GB/T 39134-2020Industrial robot numerical control system of machine tool—Programming language (English PDF)
机床工业机器人数控系统 编程语言
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Issued by
SAMR; SAC
Level / Type
National · Recommended
Issue date
October 11, 2020
Implementation date
May 1, 2021
Scope
GB/T 39134-2020 is the English-translated version of 机床工业机器人数控系统 编程语言.
GB/T 39134-2020 specifies the programming language of the CNC system of machine tool industrial robots, together with the type, function and usage of the instructions in that programming language.
Clause 1 states that it applies to CNC systems for machine tools and industrial robots, and adds that robot control systems for other purposes can refer to it.
The document has four clauses, Scope; Terms and definitions; Programming language and instruction type; and Command function and usage, plus Appendix A, an informative appendix giving a typical programming program format framework, and Appendix B, an informative appendix describing the optional operating parameters of the J, L and C instructions.
Clause 4 is the body of the standard and is split into ten groups: motion instructions (J, L, C, JDO, LDO, CDO and SINGAREA), force control instructions (GRIPLOAD terminal load setting, MECHUNITLOAD robot arm load setting, FORCEMODE force control mode selection, FORCECMD force tracking target value setting and FORCEPARA impedance parameter setting), speed control commands (ACC acceleration control and VORD speed adjustment), coordinate system setting commands (UT and UF), register operation instructions for general registers, pose registers, single axes of the pose register and digital and analog input and output, data processing instructions (BITC reset, BITS set and CLEARBUF serial input buffer clear), process control instructions (IF, SELECT, CALL, GOTO, LBL, STOPMOTION and CALLBYV), position compensation commands (OFFSETCONDITION and OFFSET), operation instructions for arithmetic and logic operations, and other instructions (CLEARPATH, TIMER[i], WAITDI/DO, TRIGGERIO and a space area setting command).
Clause 2 defines nine terms, movement instructions, motion additional instructions, force control command, speed control command, cooperative control instructions, coordinate system setting command, register operation instructions, data processing instructions and flow control instructions, two of which are taken or rewritten from GB/T 29824-2013.
The introduction states that the standard completes the programming code system of the CNC system of machine tool industrial robots and expands the content and meaning of the code, in order to unify the programming code requirements of the machine tool industry and to guide this programming language towards strong functionality, good compatibility and universality, making the programming of industrial robots safer, simpler and more efficient.
The page states that the standard was proposed by China Machinery Industry Federation and is under the jurisdiction of the National Machine Tool Numerical Control System Standardization Technical Committee (SAC/TC367).
The draft breaks off at the end of clause 2, so the text of clauses 3 and 4 and of the two appendices is not shown. The page does not state that it replaces an earlier edition; it was issued on October 11, 2020 and has applied since May 1, 2021.
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Document preview — GB/T 39134-2020
National Standard of the People's Republic of China
- ICS
- 25.040.20
- Classification
- J 50
Issued by: State Administration for Market Regulation; Standardization Administration of the PRC
Contents
- Preface
- Introduction
- 1 Scope
- 2 Terms and definitions
- 3 Programming language and instruction type
- 4 Command function and usage
- 4.1 Motion instruction
- 4.1.1 Overview
- 4.1.2 J command
- 4.1.3 L command
- 4.1.4 C instruction
- 4.1.5 JDO instruction
- 4.1.6 LDO instruction
- 4.1.7 CDO instruction
- 4.1.8 SINGAREA instruction
- 4.2 Force control instructions
- 4.2.1 Overview
- 4.2.2 GRIPLOAD terminal load setting instruction
- 4.2.3 MECHUNITLOAD robot arm load setting instruction
- 4.2.4 FORCEMODE force control mode selection instruction
- 4.2.5 FORCECMD force tracking target value setting instruction
- 4.2.6 FORCEPARA impedance parameter setting instruction
- 4.3 Speed control command
- 4.3.1 Overview
- 4.3.2 ACC acceleration control command
- 4.3.3 VORD speed adjustment command
- 4.4 Coordinate system setting command
- 4.4.1 Overview
- 4.4.2 UT Command
- 4.4.3 UF instruction
- 4.5 Register Operation Instructions
- 4.5.1 Overview
- 4.5.2 General register operation instructions
- 4.5.3 Pose register operation instructions
- 4.5.4 Single-axis operation instruction of pose register
- 4.5.5 Digital input and output register operation instructions
- 4.5.6 Analog input and output operation instructions
- 4.6 Data processing instructions
- 4.6.1 Overview
- 4.6.2 BITC reset command
- 4.6.3 BITS set instruction
- 4.6.4 CLEARBUF serial input buffer clear instruction
- 4.7 Process control instructions
- 4.7.1 Overview
- 4.7.2 IF logic judgment instruction
- 4.7.3 SELECT condition selection instruction
- 4.7.4 CALL program call instruction
- 4.7.5 GOTO program jump instruction
- 4.7.6 LBL program label instruction
- 4.7.7 STOPMOTION pause the current program motion line instruction
- 4.7.8 CALLBYV variable call program instruction
- 4.8 Position compensation command
- 4.8.1 OFFSETCONDITION conditional compensation instruction
- 4.8.2 OFFSET motion additional instruction
- 4.9 Operation instructions
- 4.9.1 Overview
- 4.9.2 Arithmetic operation instructions
- 4.9.3 Logic Operation Instructions
- 4.10 Other instructions
- 4.10.1 Overview
- 4.10.2 CLEARPATH current path clear instruction
- 4.10.3 TIMER[i] timer instruction
- 4.10.4 WAITDI/DO waiting instructions
- 4.10.5 TRIGGERIO signal trigger command
- 4.10.6 Space area setting command
- Appendix A (informative appendix) Typical programming program format framework
- Appendix B (informative appendix) J, L, C instruction optional operating parameter description
Foreword
This standard was drafted in accordance with the rules given in GB/T 1.1-2009.
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.
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.
......
This preview omits tables, figures, formulas and parts of the technical clauses. The complete document — 21 pages — is available in the English PDF.
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