Programming And Testing - ABB IRB 14000 Operating Manual

3 Using the IRB 14000

3.7 Programming and testing

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:
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 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
Continues on next page
42
! 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;
! 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;
© Copyright 2015-2018 ABB. All rights reserved.
Operating manual - IRB 14000
3HAC052986-001 Revision: E