ABB IRB 14000, Operating Manual

Page: 42 / 72

3.7 Programming and testing
Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths,
while RobotStudio is preferred for more complex programming.
How to program using the FlexPendant is described in Operating manual - IRC5
with FlexPendant .
How to program using RobotStudio is described in Operating manual - RobotStudio .
Programming language
For more information about the RAPID language and structure, see Technical
reference manual - RAPID overview and Technical reference manual - RAPID
Instructions, Functions and Data types .
Programming Move-instructions
When programming a
jointtarget
for a 7-axis robot, the value of axis 7 (in
degrees) is stored as the first external axis value in the
jointtarget
data.
Example:
! The value 135 is the angle of axis 7 in degrees:
CONST jointtarget myjointtarget := [[0,-130,30,0,40,0],
[135,9E+09,9E+09,9E+09,9E+09,9E+09]];
MoveAbsJ myjointtarget \NoEOffs, v1000, fine, tool0;
When programming a
robtarget
for a 7-axis robot, the arm-angle is stored as
the first external axis value in the
robtarget
data.
Example:
! The value 107.816 is the calculated arm-angle:
CONST robtarget myrobtarget :=
[[-9,182,198],[0.0660087,0.84242,-0.111216,0.52307],[0,0,0,11],
[107.816,9E+09,9E+09,9E+09,9E+09,9E+09]];
MoveL myrobtarget \NoEOffs, v1000, fine, tool0;
The arm-angle can, in a simplified way, be described as the angle of the arm seen
from an axis that goes from the centre of axis 2 to the centre of the WCP (wrist
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42 Operating manual - IRB 14000
3HAC052986-001 Revision: E
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3 Using the IRB 14000
3.7 Programming and testing