KUKA机器人编程详解.doc(共236页)

【核心代码】

目录

1KRL程序的一般信息 ································ 7

1.1程序的结构和建立 ································  7
1.1.1程序接口 ···································  7
1.1.2文件概念 ···································  9
1.1.3文件结构 ···································  9

1.2 建立和编辑程序 ·································  11
1.2.1新建一个程序 ···································· 11
1.2.2建立、编译和联接程序 ································ 12

1.3替换程序 ······································· 14
1.3.1程序修改 ······································ 14
1.3.2编辑 ········································ 14
1.3.2.1块函数 ······································ 14
1.3.2.2拷贝(CTRL-C) ··································· 14
1.3.2.3粘贴(CTRL-V) ··································· 15
1.3.2.4剪切(CTRL-X) ··································· 15
1.3.2.5删除 ······································· 15
1.3.2.6搜索 ······································· 16
1.3.2.7替换 ······································· 16

1.4隐藏程序部分 ····································· 19
1.4.1折合 ········································ 19
1.4.1.1示例程序 ····································· 20

1.5程序运行模式 ····································· 22

1.6错误处理 ······································· 24

1.7注释 ········································· 27

2变数和声明 ······························· 29

2.1变量和名称 ······································ 29

2.2数据对象 ······································· 31
2.2.1数据对象的声明和初始化 ······························· 31
2.2.2简单数据类型 ···································· 33
2.2.3数组 ········································ 35
2.2.4字符串 ······································· 38
2.2.5结构 ········································ 38
2.2.6列举类型 ······································ 40

2.3数据操作 ······································· 42
2.3.1操作 ········································ 42
2.3.1.1算术操作 ····································· 42
2.3.1.2几何操作 ····································· 43
2.3.1.3关系操作 ····································· 47
2.3.1.4逻辑操作 ····································· 48
2.3.1.5位操作 ······································ 49
2.3.1.6操作的优先级 ··································· 51
2.3.2标准函数 ······································ 52

2.4系统变量和系统文件 ·································· 54

3运动编程 ································ 59

3.1不同坐标系的应用 ··································· 59

专家级编程

3.2点到点运动(PTP) ··································· 66
3.2.1一般说明(同步PTP) ································· 66
3.2.2高级运动轮廓  ··································· 67
3.2.3运动命令  ····································· 68

3.3连续轨迹运动(CP运动=连续轨迹) ···························· 77
3.3.1速度和加速度  ··································· 77
3.3.2方位控制  ····································· 78
3.3.3线性运动  ····································· 83
3.3.4圆弧运动  ····································· 84

3.4计算机提前运行  ··································· 86

3.5使用逼近定位运动  ·································· 89
3.5.1PTP—PTP逼近定位  ································· 90
3.5.2LIN—LIN逼近定位  ································· 93
3.5.3CIRC-CIRC和CIRC-LIN逼近定位 ···························· 96
3.5.4PTP—CP逼近定位 ·································· 99
3.5.5改进的逼近定位  ·································· 102
3.5.6逼近定位期间工具交换  ······························· 103

3.6示教点  ······································· 104

3.7运动参数  ······································ 105

4 KRL辅助  ······························· 106

4.1位置说明  ······································ 107

4.2[PTP]定位 ······································ 110

4.3[LIN]直线移动 ···································· 112

4.4[CIRC]圆弧移动  ··································· 114

5程序执行控制  ····························· 116

5.1程序分支  ······································ 116
5.1.1跳跃指令  ····································· 116
5.1.2条件分支  ····································· 117
5.1.3转换  ······································· 118

5.2循环  ········································ 119
5.2.1计数循环  ····································· 119
5.2.2跳出循环  ····································· 121
5.2.3非跳出循环  ···································· 122
5.2.4无穷循环  ····································· 124
5.2.5循环执行的过早结束  ································ 124

5.3等待指令  ······································ 125
5.3.1等待一个事件  ··································· 125
5.3.2等待时间  ····································· 127

5.4停止程序  ······································ 128

5.5确认消息  ······································ 129

6输入/输出指令 ····························· 130

6.1一般说明  ······································ 130

6.2二进制输入/输出 ··································· 131

6.3数字输入/输出 ···································· 134

6.3.1信号声明 ······································ 134
6.3.2在终点设置输出 ··································· 136

6.4脉冲输出 ······································· 139

6.5模拟输入/输出  ···································· 141
6.5.1模拟输出 ······································ 141
6.5.2模拟输入 ······································ 144

6.6预先定义的数字输入 ·································· 146

7子程序和函数 ····························· 148

7.1声明 ········································· 148

7.2子程序和函数调用和参数传输 ······························ 151

8中断处理 ······························· 156

8.1声明 ········································· 157

8.2启动中断 ······································· 159

8.3停止现在的运动 ···································· 163

8.4取消中断事务 ····································· 164

8.5循环标志的使用 ···································· 167

9触发轨迹相关的开关动作 ························ 168

9.1在轨迹的起点或终点开关动作 ······························ 168

9.2在轨迹的任意点开关动作 ································ 172

9.3技巧 ········································· 177
9.3.1重迭触发语句 ···································· 177
10资料表································ 178

10.1局部资料表  ····································· 178

10.2全局资料表  ····································· 179

11外部编辑器······························ 182

11.1启动外部编辑器  ··································· 183

11.2操作控制  ······································ 185

11.3“文件”菜单  ···································· 187
11.3.1打开  ······································· 187
11.3.2存储  ······································· 187
11.3.3打印  ······································· 187
11.3.4关闭文件  ····································· 188
11.3.5退出  ······································· 188

11.4“编辑”菜单  ···································· 189
11.4.1剪切(“CTRL”＋“X”) ······························· 189
11.4.2拷贝(“CTRL”＋“C”) ······························· 189
11.4.3粘贴  ······································· 189
11.4.4删除  ······································· 189
11.4.5选择全部(“CTRL”＋“A”) ····························· 189

11.5“Util”菜单  ···································· 190

专家级编程


11.5.1镜像 ······································· 190
11.5.2手动输入 ····································· 191
11.5.3程序段改变 ···································· 195
11.5.4清除文件列表 ··································· 195
11.5.5TCP和Frame调节 ·································· 196

11.6“Hot Edit”菜单 ·································· 197
11.6.1Base，TCP和World ································· 197
11.6.2TTS(修改坐标系)  ································· 199
11.6.2.1定位TTS  ···································· 200
11.6.3限制 ······································· 202
11.6.3.1限制--Base/World ································ 202
11.6.3.2限制—TTS  ··································· 203

11.7“ExtExtras”菜单  ································· 203
11.7.1文件—镜像 ···································· 203
11.7.2文件—手动输入 ·································· 205
11.7.2.1使用现有的参考文件 ······························· 206
11.7.2.2创建新的参考文件 ································ 208
11.7.3设置软件限位开关 ································· 209

11.8“选项”菜单 ···································· 210
11.8.1输出设置 ····································· 210

11.9“帮助”菜单 ···································· 212
11.9.1版本 ······································· 212
11.9.2驻留在顶部 ···································· 212