workbook-P3KSS8-Programming-3-V2-en

TrainingRobotProgramming3KUKASystemSoftware8KUKARoboterGmbHIssued:19.10.2012Version:P3KSS8Roboterprogrammierung3V2en(PDF-COL)RobotProgramming32/93Issued:19.10.2012Version:P3KSS8Roboterprogrammierung3V2en(PDF-COL)©Copyright2012KUKARoboterGmbHZugspitzstraße140D-86165AugsburgGermanyThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofKUKARoboterGmbH.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimstothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,how-ever,andnecessarycorrectionswillbeincorporatedinthesubsequentedition.Subjecttotechnicalalterationswithoutaneffectonthefunction.TranslationoftheoriginaldocumentationKIM-PS5-DOCPublication:PubCOLLEGEP3KSS8Roboterprogrammierung3(PDF-COL)enBookstructure:P3KSS8Roboterprogrammierung3V2.1Version:P3KSS8Roboterprogrammierung3V2en(PDF-COL)3/93Issued:19.10.2012Version:P3KSS8Roboterprogrammierung3V2en(PDF-COL)Contents1Structuredprogramming............................................................................51.1Objectivesforconsistentprogrammingmethodology................................................51.2Toolsforcreatingstructuredrobotprograms.............................................................51.3Creatingaprogramflowchart.....................................................................................92Submitinterpreter.......................................................................................132.1UsingtheSubmitinterpreter......................................................................................133WorkspaceswithKRL.................................................................................173.1Usingworkspaces......................................................................................................173.2Exercise:Workspacemonitoring...............................................................................264MessageprogrammingwithKRL...............................................................294.1Generalinformationaboutuser-definedmessages...................................................294.2Workingwithanotificationmessage.........................................................................364.3Exercise:Programmingnotificationmessages..........................................................374.4Workingwithastatusmessage.................................................................................394.5Exercise:Programmingstatusmessages..................................................................404.6Workingwithanacknowledgementmessage............................................................424.7Exercise:Programmingacknowledgementmessages..............................................434.8Workingwithawaitmessage....................................................................................454.9Exercise:Programmingwaitmessages.....................................................................464.10Workingwithdialogs..................................................................................................474.11Exercise:Programmingadialog................................................................................505Interruptprogramming................................................................................515.1Programminginterruptroutines.................................................................................515.2Exercise:Workingwithinterrupts...............................................................................605.3Exercise:Cancelingmotionswithinterrupts..............................................................626Programmingreturnmotionstrategies.....................................................656.1Programmingreturnmotionstrategies.......................................................................656.2Exercise:Programmingareturnmotionstrategy.......................................................667Workingwithanalogsignals......................................................................697.1Programminganaloginputs.......................................................................................697.2Programminganalogoutputs.....................................................................................717.3Exercise:WorkingwithanalogI/Os...........................................................................738SequenceandconfigurationofAutomaticExternal................................758.1ConfiguringandimplementingAutomaticExternal....................................................758.2Exercise:AutomaticExternal.....................................................................................839Programmingcollisiondetection..................................................