KRL Reference Guide v4_1.pdf
(
1021 KB
)
Pobierz
Deckblatt-P10.98
SOFTWARE
KR C1 / KR C2 / KR C3
Reference Guide
Release 4.1
RefGuideR4.1 09.01.00 en
1 of 135
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
RefGuideR4.1 09.01.00 en
2 of 135
Contents
1 General
.........................................................
9
1.1 Typographical conventions
......................................................
9
1.2 Graphic conventions
...........................................................
10
2 Reference section
................................................
11
.................................................................
2.1.1 Programs, data lists and modules
11
................................................
11
2.1.2 Names and literals
.............................................................
11
....................................................................
2.1.3.1 Simple data types
11
..............................................................
2.1.3.2 Implicit type conversion
11
.........................................................
12
..........................................................
2.1.3.4 Implicit data type assignment
12
....................................................
12
2.1.4 Constants
.....................................................................
12
.....................................................................
2.1.5.1 System variables
13
..............................................................
13
.....................................................................
2.1.6.1 Arithmetic operators
13
............................................................
13
................................................................
2.1.6.3 Relational operators
13
............................................................
13
..................................................................
2.1.6.5 Geometric operator
13
............................................................
13
2.1.6.6 Priority of operators
............................................................
14
2.1.7 Declaration
....................................................................
14
2.1.8 Initialization
...................................................................
14
2.1.9 Expression
....................................................................
14
2.1.10 Statement
....................................................................
14
.....................................................................
2.1.12 Motion programming
14
...........................................................
2.1.12.1 PTP motions (PTP = Point--To--Point)
15
.............................................
15
2.1.12.2 CP motions (CP = Continuous Path)
..............................................
15
2.1.13 Control structures
..............................................................
15
2.1.14 Subprograms
..................................................................
15
.....................................................................
2.1.16 Block structure
15
................................................................
15
2.1.17 Areas of validity
................................................................
16
.....................................................................
2.2 Command index
16
...............................................................
20
.........................................................................
2.2.1.1 Brief information
20
...............................................................
20
.......................................................................
2.2.1.3 Description
20
....................................................................
20
2.2.1.4 Example
......................................................................
21
.......................................................................
2.2.2.1 Brief information
22
...............................................................
22
.......................................................................
2.2.2.3 Description
22
....................................................................
22
2.2.2.4 Example
......................................................................
23
RefGuideR4.1 09.01.00 en
3 of 135
2.1 Fundamentals
2.1.3 Data types
2.1.3.3 Predefined data types
2.1.5 Variables
2.1.6 Operators
2.1.6.2 Logic operators
2.1.6.4 Bit operators
2.1.11 Comment
2.1.15 Functions
2.1.18 Keywords
2.2.1 ANIN
2.2.1.2 Syntax
2.2.2 ANOUT
2.2.2.2 Syntax
Reference Guide
.......................................................................
2.2.3.1 Brief information
24
...............................................................
24
.......................................................................
2.2.3.3 Description
24
....................................................................
24
2.2.3.4 Example
......................................................................
24
.....................................................................
2.2.4.1 Brief information
25
...............................................................
25
.......................................................................
2.2.4.3 Description
25
....................................................................
25
......................................................................
2.2.5 CHANNEL
25
....................................................................
2.2.5.1 Brief information
27
...............................................................
27
.......................................................................
2.2.5.3 Description
27
....................................................................
27
2.2.5.4 Example
......................................................................
28
.........................................................................
2.2.6.1 Brief information
29
...............................................................
29
.......................................................................
2.2.6.3 Description
29
....................................................................
31
......................................................................
2.2.7 CIRC_REL
33
....................................................................
2.2.7.1 Brief information
34
...............................................................
34
.......................................................................
2.2.7.3 Description
34
....................................................................
36
......................................................................
2.2.8 CONFIRM
37
....................................................................
2.2.8.1 Brief information
38
...............................................................
38
.......................................................................
2.2.8.3 Description
38
....................................................................
38
......................................................................
2.2.9 CONTINUE
39
...................................................................
2.2.9.1 Brief information
40
...............................................................
40
.......................................................................
2.2.9.3 Description
40
....................................................................
40
2.2.9.4 Example
......................................................................
40
......................................................................
2.2.10.1 Brief information
41
...............................................................
41
.......................................................................
2.2.10.3 Description
41
....................................................................
41
2.2.10.4 Example
......................................................................
41
.......................................................................
2.2.11.1 Brief information
42
...............................................................
42
.......................................................................
2.2.11.3 Description
42
....................................................................
44
......................................................................
2.2.12.1 Brief information
48
...............................................................
48
.......................................................................
2.2.12.3 Description
48
....................................................................
49
2.2.12.4 Example
......................................................................
51
........................................................................
2.2.13.1 Brief information
53
...............................................................
53
.......................................................................
2.2.13.3 Description
53
....................................................................
54
2.2.13.4 Example:
.....................................................................
56
RefGuideR4.1 09.01.00 en
4 of 135
2.2.3 BRAKE
2.2.3.2 Syntax
2.2.4 CCLOSE
2.2.4.2 Syntax
2.2.4.4 Example
2.2.5.2 Syntax
2.2.6 CIRC
2.2.6.2 Syntax
2.2.6.4 Example
2.2.7.2 Syntax
2.2.7.4 Example
2.2.8.2 Syntax
2.2.8.4 Example
2.2.9.2 Syntax
2.2.10 COPEN
2.2.10.2 Syntax
2.2.11 CREAD
2.2.11.2 Syntax
2.2.12 CWRITE
2.2.12.2 Syntax
2.2.13 DECL
2.2.13.2 Syntax
...................................................................
2.2.14.1 Brief information
57
...............................................................
57
.......................................................................
2.2.14.3 Description
57
....................................................................
58
.....................................................................
2.2.15 DEFDAT ... ENDDAT
59
...........................................................
60
2.2.15.1 Brief information
...............................................................
60
.......................................................................
2.2.15.3 Description
60
....................................................................
60
.....................................................................
2.2.16 DEFFCT ... ENDFCT
61
...........................................................
63
2.2.16.1 Brief information
...............................................................
63
.......................................................................
2.2.16.3 Description
63
....................................................................
64
2.2.16.4 Example
......................................................................
65
........................................................................
2.2.17.1 Brief information
66
...............................................................
66
.......................................................................
2.2.17.3 Description
66
....................................................................
66
2.2.17.4 Examples
.....................................................................
67
........................................................................
2.2.18.1 Brief information
68
...............................................................
68
.......................................................................
2.2.18.3 Description
68
....................................................................
68
2.2.18.4 Example
......................................................................
69
.........................................................................
2.2.19.1 Brief information
70
...............................................................
70
.......................................................................
2.2.19.3 Description
70
....................................................................
70
2.2.19.4 Example
......................................................................
70
..........................................................................
2.2.20.1 Brief information
71
...............................................................
71
.......................................................................
2.2.20.3 Description
71
....................................................................
71
2.2.20.4 Example
......................................................................
72
......................................................................
2.2.21.1 Brief information
73
...............................................................
73
.......................................................................
2.2.21.3 Description
73
....................................................................
73
......................................................................
2.2.22 FOR ... TO ... ENDFOR
74
........................................................
76
2.2.22.1 Brief information
...............................................................
76
.......................................................................
2.2.22.3 Description
76
....................................................................
76
2.2.22.4 Example
......................................................................
77
........................................................................
2.2.23.1 Brief information
78
...............................................................
78
.......................................................................
2.2.23.3 Description
78
....................................................................
78
2.2.23.4 Example
......................................................................
78
.........................................................................
2.2.24.1 Brief information
79
...............................................................
79
.......................................................................
2.2.24.3 Description
79
....................................................................
79
RefGuideR4.1 09.01.00 en
5 of 135
2.2.14 DEF ... END
2.2.14.2 Syntax
2.2.14.4 Example:
2.2.15.2 Syntax
2.2.15.4 Example:
2.2.16.2 Syntax
2.2.17 DIGIN
2.2.17.2 Syntax
2.2.18 ENUM
2.2.18.2 Syntax
2.2.19 EXIT
2.2.19.2 Syntax
2.2.20 EXT
2.2.20.2 Syntax
2.2.21 EXTFCT
2.2.21.2 Syntax
2.2.21.4 Example
2.2.22.2 Syntax
2.2.23 GOTO
2.2.23.2 Syntax
2.2.24 HALT
2.2.24.2 Syntax
Plik z chomika:
kryzalid
Inne pliki z tego folderu:
spis2kolokwium.doc
(13 KB)
2kolokwium.pdf
(21833 KB)
1412oprogrrobot.rar
(5193 KB)
0812oprogrrobot.rar
(5913 KB)
3011oprogrrrobot.rar
(8545 KB)
Inne foldery tego chomika:
EzTC
Mikromaszyny Elektryczne
PLC
Podstawy Robotyki
Teoria przeksztaltnikow
Zgłoś jeśli
naruszono regulamin