Implementation of Application Oriented Function Packages in a Robot Control System

摘要

This paper describes the application programming facilities of a modern robot control system, the ABB Robotics' S4 system. Application packages might be developed using three levels of programming, intended for different users and for different requirements of functionality and system customization. The first and uppermost level uses the robot programming language RAPID and the normal, built in instructions and functions available in the language. The second level uses a broad spectrum of built in tools, designed to facilitate the customization of robot installation. A spot welding package will illustrate this level. The third level, which is directed towards the advanced application engineer, uses C-language in combination with specific system functions to form an application development shell, called REAL. This level is exemplified with an arc welding package.