Motor control module: ABB YPC104B YT204001-BT module is a high-precision, low-noise, and high stability motor control module designed specifically for industrial automation applications.
It can be applied to a wide range of industrial control systems and can be easily integrated into existing systems. The product parameters include input voltage of 24VDC, output voltage of 0-10VDC,
output current of 0-20mA, operating temperature range of -40 ℃~+85 ℃, external dimensions of 100mm × 50mm × 20mm, and weight of 100g

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Power module: ABB YPC104B YT204001-BT  is also a type of power module that can be directly mounted on a printed circuit board to provide power to application specific integrated circuits (ASICs), digital signal processors (DSPs),
microprocessors, memory, field programmable gate arrays (FPGAs), and other digital or analog loads. This type of module is commonly referred to as a
load (POL) power supply system or point of use power supply system (PUPS), which has high reliability and stability

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Power supply for input module: YPC104B YT204001-BT  is the power supply for ABB LDMTR-01 input module, with overload protection function. It achieves protection by
detecting the current in the circuit to prevent equipment damage or safety accidents. YPC104B YT204001-BT Low voltage multifunctional relay:
ABB YPC104B YT204001-BT  is also described as a low voltage multifunctional relay used for monitoring and protecting low voltage circuits.

It supports multiple protection and monitoring functions, such as overload protection, short circuit protection, etc., and has high-precision measuring components and a user-friendly interface

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任务类型：abb机器人任务分为三种类型

1、常规任务“normal”：该类型任务常被称为“前台”程序，通过示教器或plc等其它来源的“启动”／“停止”请求控制。normal类型的任务会在出现紧急停止时停止。

2、静态任务“static”：该类型任务常被称为“后台”程序，当机器人系统重新启动时该类型任务会在上次停止位置重启，static类型任务不会因为紧急停止而停止。

3、半静态任务“sistatic”：该类型任务常被称为“后台”程序，当机器人系统重新启动时该类型任务会重新启动。semistatic类型任务不会因紧急停止而停止。

程序模块属性：共有四种可以叠加使用

1、不可见“noview”示教器无法显示具体程序代码，只能执行。

2、不可调试“nostepin”程序不能步进及调试（无法在该程序内跳转指针），可以连续运行。

3、只能查看“viewonly”示教器可以显示具体程序代码，无法选定程序进行修改。

4、只能读“readonly”示教器可以显示具体程序代码，无法选定程序进行修改。

程序模块分类: abb机器人程序模块分为两类

1、程序模块：包含该任务的主程序main程序，及其它例行程序，此处的例行程序指代程序、功能、中断的统称。

2、系统模块：包含base .sys主要用于储存机器人基础坐标系及负载数据和一些用户自定义的例行程序，这些例行程序的区别是可以通过“event routine”功能通过事件触发相应的程序自动运行。