Expert_Programming_manual.pdf

(3211 KB) Pobierz
SOFTWARE KR C2 / KR C3 Expert Programming KUKA System Software (KSS) Release 5.2
SOFTWARE
KR C2 / KR C3
Expert Programming
KUKA System Software (KSS)
Release 5.2
Issued: 26 Sep 2003 Version: 00
ProgExperteBHR5.2 09.03.00 en
1 of 178
172911341.002.png
e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrommay not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf
ProgExperteBHR5.2 09.03.00 en
2 of 178
172911341.003.png
Contents
1 General information on KRL programs
............................
7
1.1 Structure and creation of programs
...............................................
7
1.1.1 Program interface
..............................................................
7
1.1.2 File concept
...................................................................
8
..................................................................
1.2 Creating and editing programs
8
...................................................
9
........................................................
1.2.2 Editing, compiling and linking a program
9
..........................................
10
..............................................................
1.3.1 Program correction
11
.............................................................
11
........................................................................
1.3.2.1 Block functions
12
................................................................
12
1.3.2.2 Copy (CTRL--C)
...............................................................
12
1.3.2.3 Paste (CTRL--V)
...............................................................
12
1.3.2.4 Cut (CTRL--X)
.................................................................
13
1.3.2.5 Delete
........................................................................
13
..........................................................................
1.3.2.7 Replace
13
......................................................................
14
1.4 Hiding program sections
........................................................
15
........................................................................
1.4.1.1 Example program
15
..............................................................
16
.............................................................
1.5.1 Selecting the program run mode
17
.................................................
17
1.5.2 Changing program run mode
....................................................
18
1.6 Error treatment
................................................................
20
1.7 Comments
....................................................................
22
2 Variables and declarations
........................................
23
2.1 Variables and names
...........................................................
23
...................................................................
2.2.1 Declaration and initialization of data objects
24
.......................................
24
2.2.2 Simple data types
..............................................................
25
........................................................................
2.2.4 Character strings
27
..............................................................
29
....................................................................
2.2.6 Enumeration types
29
.............................................................
31
2.3 Data manipulation
..............................................................
32
.....................................................................
2.3.1.1 Arithmetic operators
32
............................................................
32
2.3.1.2 Geometric operator
............................................................
33
2.3.1.3 Relational operators
............................................................
37
2.3.1.4 Logic operators
................................................................
37
..................................................................
2.3.1.6 Priority of operators
38
............................................................
40
2.3.2 Standard functions
.............................................................
40
ProgExperteBHR5.2 09.03.00 en
3 of 178
1.1.3 File structure
1.2.1 Creating a new program
1.3 Altering programs
1.3.2 Editor
1.3.2.6 Find
1.4.1 FOLD
1.5 Program run mode
2.2 Data objects
2.2.3 Arrays
2.2.5 Structures
2.3.1 Operators
2.3.1.5 Bit operators
172911341.004.png
Expert Programming
2.4 System variables and system files
................................................
42
....................................................
2.5.1 String variable length in the declaration
46
...........................................
46
............................................
2.5.3 Deleting the contents of a string variable
46
..........................................
47
2.5.4 Extending a string variable
......................................................
47
......................................................
2.5.6 Comparing the contents of string variables
48
........................................
48
2.5.7 Copying a string variable
........................................................
49
3 Motion programming
.............................................
51
3.1 Application of the various coordinate systems
......................................
51
3.2 Point--to--point motions (PTP)
....................................................
57
3.2.1 General (Synchronous PTP)
.....................................................
57
3.2.2 Higher motion profile
...........................................................
57
3.2.3 Motion commands
.............................................................
58
...................................................................
3.3 CP motions (CP = Continuous Path)
66
..............................................
68
3.3.1 Velocity and acceleration
........................................................
68
3.3.2 Orientation control
.............................................................
70
.................................................................
3.3.4 Circular motions
75
...............................................................
3.4 Computer advance run
77
.........................................................
3.5 Motions with approximate positioning
79
.............................................
81
3.5.1 PTP--PTP approximate positioning
...............................................
82
.................................................
3.5.3 CIRC--CIRC and CIRC--LIN approximate positioning
84
................................
86
................................................
3.5.5 Tool change during approximate positioning
88
.......................................
91
3.6 Teaching points
................................................................
92
4 Program execution control
.......................................
93
4.1 Program branches
.............................................................
93
...............................................................
4.1.2 Conditional branch
93
.............................................................
93
4.1.3 Switch
........................................................................
94
........................................................................
4.2.1 Counting loop
Loops
95
.................................................................
95
.................................................................
4.2.3 Non--rejecting loop
96
.............................................................
97
..................................................................
4.2.5 Premature termination of loop execution
98
..........................................
98
...............................................................
4.3.1 Waiting for an event
99
............................................................
99
....................................................................
4.4 Stopping the program
101
..........................................................
102
4.5 Confirming messages
..........................................................
102
5
Input/output instructions
.........................................
103
5.1 General
.......................................................................
103
ProgExperteBHR5.2 09.03.00 en
4 of 178
2.5 Manipulating a string variable
2.5.2 String variable length after initialization
2.5.5 Searching a string variable
3.2.3.1 Singularities
3.3.3 Linear motions
3.5.2 LIN--LIN approximate positioning
3.5.4 PTP--CP approximate positioning
4.1.1 Jump instruction
4.2
4.2.2 Rejecting loop
4.2.4 Endless loop
4.3 Wait instructions
4.3.2 Wait times
172911341.005.png
5.2 Binary inputs/outputs
...........................................................
103
5.3 Digital inputs/outputs
...........................................................
105
..............................................................
5.3.2 Reading signal numbers
105
........................................................
5.3.3 Setting outputs at the end point
106
..................................................
108
5.4 Pulse outputs
..................................................................
110
5.5 Analog inputs/outputs
..........................................................
112
5.5.1 Analog outputs
................................................................
112
5.5.2 Analog inputs
..................................................................
114
5.6 Predefined digital inputs
........................................................
117
6 Subprograms and functions
......................................
119
....................................................................
6.2 Subprogram and function call and parameter transfer
119
...............................
121
7
Interrupt handling
................................................
125
....................................................................
7.2 Activating interrupts
125
............................................................
127
........................................................
7.4 Canceling interrupt routines
131
.....................................................
131
7.5 Use of cyclical flags
............................................................
133
8
Trigger -- path--related switching actions
..........................
135
8.1 Switching action at the start or end point of the path
................................
135
8.2 Switching action at any point on the path
..........................................
138
9 Data lists
........................................................
143
9.1
Local data lists
................................................................
143
9.2 Global data lists
...............................................................
144
10 External editor
...................................................
147
10.1 Starting the external editor
......................................................
148
10.2 Operator control
...............................................................
150
10.3 “File” menu
....................................................................
152
10.3.1 Open
.........................................................................
152
10.3.2 Save
.........................................................................
152
.........................................................................
10.3.4 Close file
152
.....................................................................
153
10.3.5 Exit
..........................................................................
153
...................................................................
10.4.1 Cut (“CTRL”--“X”)
154
..............................................................
10.4.2 Copy (“CTRL”--“C”)
154
.............................................................
154
10.4.3 Paste as ...
....................................................................
154
........................................................................
10.4.5 Select all (“CTRL”--“A”)
154
.........................................................
154
ProgExperteBHR5.2 09.03.00 en
5 of 178
5.3.1 Signal declaration
6.1 Declaration
7.1 Declaration
7.3 Stopping active motions
10.3.3 Print
10.4 “Edit” menu
10.4.4 Delete
172911341.001.png

Plik z chomika:

Inne pliki z tego folderu:

Inne foldery tego chomika:

Zgłoś jeśli naruszono regulamin