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GB/T 39134-2020: Industrial robot numerical control system of machine tool - Programming language
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| GB/T 39134-2020 | English | 489 |
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Industrial robot numerical control system of machine tool - Programming language
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GB/T 39134-2020
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Basic data | Standard ID | GB/T 39134-2020 (GB/T39134-2020) | | Description (Translated English) | Industrial robot numerical control system of machine tool - Programming language | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | J50 | | Classification of International Standard | 25.040.20 | | Word Count Estimation | 26,256 | | Date of Issue | 2020-10-11 | | Date of Implementation | 2021-05-01 | | Regulation (derived from) | National Standard Announcement No. 21 of 2020 | | Issuing agency(ies) | State Administration for Market Regulation, China National Standardization Administration | GB/T 39134-2020: Industrial robot numerical control system of machine tool - Programming language---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
Industrial robot numerical control system of machine tool - Programming language
ICS 25.040.20
J50
National Standards of People's Republic of China
CNC system for machine tool industrial robot
Programming language
2020-10-11 released
2021-05-01 implementation
State Administration for Market Regulation
Issued by the National Standardization Management Committee
Table of contents
Preface Ⅲ
Introduction Ⅳ
1 Scope 1
2 Terms and definitions 1
3 Programming language and instruction type 2
4 Command function and usage 2
4.1 Motion instruction 2
4.1.1 Overview 2
4.1.2 J command 2
4.1.3 L command 3
4.1.4 C instruction 3
4.1.5 JDO instruction 3
4.1.6 LDO instruction 4
4.1.7 CDO instruction 4
4.1.8 SINGAREA instruction 4
4.2 Force control instructions 5
4.2.1 Overview 5
4.2.2 GRIPLOAD terminal load setting instruction 5
4.2.3 MECHUNITLOAD robot arm load setting instruction 5
4.2.4 FORCEMODE force control mode selection instruction 6
4.2.5 FORCECMD force tracking target value setting instruction 6
4.2.6 FORCEPARA impedance parameter setting instruction 6
4.3 Speed control command 7
4.3.1 Overview 7
4.3.2 ACC acceleration control command 7
4.3.3 VORD speed adjustment command 7
4.4 Coordinate system setting command 7
4.4.1 Overview 7
4.4.2 UT Command 7
4.4.3 UF instruction 8
4.5 Register Operation Instructions 8
4.5.1 Overview 8
4.5.2 General register operation instructions 8
4.5.3 Pose register operation instructions 8
4.5.4 Single-axis operation instruction of pose register 9
4.5.5 Digital input and output register operation instructions 9
4.5.6 Analog input and output operation instructions 10
4.6 Data processing instructions 10
4.6.1 Overview 10
4.6.2 BITC reset command 11
4.6.3 BITS set instruction 11
4.6.4 CLEARBUF serial input buffer clear instruction 11
4.7 Process control instructions 11
4.7.1 Overview 11
4.7.2 IF logic judgment instruction 11
4.7.3 SELECT condition selection instruction 12
4.7.4 CALL program call instruction 12
4.7.5 GOTO program jump instruction 12
4.7.6 LBL program label instruction 12
4.7.7 STOPMOTION pause the current program motion line instruction 13
4.7.8 CALLBYV variable call program instruction 13
4.8 Position compensation command 13
4.8.1 OFFSETCONDITION conditional compensation instruction 13
4.8.2 OFFSET motion additional instruction 13
4.9 Operation instructions 14
4.9.1 Overview 14
4.9.2 Arithmetic operation instructions 14
4.9.3 Logic Operation Instructions 16
4.10 Other instructions 18
4.10.1 Overview 18
4.10.2 CLEARPATH current path clear instruction 18
4.10.3 TIMER[i] timer instruction 18
4.10.4 WAITDI/DO waiting instructions 18
4.10.5 TRIGGERIO signal trigger command 19
4.10.6 Space area setting command 19
Appendix A (informative appendix) Typical programming program format framework 20
Appendix B (informative appendix) J, L, C instruction optional operating parameter description 21
Foreword
This standard was drafted in accordance with the rules given in GB/T 1.1-2009.
This standard was proposed by China Machinery Industry Federation.
This standard is under the jurisdiction of the National Machine Tool Numerical Control System Standardization Technical Committee (SAC/TC367).
Drafting organizations of this standard. Foshan Institute of Intelligent Equipment Technology, Foshan Huashu Robot Co., Ltd., Chongqing University, Huazhong University of Science and Technology,
Wuhan Huazhong Numerical Control Co., Ltd., Dongguan Institute of Technology.
The main drafters of this standard. Yin Ling, Zhou Xing, Chen Simin, Huang Jian, Gao Meng, Ning Guosong, Yang Lin, Ou Daojiang, Yang Haibin, Li Guolong, Zhang Hangjun,
Jin Jian, Chen Jihong.
Introduction
At present, the application of industrial robots has entered explosive growth. Industrial robots are matched with CNC machine tools in various CNC intelligent processing units.
It has become the core component of the intelligent manufacturing workshop, and the control of the CNC intelligent processing unit with the CNC system has become the current industry trend.
The emerging new application forms put forward new requirements for the programming language of the CNC system to control the industrial robot.
This standard completes the programming code system of the CNC system of machine tool industrial robots, expands the content and meaning of the code, and helps to unify the machine tool industry.
Industrial robot CNC system programming code requirements, guide the industrial robot CNC system programming language to strong functionality, good compatibility, and universal
The development in the direction of high performance makes the programming operation of industrial robots safer, simpler and more efficient, and enhances the operating experience. The designation of this standard
Technical exchanges and technological progress in the field are of great significance to accelerate the application and promotion of industrial robots.
Programming language for CNC system of machine tool industrial robot
1 Scope
This standard specifies the programming language of the CNC system of machine tool industrial robots, as well as the type, function and usage of the instructions in the programming language.
This standard applies to CNC systems for machine tools and industrial robots. Robot control systems for other purposes can refer to this standard.
2 Terms and definitions
The following terms and definitions apply to this document.
2.1
Movement instructions
Relevant instructions for the rotation and movement control of each joint of the industrial robot.
[GB/T 29824-2013, definition 2.1]
2.2
Motion additional instructions
Additional, specific parameter settings or task instructions in the motion instructions of the industrial robot to realize the characteristics of the industrial robot during the motion process
Set tasks.
2.3
Force control command
Relevant instructions for setting and controlling the load or force of industrial robots in different working states and different working objects.
2.4
Speed control command
Related commands for setting the motion speed, acceleration, and jerk of the industrial robot joints or motion axes.
2.5
Cooperative control instructions
When an industrial robot is working in coordination with other equipment, it is the relevant instructions to control the synchronization and sequential operation of its peripheral equipment.
2.6
Coordinate system setting command
Relevant instructions for setting and operating the industrial robot coordinate system.
2.7
Register operation instructions
The related register configuration and operation instructions involved in programming the industrial robot numerical control system.
2.8
Data processing instructions
Relevant instructions for setting and clearing program data.
Rewrite [GB/T 29824-2013, definition 2.2]
2.9
Flow control instructions
Instructions that affect the execution sequence of industrial robot operating procedures.
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