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KUKA工業(yè)機(jī)器人基礎(chǔ)入門與應(yīng)用案例精析 
定 價(jià)：59 元 叢書名：KUKA工業(yè)機(jī)器人應(yīng)用工程師系列
9 7 6 8 4 7 3 1 8 1 2 1 1 讀者對(duì)象:從事KUKA機(jī)器人現(xiàn)場(chǎng)維護(hù)、調(diào)試應(yīng)用的工程技術(shù)人員，以及高校和職業(yè)院校自動(dòng)化、工業(yè)機(jī)器人等相關(guān)專業(yè)的學(xué)生 
本書基于作者多年與KUKA機(jī)器人相關(guān)的從業(yè)經(jīng)驗(yàn)來編寫，全書共7章，主要圍繞KUKA機(jī)器人的機(jī)械、電氣、操作、配置軟件、編程軟件以及應(yīng)用等方面展開。其中，第1章以機(jī)器人系統(tǒng)組成展開，主要講述了機(jī)器人本體、控制柜、通信總線、示教器操作以及機(jī)器人相關(guān)安全等內(nèi)容；第2章以機(jī)器人投入運(yùn)行展開，包含系統(tǒng)線路連接、安全回路、數(shù)據(jù)備份、投入運(yùn)行設(shè)置、零點(diǎn)標(biāo)定等內(nèi)容；第3章主要圍繞機(jī)器人編程展開，內(nèi)容包括運(yùn)動(dòng)編程以及邏輯信號(hào)編程等；第4章介紹基于WorkVisual軟件的機(jī)器人工程項(xiàng)目配置，如機(jī)器人項(xiàng)目的上傳與下載、通信總線與I/O信號(hào)的配置、長(zhǎng)文本編輯等；第5章從軟件編程角度出發(fā)，分別講述了OrangeEdit軟件和WorkVisual軟件在編程方面的使用；第6章與第7章分別圍繞碼垛工作站以及上下料工作站展開，其中涉及I/O配置、坐標(biāo)系建立、聯(lián)機(jī)表單編程、KRL語言編程、流程分解、程序清單等內(nèi)容。為便于讀者學(xué)習(xí)，隨書贈(zèng)送PPT課件，請(qǐng)聯(lián)系QQ296447532獲取。
本書適合從事KUKA機(jī)器人現(xiàn)場(chǎng)維護(hù)、調(diào)試應(yīng)用的工程技術(shù)人員，以及高校和職業(yè)院校自動(dòng)化、工業(yè)機(jī)器人等相關(guān)專業(yè)的學(xué)生學(xué)習(xí)和參考。
前 言
第1章 KUKA機(jī)器人系統(tǒng) ...............................................................................................................................1 1.1 認(rèn)識(shí)工業(yè)機(jī)器人 ............................................................................................................................................2 1.2 KUKA工業(yè)機(jī)器人品種 ................................................................................................................................2 1.3 機(jī)器人機(jī)械系統(tǒng)構(gòu)成 ....................................................................................................................................3 1.4 控制柜分類 ....................................................................................................................................................3 1.5 機(jī)器人控制系統(tǒng)構(gòu)成 ....................................................................................................................................4 1.5.1 控制系統(tǒng)操作面板 ..................................................................................................................................4 1.5.2 控制系統(tǒng)元件 ..........................................................................................................................................5 1.5.3 網(wǎng)絡(luò)系統(tǒng) ..................................................................................................................................................6 1.5.4 KCB..........................................................................................................................................................7 1.5.5 KSB ..........................................................................................................................................................8 1.5.6 KEB ..........................................................................................................................................................8 1.5.7 KLI ...........................................................................................................................................................9 1.5.8 CCU網(wǎng)絡(luò)接口.........................................................................................................................................9 1.6 示教器SmartPad介紹 .................................................................................................................................10 1.6.1 SmartPad概覽 .......................................................................................................................................10 1.6.2 SmartPad拔插 .......................................................................................................................................12 1.6.3 操作界面介紹 ........................................................................................................................................13 1.6.4 菜單使用 ................................................................................................................................................14 1.6.5 語言切換 ................................................................................................................................................14 1.6.6 更換用戶組 ............................................................................................................................................15 1.7 機(jī)器人的安全 ..............................................................................................................................................16 第2章 KUKA機(jī)器人投入運(yùn)行 ....................................................................................................................17 2.1 機(jī)器人系統(tǒng)線路連接 ..................................................................................................................................18 2.2 機(jī)器人安全回路連接與屏蔽 ......................................................................................................................21 2.3 機(jī)器人安全機(jī)制 ..........................................................................................................................................23 2.3.1 觸發(fā)停機(jī)方式 ........................................................................................................................................23 2.3.2 停機(jī)方式 ................................................................................................................................................24 2.3.3 安全相關(guān)裝置 ........................................................................................................................................25 2.3.4 安全附加防護(hù)裝置 ................................................................................................................................26 2.3.5 運(yùn)行方式與防護(hù)功能 ............................................................................................................................26 2.4 機(jī)器人運(yùn)行設(shè)置 ..........................................................................................................................................26 2.4.1 初次上電設(shè)置 ........................................................................................................................................26 2.4.2 投入運(yùn)行模式 ........................................................................................................................................28 2.5 數(shù)據(jù)的備份與還原 ......................................................................................................................................29 2.6 機(jī)器人運(yùn)動(dòng) ..................................................................................................................................................302.6.1 機(jī)器人軸運(yùn)動(dòng) ........................................................................................................................................30 2.6.2 相關(guān)坐標(biāo)系介紹 ....................................................................................................................................33 2.6.3 建立工具坐標(biāo)系 ....................................................................................................................................35 2.6.4 建立基坐標(biāo)系 ........................................................................................................................................39 2.6.5 機(jī)器人當(dāng)前位置顯示 ............................................................................................................................40 2.6.6 坐標(biāo)系中移動(dòng)機(jī)器人 ............................................................................................................................41 2.6.7 機(jī)器人系統(tǒng)信息提示 ............................................................................................................................43 2.6.8 增量式手動(dòng)移動(dòng) ....................................................................................................................................44 2.7 機(jī)器人零點(diǎn)標(biāo)定 ..........................................................................................................................................45 2.7.1 零點(diǎn)標(biāo)定的必要性 ................................................................................................................................45 2.7.2 電子校準(zhǔn)裝置 ........................................................................................................................................46 2.7.3 首次零點(diǎn)標(biāo)定 ........................................................................................................................................46 2.7.4 偏量學(xué)習(xí) ................................................................................................................................................47 2.7.5 工具負(fù)載數(shù)據(jù) ........................................................................................................................................48 第3 章 KUKA 機(jī)器人編程基礎(chǔ) ....................................................................................................................51 3.1 程序文件的使用 ..........................................................................................................................................52 3.1.1 創(chuàng)建程序模塊 ........................................................................................................................................52 3.1.2 程序模塊構(gòu)成 ........................................................................................................................................54 3.1.3 程序文件編輯 ........................................................................................................................................54 3.2 聯(lián)機(jī)表單方式創(chuàng)建運(yùn)動(dòng)指令 ......................................................................................................................54 3.2.1 程序模塊的打開 ....................................................................................................................................55 3.2.2 程序模塊結(jié)構(gòu) ........................................................................................................................................55 3.2.3 PTP 運(yùn)動(dòng)功能 ........................................................................................................................................56 3.2.4 LIN 運(yùn)動(dòng)功能 ........................................................................................................................................59 3.2.5 CIRC 運(yùn)動(dòng)功能 .....................................................................................................................................61 3.3 變量的應(yīng)用 ..................................................................................................................................................63 3.3.1 變量概述 ................................................................................................................................................63 3.3.2 變量聲明 ................................................................................................................................................63 3.3.3 變量初始化 ............................................................................................................................................66 3.3.4 變量運(yùn)算 ................................................................................................................................................67 3.3.5 數(shù)組變量 ................................................................................................................................................68 3.3.6 程序錯(cuò)誤處理 ........................................................................................................................................69 3.3.7 常用系統(tǒng)變量 ........................................................................................................................................69 3.3.8 變量監(jiān)視 ................................................................................................................................................71 3.4 聯(lián)機(jī)表單創(chuàng)建邏輯功能 ..............................................................................................................................72 3.4.1 預(yù)進(jìn)功能 ................................................................................................................................................72 3.4.2 簡(jiǎn)單切換功能 ........................................................................................................................................72 3.4.3 時(shí)間等待功能 ........................................................................................................................................75 3.4.4 信號(hào)等待功能 ........................................................................................................................................763.4.5 脈沖切換功能 ........................................................................................................................................78 3.5 KRL 流程控制功能 .....................................................................................................................................79 3.5.1 無限循環(huán)編程 ........................................................................................................................................79 3.5.2 計(jì)數(shù)循環(huán)編程 ........................................................................................................................................81 3.5.3 當(dāng)型循環(huán)編程 ........................................................................................................................................82 3.5.4 直到型循環(huán)編程 ....................................................................................................................................83 3.5.5 IF 分支編程 ...........................................................................................................................................83 3.5.6 SWITCH-CASE 分支編程 ....................................................................................................................84 3.5.7 跳轉(zhuǎn)指令編程 ........................................................................................................................................85 3.6 結(jié)構(gòu)化編程 ..................................................................................................................................................86 3.6.1 結(jié)構(gòu)化編程方法 ....................................................................................................................................86 3.6.2 局部子程序 ............................................................................................................................................88 3.6.3 全局子程序 ............................................................................................................................................89 3.7 程序文件執(zhí)行 ..............................................................................................................................................89 3.7.1 初始化運(yùn)行 ............................................................................................................................................89 3.7.2 SUBMIT 解釋器狀態(tài) ............................................................................................................................90 3.7.3 驅(qū)動(dòng)裝置狀態(tài) ........................................................................................................................................90 3.7.4 程序狀態(tài) ................................................................................................................................................91 3.7.5 程序運(yùn)行方式 ........................................................................................................................................92 3.7.6 程序在T1 方式下運(yùn)行 .........................................................................................................................92 3.7.7 程序在AUT 方式下運(yùn)行 ......................................................................................................................93 第4 章 WorkVisual 軟件配置機(jī)器人 .........................................................................................................95 4.1 WorkVisual 軟件介紹 ..................................................................................................................................96 4.2 WorkVisual 軟件與控制系統(tǒng)連接 ..............................................................................................................96 4.3 上傳項(xiàng)目 ......................................................................................................................................................98 4.4 設(shè)備管理 ......................................................................................................................................................99 4.5 編目管理 ....................................................................................................................................................101 4.6 控制系統(tǒng)組件 ............................................................................................................................................102 4.7 總線結(jié)構(gòu) ....................................................................................................................................................102 4.8 BECKHOFF I/O 模塊配置 ........................................................................................................................104 4.9 機(jī)器人輸入/ 輸出端配置 .........................................................................................................................107 4.10 長(zhǎng)文本編輯 ..............................................................................................................................................109 4.11 下載項(xiàng)目 .................................................................................................................................................. 110 第5 章 KUKA 機(jī)器人編程軟件使用 ..........................................................................................................111 5.1 OrangeEdit 軟件編程 ................................................................................................................................. 112 5.1.1 創(chuàng)建文件 .............................................................................................................................................. 113 5.1.2 運(yùn)動(dòng)編程 .............................................................................................................................................. 116 5.1.3 邏輯信號(hào)編程 ......................................................................................................................................121 5.1.4 流程控制編程 ....................................................................................................................................1275.1.5 模板的應(yīng)用 ..........................................................................................................................................132 5.2 WorkVisual 軟件編程 ................................................................................................................................138 5.2.1 創(chuàng)建程序模塊 ......................................................................................................................................138 5.2.2 運(yùn)動(dòng)編程 ..............................................................................................................................................141 5.2.3 邏輯信號(hào)編程 ......................................................................................................................................143 5.2.4 流程控制編程 ......................................................................................................................................145 5.2.5 模板的應(yīng)用 ..........................................................................................................................................146 5.3 KUKA 機(jī)器人編程實(shí)踐 ............................................................................................................................149 5.3.1 基礎(chǔ)工作梳理 ......................................................................................................................................149 5.3.2 WorkVisual 在線連接 ..........................................................................................................................150 5.3.3 WorkVisual 在線編輯 ..........................................................................................................................151 第6 章 碼垛工作站應(yīng)用精析 .......................................................................................................................157 6.1 碼垛工作站 ................................................................................................................................................158 6.2 系統(tǒng)各部分連接 ........................................................................................................................................160 6.3 系統(tǒng)I/O 模塊配置 .....................................................................................................................................161 6.4 機(jī)器人輸入/ 輸出端配置 .........................................................................................................................162 6.5 系統(tǒng)I/O 清單 .............................................................................................................................................162 6.6 坐標(biāo)系的建立 ............................................................................................................................................163 6.7 相關(guān)知識(shí)點(diǎn)拓展 ........................................................................................................................................165 6.8 機(jī)器人碼垛程序框圖 ................................................................................................................................166 6.9 傳送帶控制框圖 ........................................................................................................................................167 6.10 碼垛動(dòng)作分解 ..........................................................................................................................................168 6.11 目標(biāo)點(diǎn)示教 ..............................................................................................................................................168 6.12 程序清單 ..................................................................................................................................................170 第7 章 上下料工作站應(yīng)用精析 ..................................................................................................................175 7.1 上下料工作站 ............................................................................................................................................176 7.2 系統(tǒng)各部分連接 ........................................................................................................................................179 7.3 系統(tǒng)I/O 模塊配置 .....................................................................................................................................179 7.4 機(jī)器人輸入/ 輸出端配置 .........................................................................................................................180 7.5 系統(tǒng)I/O 清單 .............................................................................................................................................180 7.6 坐標(biāo)系的建立 ............................................................................................................................................181 7.7 機(jī)器人上下料程序框圖 ............................................................................................................................183 7.8 傳送帶裝置控制框圖 ................................................................................................................................185 7.9 上下料動(dòng)作分解 ........................................................................................................................................185 7.10 示教目標(biāo)點(diǎn) ..............................................................................................................................................185 7.11 程序清單 ..................................................................................................................................................187 7.12 本章說明 ..................................................................................................................................................192
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