目　　錄
前　言
第1章　投入運(yùn)行模式 .........................................................................................................................................1
1.1　檢查機(jī)器人數(shù)據(jù) ............................................................................................................................................2
1.2　投入運(yùn)行模式 ................................................................................................................................................2
1.3　零點(diǎn)標(biāo)定 ........................................................................................................................................................3
1.3.1　零點(diǎn)標(biāo)定方法 ...........................................................................................................................................4
1.3.2　借助零點(diǎn)標(biāo)定標(biāo)記將軸移入預(yù)零點(diǎn)標(biāo)定位置 .......................................................................................5
1.3.3　借助測頭將軸移入預(yù)零點(diǎn)標(biāo)定位置 .......................................................................................................6
1.3.4　零點(diǎn)標(biāo)定LED指示燈 .............................................................................................................................6
1.3.5　使用SEMD進(jìn)行零點(diǎn)標(biāo)定......................................................................................................................7
1.3.5.1　進(jìn)行首次零點(diǎn)標(biāo)定 ...........................................................................................................................8
1.3.5.2　偏量學(xué)習(xí) ...........................................................................................................................................9
1.3.5.3　檢查帶偏量的負(fù)載零點(diǎn)標(biāo)定 .........................................................................................................10
1.3.5.4　使用千分表進(jìn)行調(diào)整 .....................................................................................................................11
1.3.6　調(diào)整附加軸（外部軸） .........................................................................................................................12
1.3.7　參照調(diào)整 .................................................................................................................................................13
1.3.8　用MEMD和標(biāo)記線進(jìn)行零點(diǎn)標(biāo)定 ......................................................................................................13
1.3.8.1　將軸A6移動(dòng)到零點(diǎn)標(biāo)定位置（用標(biāo)記線） ..............................................................................14
1.3.8.2　進(jìn)行首次零點(diǎn)標(biāo)定（用MEMD） ................................................................................................14
1.3.8.3　偏量學(xué)習(xí)（用MEMD） ................................................................................................................17
1.3.8.4　檢查帶偏量的負(fù)載零點(diǎn)標(biāo)定（用MEMD） ................................................................................18
1.3.9　手動(dòng)刪除軸的零點(diǎn) .................................................................................................................................19
1.3.10　更改軟件限位開關(guān) ...............................................................................................................................20
第2章　工具坐標(biāo)和基坐標(biāo) .............................................................................................................................23
2.1　工具坐標(biāo)（TCP） .......................................................................................................................................24
2.1.1　XYZ 4點(diǎn)法測量TCP ............................................................................................................................25
2.1.2　XYZ參照法測量TCP ...........................................................................................................................28
2.1.3　ABC世界坐標(biāo)法確定姿態(tài) ...................................................................................................................31
2.1.4　ABC 2點(diǎn)法確定姿態(tài) ............................................................................................................................33
2.1.5　數(shù)字輸入法 .............................................................................................................................................34
2.2　基坐標(biāo)系測量 ..............................................................................................................................................35
2.2.1　3點(diǎn)法測定基坐標(biāo)系 ..............................................................................................................................35
2.2.2　間接法測定基坐標(biāo)系 ............................................................................................................................38
2.2.3　輸入基準(zhǔn)數(shù)值 .........................................................................................................................................41
2.3　固定工具測量 ..............................................................................................................................................42
2.3.1　測量外部TCP ........................................................................................................................................42
2.3.2　輸入外部TCP數(shù)值 ...............................................................................................................................442.3.3　直接法測量工件 .....................................................................................................................................45
2.3.4　間接法測量工件 .....................................................................................................................................48
2.4　負(fù)載數(shù)據(jù) ......................................................................................................................................................52
2.4.1　用KUKA-Load 檢測負(fù)載 ......................................................................................................................52
2.4.2　用KUKA Load Data Determination 計(jì)算負(fù)載 .....................................................................................55
2.4.3　在線負(fù)載數(shù)據(jù)檢查 .................................................................................................................................63
第3 章　專家界面、結(jié)構(gòu)化編程、KRL 運(yùn)動(dòng)編程 ..................................................................................67
3.1　專家界面 ......................................................................................................................................................68
3.1.1　專家用戶組的擴(kuò)展功能 .........................................................................................................................68
3.1.2　借助模板創(chuàng)建程序功能 .........................................................................................................................70
3.1.3　激活專家界面和糾錯(cuò)的操作步驟 .........................................................................................................73
3.2　結(jié)構(gòu)化編程 ..................................................................................................................................................74
3.2.1　注釋 .........................................................................................................................................................75
3.2.2　FOLD（折合） ......................................................................................................................................77
3.2.3　子程序 .....................................................................................................................................................78
3.2.4　縮進(jìn) .........................................................................................................................................................78
3.2.5　合理命名 .................................................................................................................................................79
3.2.6　創(chuàng)建程序流程圖 .....................................................................................................................................79
3.3　用KRL 進(jìn)行運(yùn)動(dòng)編程 ................................................................................................................................80
3.3.1　KRL 運(yùn)動(dòng)編程 ........................................................................................................................................80
3.3.1.1　運(yùn)動(dòng)方式PTP .................................................................................................................................81
3.3.1.2　運(yùn)動(dòng)方式LIN ..................................................................................................................................83
3.3.1.3　運(yùn)行方式CIRC ...............................................................................................................................84
3.3.1.4　運(yùn)動(dòng)參數(shù)的功能 .............................................................................................................................86
3.3.1.5　用KRL 給運(yùn)動(dòng)編程時(shí)的操作步驟 ...............................................................................................90
3.3.2　借助KRL 給相對運(yùn)動(dòng)編程 ...................................................................................................................90
3.3.2.1　相對運(yùn)動(dòng)PTP_REL ........................................................................................................................91
3.3.2.2　相對運(yùn)動(dòng)LIN_RE ..........................................................................................................................92
3.3.2.3　相對運(yùn)動(dòng)CIRC_REL .....................................................................................................................93
3.3.2.4　用KRL 給相對運(yùn)動(dòng)編程時(shí)的操作步驟 .......................................................................................94
3.3.3　計(jì)算或操縱機(jī)器人位置 .........................................................................................................................94
第4 章　變量和協(xié)定 ...........................................................................................................................................97
4.1　KRL 中的數(shù)據(jù)保存 .....................................................................................................................................98
4.2　簡單數(shù)據(jù)類型 ............................................................................................................................................100
4.2.1　變量的聲明 ...........................................................................................................................................100
4.2.2　變量聲明的原理 ...................................................................................................................................101
4.2.3　簡單數(shù)據(jù)類型變量聲明的操作步驟 ...................................................................................................101
4.2.4　簡單數(shù)據(jù)類型變量的初始化 ...............................................................................................................105
4.2.5　KRL 簡單數(shù)據(jù)類型變量的編程 ..........................................................................................................1074.2.6　變量值的查看 ....................................................................................................................................... 112
4.3　復(fù)雜數(shù)據(jù)類型：Arrays（數(shù)組） ............................................................................................................. 113
4.4　復(fù)雜數(shù)據(jù)類型：結(jié)構(gòu)/STRUC ................................................................................................................. 117
4.5　復(fù)雜數(shù)據(jù)類型：枚舉數(shù)據(jù)類型（ENUM） ............................................................................................. 119
4.6　系統(tǒng)數(shù)據(jù)類型 ............................................................................................................................................120
4.7　變量類型的運(yùn)用練習(xí) ................................................................................................................................122
4.7.1　具有簡單數(shù)據(jù)類型和計(jì)數(shù)循環(huán)的數(shù)組 ...............................................................................................122
4.7.2　用 KRL 創(chuàng)建結(jié)構(gòu) .................................................................................................................................123
4.7.3　用KRL 創(chuàng)建枚舉類型 .........................................................................................................................125
第5 章　子程序和函數(shù) .....................................................................................................................................127
5.1　用局部子程序工作 ....................................................................................................................................128
5.2　用全局子程序工作 ....................................................................................................................................130
5.3　將參數(shù)傳遞給子程序 ................................................................................................................................132
5.4　函數(shù)編程 ....................................................................................................................................................137
5.5　使用KUKA 標(biāo)準(zhǔn)函數(shù)工作 .......................................................................................................................142
5.5.1　數(shù)學(xué)函數(shù) ...............................................................................................................................................142
5.5.2　字符串變量函數(shù) ...................................................................................................................................143
5.5.3　用于信息輸出的函數(shù) ...........................................................................................................................147
5.5.3.1　提示信息 .......................................................................................................................................148
5.5.3.2　狀態(tài)信息 .......................................................................................................................................149
5.5.3.3　確認(rèn)信息 .......................................................................................................................................150
5.5.3.4　等待信息 .......................................................................................................................................151
5.5.3.5　對話信息 .......................................................................................................................................153
第6 章　中斷編程 ..............................................................................................................................................159
6.1　中斷功能 ....................................................................................................................................................160
6.1.1　中斷程序說明 .......................................................................................................................................160
6.1.2　BRAKE：從中斷程序上停止機(jī)器人 .................................................................................................163
6.1.3　RESUME：中止中斷程序 ..................................................................................................................164
6.1.4　有關(guān)制動(dòng)機(jī)器人或用中斷程序中斷當(dāng)前運(yùn)行的說明 .......................................................................165
6.2　中斷程序編程 ............................................................................................................................................167
第7 章　程序流程控制 .....................................................................................................................................171
7.1　CONTINUE：防止預(yù)進(jìn)停止 ....................................................................................................................172
7.2　EXIT：離開循環(huán) .......................................................................................................................................172
7.3　FOR…TO…ENDFOR：編程設(shè)定計(jì)數(shù)循環(huán) ...........................................................................................172
7.4　GOTO：跳轉(zhuǎn)至程序中的位置 .................................................................................................................174
7.5　HALT：暫停程序 ......................................................................................................................................174
7.6　IF…THEN…ENDIF：編程設(shè)定有條件的分支 ......................................................................................175
7.7　LOOP…ENDLOOP：編程設(shè)定連續(xù)循環(huán) ...............................................................................................1767.8　REPEAT…UNTIL：編程設(shè)定采用的循環(huán) ..............................................................................................177
7.9　SWITCH…CASE…ENDSWITCH：編程設(shè)定多重分支 .......................................................................177
7.10　WAIT FOR…：等至條件已滿足 ............................................................................................................179
7.11　WAIT SEC…：編程設(shè)定等待時(shí)間 ........................................................................................................179
7.12　WHILE…ENDWHILE：編程設(shè)定當(dāng)型循環(huán) ........................................................................................180
第8 章　提交解釋器 .........................................................................................................................................181
8.1　SUBMIT 解釋器（提交解釋器） ............................................................................................................182
8.2　啟動(dòng)提交解釋器 ........................................................................................................................................183
8.3　SUBMIT 解釋器編程時(shí)的關(guān)聯(lián) ................................................................................................................184
8.4　SUBMIT 解釋器編程時(shí)的特點(diǎn) ................................................................................................................186
8.5　SUBMIT 解釋器編程的操作步驟 ............................................................................................................187
第9 章　雙工位碼垛工作站 ...........................................................................................................................189
9.1　工作站布局 ................................................................................................................................................190
9.2　工作流程 ....................................................................................................................................................191
9.3　程序詳細(xì)說明 ............................................................................................................................................191
9.3.1　在config.dat 中定義信號和相關(guān)變量 ...............................................................................................192
9.3.2　定義全局位置點(diǎn)數(shù)據(jù) ...........................................................................................................................193
9.3.3　程序框架和詳細(xì)說明 ...........................................................................................................................194
9.3.3.1　主程序MAIN.src 和中斷程序 .....................................................................................................195
9.3.3.2　初始化程序InitALL.src ...............................................................................................................196
9.3.3.3　抓取程序Pick.src .........................................................................................................................196
9.3.3.4　放置程序Place.src ........................................................................................................................197
9.3.3.5　周期循環(huán)檢查程序CycleCheck.src .............................................................................................197
9.3.3.6　位置計(jì)算程序CalPosition.src ......................................................................................................198
9.3.3.7　計(jì)算擺放位置功能程序Pattern.src .............................................................................................199
9.3.3.8　碼垛計(jì)數(shù)程序PlaceRD.src ..........................................................................................................201
9.3.3.9　檢查HOME 位程序CheckHomePos.src .....................................................................................202