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KUKA工業(yè)機(jī)器人編程高級教程 讀者對象:從事KUKA工業(yè)機(jī)器人應(yīng)用的編程人員、普通高校以及中高職院校相關(guān)專業(yè)教師和學(xué)生。
《KUKA工業(yè)機(jī)器人編程高級教程》是為已經(jīng)能夠獨(dú)立完成KUKA工業(yè)機(jī)器人基本操作的讀者準(zhǔn)備的進(jìn)階教程,詳細(xì)介紹了KUKA工業(yè)機(jī)器人高級編程相關(guān)的知識與技能,KUKA工業(yè)機(jī)器人高級編程作業(yè)的每一項具體操作方法,從而使讀者對KUKA工業(yè)機(jī)器人編程應(yīng)用有一個更高、更全面的認(rèn)識。為便于讀者學(xué)習(xí),本書提供隨書PPT課件,請聯(lián)系QQ296447532獲取。
《KUKA工業(yè)機(jī)器人編程高級教程》適合從事KUKA工業(yè)機(jī)器人應(yīng)用的編程人員、普通高校以及中高職院校相關(guān)專業(yè)教師,以及即將畢業(yè)的相關(guān)專業(yè)學(xué)生,特別是已經(jīng)接觸了KUKA工業(yè)機(jī)器人并對KUKA機(jī)器人有一定認(rèn)識的工程技術(shù)人員和學(xué)生。
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 零點標(biāo)定 ........................................................................................................................................................3 1.3.1 零點標(biāo)定方法 ...........................................................................................................................................4 1.3.2 借助零點標(biāo)定標(biāo)記將軸移入預(yù)零點標(biāo)定位置 .......................................................................................5 1.3.3 借助測頭將軸移入預(yù)零點標(biāo)定位置 .......................................................................................................6 1.3.4 零點標(biāo)定LED指示燈 .............................................................................................................................6 1.3.5 使用SEMD進(jìn)行零點標(biāo)定......................................................................................................................7 1.3.5.1 進(jìn)行首次零點標(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)行零點標(biāo)定 ......................................................................................................13 1.3.8.1 將軸A6移動到零點標(biāo)定位置(用標(biāo)記線) ..............................................................................14 1.3.8.2 進(jìn)行首次零點標(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)載零點標(biāo)定(用MEMD) ................................................................................18 1.3.9 手動刪除軸的零點 .................................................................................................................................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)動編程 ................................................................................................................................80 3.3.1 KRL 運(yùn)動編程 ........................................................................................................................................80 3.3.1.1 運(yùn)動方式PTP .................................................................................................................................81 3.3.1.2 運(yùn)動方式LIN ..................................................................................................................................83 3.3.1.3 運(yùn)行方式CIRC ...............................................................................................................................84 3.3.1.4 運(yùn)動參數(shù)的功能 .............................................................................................................................86 3.3.1.5 用KRL 給運(yùn)動編程時的操作步驟 ...............................................................................................90 3.3.2 借助KRL 給相對運(yùn)動編程 ...................................................................................................................90 3.3.2.1 相對運(yùn)動PTP_REL ........................................................................................................................91 3.3.2.2 相對運(yùn)動LIN_RE ..........................................................................................................................92 3.3.2.3 相對運(yùn)動CIRC_REL .....................................................................................................................93 3.3.2.4 用KRL 給相對運(yùn)動編程時的操作步驟 .......................................................................................94 3.3.3 計算或操縱機(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 啟動提交解釋器 ........................................................................................................................................183 8.3 SUBMIT 解釋器編程時的關(guān)聯(lián) ................................................................................................................184 8.4 SUBMIT 解釋器編程時的特點 ................................................................................................................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 位置計算程序CalPosition.src ......................................................................................................198 9.3.3.7 計算擺放位置功能程序Pattern.src .............................................................................................199 9.3.3.8 碼垛計數(shù)程序PlaceRD.src ..........................................................................................................201 9.3.3.9 檢查HOME 位程序CheckHomePos.src .....................................................................................202
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