KUKA 机器人手册 User Programming

ProgAnwender5.209.03.01en1of50SOFTWAREKRC2/KRC3UserProgrammingKUKASystemSoftware(KSS)Release5.2Issued:12Apr2006Version:012of50ProgAnwender5.209.03.01eneCopyright2005KUKARoboterGmbHZugspitzstrasse140D--86165AugsburgThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofthepublishers.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimtothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,however,andnecessarycorrectionswillbeincorporatedinsubsequenteditions.Subjecttotechnicalalterationswithoutaneffectonthefunction.3of50ProgAnwender5.209.03.01enContents1Programediting5..................................................1.1Creatingandopeningaprogram5.................................................1.1.1Creatinganewprogram5........................................................1.1.2Selectinganexistingprogram5...................................................1.1.3Duplicatinganexistingprogram6..................................................1.1.4Savingaprogramtofloppydisk6..................................................1.1.5Deletingaprogram6.............................................................1.1.6Openinganexistingprogramintheeditor(Edit)7....................................1.1.7Printingaprogram7.............................................................1.1.7.1Printcurrentselection8..........................................................1.1.7.2Printlogbook8..................................................................1.2Workingwithaselectedprogram9.................................................1.2.1Deletingaselectedprogram9.....................................................1.2.2Searchingtheprogramforacharacterstring9.......................................1.2.3Cancelprogram10...............................................................1.2.4Resetprogram10................................................................1.3Workingwiththeprogrameditor11.................................................1.3.1Deletingaprogramlineintheeditor11..............................................1.3.2Searchingforacharacterstringintheeditor11.......................................1.3.3Closeeditor11...................................................................2Programcommands13..............................................2.1Lastcommand13.................................................................2.2Motion14........................................................................2.2.1Point--to--pointmotions(PTP)17....................................................2.2.2Linearmotions(LIN)21............................................................2.2.3Circularmotions(CIRC)26........................................................2.3Motionparameters30.............................................................2.4Logic30.........................................................................2.4.1Waitfunctions30.................................................................2.4.1.1Time--dependentwaitfunction(WAIT)30............................................2.4.1.2Signal--dependentwaitfunction(WAITFOR)31......................................2.4.2Switchingfunctions36.............................................................2.4.2.1Simpleswitchingfunction(OUT)36.................................................2.4.2.2Simplepulsefunction(PULSE)38..................................................2.4.2.3Path--dependentswitchingfunction(SYNOUT)39....................................2.4.2.4Path--dependentpulsefunction(SYNPULSE)42.....................................2.4.3CouplinganddecouplinganInterbussegment(IBUSSegmenton/off)45.................2.5Analogoutput46.................................................................2.5.1Static46.........................................................................2.5.2Dynamic47......................................................................2.6Comment49.....................................................................2.6.1Normal49.......................................................................2.6.2Stamp50........................................................................2.6.3Deletingacomment50............................................................UserProgramming4of50ProgAnwender5.209.03.01en1Programediting5of50ProgAnwender5.209.03.01en1ProgrameditingBeforecreatingarobotprogramforthefirsttime,youshouldfamiliarizeyourselfwiththeKUKAfilemanager“Navigator”.Ifyouwishtocreateanewprogram,youmustfirstcreateaso--called“skeletonprogram”.If,ontheotherhand,youwishtomodifyanexistingprogram,yousimplyneedtoselectitorloaditintheeditor.1.1CreatingandopeningaprogramBlockfunctions(e.g.Copy)arealsoavailableatexpertle