positioning and operation. There are many types of motion instructions, which can be selected according to different application scenarios and needs.

1. Basic movement instructions

2.1 Linear motion (Lin)

Linear motion instructions are used to control the robot to move along a straight line path. Its basic syntax is:

Lin P1, V, Zone, T

Among them, P1 represents the target position, V represents the speed, Zone represents the safety area, and T represents the tool.

2.2 Circular motion (Circ)

The circular motion instruction is used to control the robot to move along a circular path. Its basic syntax is:

Circ P1, P2, R, V, Zone, T

Among them, P1 and P2 represent the starting point and end point of the arc respectively, R represents the arc radius, V represents the speed, Zone represents the safety zone, and T represents the tool.

2.3 Point-to-Point Movement (PTP)

Point-to-point motion instructions are used to control the robot to move quickly from one position to another. Its basic syntax is:

PTP P1, V, Zone, T

Among them, P1 represents the target position, V represents the speed, Zone represents the safety area, and T represents the tool.

1. Complex motion instructions

3.1 Multi-axis Synchronous Motion (MCS)

Multi-axis synchronous motion instructions are used to control multiple robot axes to move simultaneously to achieve complex motion trajectories. Its basic syntax is:

MCS P1, V, A, Zone, T

Among them, P1 represents the target position, V represents the velocity, A represents the acceleration, Zone represents the safety area, and T represents the tool.

3.2 Tool-Oriented Locomotion (TOL)

Tool-oriented motion instructions are used to control the robot to move according to the direction of the tool. Its basic syntax is:

TOL P1, V, Zone, T

Among them, P1 represents the target position, V represents the speed, Zone represents the safety area, and T represents the tool.

3.3 Orient

The posture control motion instruction is used to control the robot to keep the posture of the tool unchanged during the movement. Its basic syntax is:

Orient P1, V, A, Zone, T

Among them, P1 represents the target position, V represents the velocity, A represents the acceleration, Zone represents the safety area, and T represents the tool.

1. Motion control parameters

4.1 Speed ​​(V)

The speed parameter is used to control the robot's movement speed. The speed can be a constant or a variable. In the motion instructions, the speed is usually expressed in meters per second (m/s) or degrees per second (°/s).

4.2 Acceleration (A)

The acceleration parameter is used to control the acceleration of the robot. Acceleration can be a constant or a variable. In motion instructions, acceleration is usually expressed in meters per second squared (m/s²) or degrees per second squared (°/s²).

4.3 Security Zone

The safety zone parameter is used to control the robot to maintain a certain safety distance during movement. The safety zone can be fixed or variable. In the movement instructions, the safety zone is usually in millimeters (mm).

4.4 Tools (T)

Tool parameters are used to specify the end effector used by the robot during motion. Tools can be manipulators, welding guns, spray guns, etc. In motion instructions, tools are usually represented in the form of T1, T2, etc.

1. Application scenarios of motion instructions

5.1 Manufacturing

In the manufacturing industry, the motion instructions of ABB industrial robots can be used to realize automated assembly, welding, spraying, polishing and other process.

5.2 Logistics

In the field of logistics, the motion instructions of ABB industrial robots can be used to realize automated handling, sorting, packaging and other operations.

5.3 Medical

In the medical field, the motion instructions of ABB industrial robots can be used to realize automated surgery, drug distribution, laboratory testing and other operations.

1. Programming method of motion instructions

6.1 Manual Programming

Manual programming is to input and control motion instructions by writing robot control programs. This method is suitable for simple motion trajectories and operations.

6.2 Offline Programming

Offline programming is to use professional robot programming software to input and control motion instructions. This method is suitable for complex motion trajectories and operations.

6.3 Visual Programming

Visual programming is to use the robot's visual system to input and control motion instructions. This method is suitable for scenarios where real-time adjustment of motion trajectory and operation is required.

1. in conclusion

The motion instructions of ABB industrial robots are the key to achieving precise control of robots. By mastering different motion instructions and control parameters, various application scenarios and needs can be met. At the same time, combining manual programming, offline programming and visual programming methods can further improve the robot's motion control ability and flexibility.