Hello.
I am new to ABB.
I want to use timer in ABB robot, but i didn't found, where is it.
I want to use them as like kuka robot i.e. explaied below:
First i declared an integration
DECL INT TIMER=1 , in conf.
Then i creat a program as below
SWITCH TIMER
CASE 1
$TIMER_STOP[2]=TRUE
$TIME[1]=0
$TIMER_STOP[1]=FALSE
TIMER=2
CASE 2
$TIMER_STOP[1]=TRUE
$TIMER[2]=0
$TIMER_STOP[2]=FALSE
TIMER=1
ENDSWITCH
As like this, i want to add in ABB robot, Please help🙏
My ABB robot model is IRB 6700-200/2.60 
Check the Robotstudio help. Keyword Clk. This could be your friend.
VAR num nClock;
VAR clock cClock;
PROC BlahBlah()
ClkReset cClock;
ClkStart cClock;
! Procedure instructions
ClkStop cClock;
nClock:=ClkRead(cClock\HighRes);
TPPrint "BlahBlah Procedure took: "+NumToStr((nClock/60),3)+"minutes";
nClock:=0;
ENDPROC
It is all right there in black and white. You need to read the Instructions, functions and datatypes manual.
Display MoreVAR num nClock;
VAR clock cClock;
PROC BlahBlah()
ClkReset cClock;
ClkStart cClock;
! Procedure instructions
ClkStop cClock;
nClock:=ClkRead(cClock\HighRes);
TPPrint "BlahBlah Procedure took: "+NumToStr((nClock/60),3)+"minutes";
nClock:=0;
ENDPROC
I got start clock, stop clock & reset clock option. Thank you for it.
But where can i check my calculated time ??
In KUKA (the code you've posted) you have an array of timers (which is a horrible implementation as you have a specific amount of timers available).
In ABB they offer you several functions to start a timer.
The example posted by JMF is perfect, concise, and detailed.
Just to make it easier for you to understand the "translation":
ClkReset ! == TIMER[x] = 0
ClkStart ! == TIMER_STOP = FALSE
ClkStop !== TIMER_STOP = TRUE
ClkRead !== variable = TIMER[x]
BUT: ABB has one of the best documentations out there, check the manual Lemster recommended you and you'll see samples and instructions on how to make all those functions work:
ClkReset, ClkStart, ClkStop and ClkRead
Hope this helps.
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