DCS spare parts of ABB distributed control system UNS0874A automatic controller

Description

UNS0874A usually contains a RAPID program and system module for each task, and realizes a specific function (such as spot welding or manipulator movement). A RAPID application contains a task. Multiple tasks can be included if the Multitasking option is installed.
Task Attribute Parameters
The task attribute parameter sets specific attributes for all task items. UNS0874A Any program stored in a task will use the attributes set for that task.

program
Each program usually contains a program module of RAPID code with different functions. All programs must define executable entry routines. Each program module contains data and routines for a specific function.
UNS0874A program module
After the program is divided into different modules, the appearance of the program can be improved and it is easy to handle. Each module represents a specific robot action or similar action. When a program is deleted from the controller program memory, all program modules are also deleted. Program modules are usually written by users.
data
Data is the value and definition set in a program or system module. Data is referenced by instructions in the same module or modules (its availability depends on the data type).
routine
Routines contain instruction sets that define the tasks that the robot system actually performs. The routine also contains the data required by the instruction.
Entry routine
The special routine sometimes called “main” in English is defined as the starting point of program execution. Each program must contain an entry routine named “main”, otherwise the program cannot be executed.
instructions
An instruction is an execution request for a specific event. For example, Run Manipulator TCP to a Specific Location or Set a Specific Digital Output.
Preparation for programming:
1) Programming tools:
You can program using FlexPendant and RobotStudio Online. For basic programming, it is easier to use RobotStudio Online, while FlexPendant is more suitable for modifying programs, such as location and path.
2) Define tools, payloads and workpieces:
Define the tool, payload, and workpiece before starting programming. Then, you can go back at any time and define more objects, but you should define some basic objects in advance.
3. Define the coordinate system
Make sure that the base coordinate system and geodetic coordinate system have been set during the robot system installation. Also make sure that the additional axis is set. Before starting programming, define the tool coordinate system and the workpiece coordinate system as required. When adding more objects in the future, you also need to define the corresponding coordinate system.

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