ABB CS513K01 3BSE004772R1 module (ABB S800 communication card)

Description

Compared with the general domestic and Japanese robots, CS513K01 is much more convenient in terms of programming flexibility. For example, if you use the PERS prefix to declare variables of any type, or even user-defined data type variables, you can permanently save the data, and the number of saved variables is basically unlimited
For another example, it is extremely convenient to obtain the specified direction component of position data, p1.trans Z is the distance from p1 position to the origin of the workpiece coordinate system in the z axis direction. This paper briefly introduces the development process of ABB robot instructions, which is actually to write programs with parameters attached.

Several basic concepts need to be clarified before programming.
CS513K01 Tasks and Modules
RAPID applications are called a task. A task consists of a set of modules. A module contains a set of data and program declarations.
CS513K01 Data type:
Atomic (built-in atomic/basic data type) data type:
1. Bool is an enumeration type, and its value is true or false, providing a way to carry out logical calculation and correlation calculation.
2. The num type supports accurate arithmetic calculation and approximate arithmetic calculation.
3. The string type represents a character sequence.
Record data type: a composite type with named ordered components. The value of record type is a composite value composed of the values of each component. A component can be of atomic type or record type, and the user-defined complex data type is generally of record type. Built in record types include:
1. The pos type represents the spatial position (vector).
2. The orient type represents the orientation in space.
3. The pose type represents the coordinate system (position/azimuth combination).
The alias data type is defined as equivalent to another type. The alias type provides an object classification method. The system can use alias classification to find and display objects related to types. The built-in alias data includes errnum and intnum. Errnum and intnum are aliases of num, which are used to represent error and interrupt numbers.
Data object:
There are four types of data objects: constant (CONST), variable (VAR), permanent data object (PERS), and parameter. Permanency (data objects) can be described as “permanent” variables. Persistent variables hold values between sessions. At the beginning of each new session, that is, when the module is loaded (module variable) or the program is called (program variable), the variable value will be lost (reinitialized).
Procedure:
Rapid programs are divided into three categories: non return value programs (PROC), return value programs (FUNC) and soft interrupt programs. The program declaration specifies the following contents of the program: name, data type (valid only for programs with return values), parameter (not applicable to soft interrupt programs), data declaration and statement (body), fallback processor (valid only for programs without return values), error processor and rollback processor
The parameter list declared by the program specifies the parameters (arguments) that must/can be provided when calling the program. The parameters will be required or optional. Optional parameters can be omitted from the parameter list of the program call, and the symbol “” is required for declaration or call. Two or more optional parameters can be declared to be mutually exclusive (separated by the symbol “|”. In this case, at most one of the optional parameters can be used in the program call. You can use the predefined return value program Present to test the existence of optional parameters. You can assign a special type switch to optional parameters, which can provide a means of using “switch type parameters”, that is, parameters given only by name (non value). The switch type field is empty, and no value can be transferred to the switch type parameter.

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