ControllerState

  1. init: The robot is starting up. It will shift to state motors off when it has started.
  2. motoroff: The robot is in a standby state where there is no power to the robot’s motors. The state has to be shifted to motors on before the robot can move.
  3. motoron: The robot is ready to move, either by jogging or by running programs.
  4. guardstop: The robot is stopped because the safety runchain is opened. For instance, a door to the robot’s cell might be open.
  5. emergencystop: The robot is stopped because emergency stop was activated.
  6. emergencystopreset: The robot is ready to leave emergency stop state. The emergency stop is no longer activated, but the state transition isn’t yet confirmed.
  7. sysfail: The robot is in a system failure state. Restart required.

日志文件夹

ControllerOperatingMode

  1. INIT : State init
  2. AUTO_CH : State change request for automatic mode
  3. MANF_CH : State change request for manual mode & full speed
  4. MANR : State manual mode & reduced speed
  5. MANF : State manual mode & full speed
  6. AUTO : State automatic mode
  7. UNDEF : Undefined

日志文件夹

ExecutionStatus

ctrlexecstate Rapid execution state {running | stopped}

日志文件夹

ExecutionCycle

cycle Current run mode { forever | asis | once | oncedone }
日志文件夹

ExecutionLevel

日志文件夹

ExecutionMode

日志文件夹

TaskExecutionStatus

日志文件夹

MechanicalUnitStatus

日志文件夹

PCSDK Redistributable

A PC SDK application requires RobotStudio or ABB Robot Communications Runtime to connect to a controller in run-time. The latter is included in the RobotStudio installation. For the PC SDK to establish a connection either RobotStudio or Robot Communications Runtime must be installed on the PC hosting the PC SDK application. Robot Communications Runtime can be installed from \Redistributable\RobotCommunicationRuntime, if RobotStudio is not installed.

  1. RobotCommunicationRuntime安装目录：C:\Program Files (x86)\Common Files\ABB Industrial IT\Robotics IT，如果单独安装RobotCommunicationRuntime而不安装PCSDK，会多出一个文件夹C:\Program Files (x86)\Common Files\ABB Industrial IT\Robotics IT\RobVCCommon
  2. PCSDK安装目录：C:\Program Files (x86)\ABB\SDK\PCSDK 2022，安装PCSDK会自动安装RobotCommunicationRuntime，但是不会生成C:\Program Files (x86)\Common Files\ABB Industrial IT\Robotics IT\RobVCCommon目录下文件，原因未知。