KUKA工业机器人编程高级教程
1星价
¥41.3
(7.0折)
2星价￥41.3
定价￥59.0
暂无评论
图文详情
- ISBN：9787111642312
- 装帧：平装-胶订
- 册数：暂无
- 重量：暂无
- 开本：16开
- 页数：210
- 出版时间：2020-01-01
- 条形码：9787111642312 ; 978-7-111-64231-2
本书特色
《KUKA工业机器人编程高级教程》是为已经能够独立完成KUKA工业机器人基本操作的读者准备的进阶教程，详细介绍了KUKA工业机器人高级编程相关的知识与技能，KUKA工业机器人高级编程作业的每一项具体操作方法，从而使读者对KUKA工业机器人编程应用有一个更高、更全面的认识。为便于读者学习，本书提供随书PPT课件，请联系QQ296447532获取。
《KUKA工业机器人编程高级教程》适合从事KUKA工业机器人应用的编程人员、普通高校以及中高职院校相关专业教师，以及即将毕业的相关专业学生，特别是已经接触了KUKA工业机器人并对KUKA机器人有一定认识的工程技术人员和学生。
内容简介
图解库卡工业机器人编程知识和技巧，轻松成就工业机器人技术能手，随书赠送PPT。
目录
目 录
前 言
第1章 投入运行模式 .........................................................................................................................................1
1.1 检查机器人数据 ............................................................................................................................................2
1.2 投入运行模式 ................................................................................................................................................2
1.3 零点标定 ........................................................................................................................................................3
1.3.1 零点标定方法 ...........................................................................................................................................4
1.3.2 借助零点标定标记将轴移入预零点标定位置 .......................................................................................5
1.3.3 借助测头将轴移入预零点标定位置 .......................................................................................................6
1.3.4 零点标定LED指示灯 .............................................................................................................................6
1.3.5 使用SEMD进行零点标定......................................................................................................................7
1.3.5.1 进行首次零点标定 ...........................................................................................................................8
1.3.5.2 偏量学习 ...........................................................................................................................................9
1.3.5.3 检查带偏量的负载零点标定 .........................................................................................................10
1.3.5.4 使用千分表进行调整 .....................................................................................................................11
1.3.6 调整附加轴（外部轴） .........................................................................................................................12
1.3.7 参照调整 .................................................................................................................................................13
1.3.8 用MEMD和标记线进行零点标定 ......................................................................................................13
1.3.8.1 将轴A6移动到零点标定位置（用标记线） ..............................................................................14
1.3.8.2 进行首次零点标定（用MEMD） ................................................................................................14
1.3.8.3 偏量学习（用MEMD） ................................................................................................................17
1.3.8.4 检查带偏量的负载零点标定（用MEMD） ................................................................................18
1.3.9 手动删除轴的零点 .................................................................................................................................19
1.3.10 更改软件限位开关 ...............................................................................................................................20
第2章 工具坐标和基坐标 .............................................................................................................................23
2.1 工具坐标（TCP） .......................................................................................................................................24
2.1.1 XYZ 4点法测量TCP ............................................................................................................................25
2.1.2 XYZ参照法测量TCP ...........................................................................................................................28
2.1.3 ABC世界坐标法确定姿态 ...................................................................................................................31
2.1.4 ABC 2点法确定姿态 ............................................................................................................................33
2.1.5 数字输入法 .............................................................................................................................................34
2.2 基坐标系测量 ..............................................................................................................................................35
2.2.1 3点法测定基坐标系 ..............................................................................................................................35
2.2.2 间接法测定基坐标系 ............................................................................................................................38
2.2.3 输入基准数值 .........................................................................................................................................41
2.3 固定工具测量 ..............................................................................................................................................42
2.3.1 测量外部TCP ........................................................................................................................................42
2.3.2 输入外部TCP数值 ...............................................................................................................................442.3.3 直接法测量工件 .....................................................................................................................................45
2.3.4 间接法测量工件 .....................................................................................................................................48
2.4 负载数据 ......................................................................................................................................................52
2.4.1 用KUKA-Load 检测负载 ......................................................................................................................52
2.4.2 用KUKA Load Data Determination 计算负载 .....................................................................................55
2.4.3 在线负载数据检查 .................................................................................................................................63
第3 章 专家界面、结构化编程、KRL 运动编程 ..................................................................................67
3.1 专家界面 ......................................................................................................................................................68
3.1.1 专家用户组的扩展功能 .........................................................................................................................68
3.1.2 借助模板创建程序功能 .........................................................................................................................70
3.1.3 激活专家界面和纠错的操作步骤 .........................................................................................................73
3.2 结构化编程 ..................................................................................................................................................74
3.2.1 注释 .........................................................................................................................................................75
3.2.2 FOLD（折合） ......................................................................................................................................77
3.2.3 子程序 .....................................................................................................................................................78
3.2.4 缩进 .........................................................................................................................................................78
3.2.5 合理命名 .................................................................................................................................................79
3.2.6 创建程序流程图 .....................................................................................................................................79
3.3 用KRL 进行运动编程 ................................................................................................................................80
3.3.1 KRL 运动编程 ........................................................................................................................................80
3.3.1.1 运动方式PTP .................................................................................................................................81
3.3.1.2 运动方式LIN ..................................................................................................................................83
3.3.1.3 运行方式CIRC ...............................................................................................................................84
3.3.1.4 运动参数的功能 .............................................................................................................................86
3.3.1.5 用KRL 给运动编程时的操作步骤 ...............................................................................................90
3.3.2 借助KRL 给相对运动编程 ...................................................................................................................90
3.3.2.1 相对运动PTP_REL ........................................................................................................................91
3.3.2.2 相对运动LIN_RE ..........................................................................................................................92
3.3.2.3 相对运动CIRC_REL .....................................................................................................................93
3.3.2.4 用KRL 给相对运动编程时的操作步骤 .......................................................................................94
3.3.3 计算或操纵机器人位置 .........................................................................................................................94
第4 章 变量和协定 ...........................................................................................................................................97
4.1 KRL 中的数据保存 .....................................................................................................................................98
4.2 简单数据类型 ............................................................................................................................................100
4.2.1 变量的声明 ...........................................................................................................................................100
4.2.2 变量声明的原理 ...................................................................................................................................101
4.2.3 简单数据类型变量声明的操作步骤 ...................................................................................................101
4.2.4 简单数据类型变量的初始化 ...............................................................................................................105
4.2.5 KRL 简单数据类型变量的编程 ..........................................................................................................1074.2.6 变量值的查看 ....................................................................................................................................... 112
4.3 复杂数据类型：Arrays（数组） ............................................................................................................. 113
4.4 复杂数据类型：结构/STRUC ................................................................................................................. 117
4.5 复杂数据类型：枚举数据类型（ENUM） ............................................................................................. 119
4.6 系统数据类型 ............................................................................................................................................120
4.7 变量类型的运用练习 ................................................................................................................................122
4.7.1 具有简单数据类型和计数循环的数组 ...............................................................................................122
4.7.2 用 KRL 创建结构 .................................................................................................................................123
4.7.3 用KRL 创建枚举类型 .........................................................................................................................125
第5 章 子程序和函数 .....................................................................................................................................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 将参数传递给子程序 ................................................................................................................................132
5.4 函数编程 ....................................................................................................................................................137
5.5 使用KUKA 标准函数工作 .......................................................................................................................142
5.5.1 数学函数 ...............................................................................................................................................142
5.5.2 字符串变量函数 ...................................................................................................................................143
5.5.3 用于信息输出的函数 ...........................................................................................................................147
5.5.3.1 提示信息 .......................................................................................................................................148
5.5.3.2 状态信息 .......................................................................................................................................149
5.5.3.3 确认信息 .......................................................................................................................................150
5.5.3.4 等待信息 .......................................................................................................................................151
5.5.3.5 对话信息 .......................................................................................................................................153
第6 章 中断编程 ..............................................................................................................................................159
6.1 中断功能 ....................................................................................................................................................160
6.1.1 中断程序说明 .......................................................................................................................................160
6.1.2 BRAKE：从中断程序上停止机器人 .................................................................................................163
6.1.3 RESUME：中止中断程序 ..................................................................................................................164
6.1.4 有关制动机器人或用中断程序中断当前运行的说明 .......................................................................165
6.2 中断程序编程 ............................................................................................................................................167
第7 章 程序流程控制 .....................................................................................................................................171
7.1 CONTINUE：防止预进停止 ....................................................................................................................172
7.2 EXIT：离开循环 .......................................................................................................................................172
7.3 FOR…TO…ENDFOR：编程设定计数循环 ...........................................................................................172
7.4 GOTO：跳转至程序中的位置 .................................................................................................................174
7.5 HALT：暂停程序 ......................................................................................................................................174
7.6 IF…THEN…ENDIF：编程设定有条件的分支 ......................................................................................175
7.7 LOOP…ENDLOOP：编程设定连续循环 ...............................................................................................1767.8 REPEAT…UNTIL：编程设定采用的循环 ..............................................................................................177
7.9 SWITCH…CASE…ENDSWITCH：编程设定多重分支 .......................................................................177
7.10 WAIT FOR…：等至条件已满足 ............................................................................................................179
7.11 WAIT SEC…：编程设定等待时间 ........................................................................................................179
7.12 WHILE…ENDWHILE：编程设定当型循环 ........................................................................................180
第8 章 提交解释器 .........................................................................................................................................181
8.1 SUBMIT 解释器（提交解释器） ............................................................................................................182
8.2 启动提交解释器 ........................................................................................................................................183
8.3 SUBMIT 解释器编程时的关联 ................................................................................................................184
8.4 SUBMIT 解释器编程时的特点 ................................................................................................................186
8.5 SUBMIT 解释器编程的操作步骤 ............................................................................................................187
第9 章 双工位码垛工作站 ...........................................................................................................................189
9.1 工作站布局 ................................................................................................................................................190
9.2 工作流程 ....................................................................................................................................................191
9.3 程序详细说明 ............................................................................................................................................191
9.3.1 在config.dat 中定义信号和相关变量 ...............................................................................................192
9.3.2 定义全局位置点数据 ...........................................................................................................................193
9.3.3 程序框架和详细说明 ...........................................................................................................................194
9.3.3.1 主程序MAIN.src 和中断程序 .....................................................................................................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 周期循环检查程序CycleCheck.src .............................................................................................197
9.3.3.6 位置计算程序CalPosition.src ......................................................................................................198
9.3.3.7 计算摆放位置功能程序Pattern.src .............................................................................................199
9.3.3.8 码垛计数程序PlaceRD.src ..........................................................................................................201
9.3.3.9 检查HOME 位程序CheckHomePos.src .....................................................................................202
前 言
第1章 投入运行模式 .........................................................................................................................................1
1.1 检查机器人数据 ............................................................................................................................................2
1.2 投入运行模式 ................................................................................................................................................2
1.3 零点标定 ........................................................................................................................................................3
1.3.1 零点标定方法 ...........................................................................................................................................4
1.3.2 借助零点标定标记将轴移入预零点标定位置 .......................................................................................5
1.3.3 借助测头将轴移入预零点标定位置 .......................................................................................................6
1.3.4 零点标定LED指示灯 .............................................................................................................................6
1.3.5 使用SEMD进行零点标定......................................................................................................................7
1.3.5.1 进行首次零点标定 ...........................................................................................................................8
1.3.5.2 偏量学习 ...........................................................................................................................................9
1.3.5.3 检查带偏量的负载零点标定 .........................................................................................................10
1.3.5.4 使用千分表进行调整 .....................................................................................................................11
1.3.6 调整附加轴（外部轴） .........................................................................................................................12
1.3.7 参照调整 .................................................................................................................................................13
1.3.8 用MEMD和标记线进行零点标定 ......................................................................................................13
1.3.8.1 将轴A6移动到零点标定位置（用标记线） ..............................................................................14
1.3.8.2 进行首次零点标定（用MEMD） ................................................................................................14
1.3.8.3 偏量学习（用MEMD） ................................................................................................................17
1.3.8.4 检查带偏量的负载零点标定（用MEMD） ................................................................................18
1.3.9 手动删除轴的零点 .................................................................................................................................19
1.3.10 更改软件限位开关 ...............................................................................................................................20
第2章 工具坐标和基坐标 .............................................................................................................................23
2.1 工具坐标（TCP） .......................................................................................................................................24
2.1.1 XYZ 4点法测量TCP ............................................................................................................................25
2.1.2 XYZ参照法测量TCP ...........................................................................................................................28
2.1.3 ABC世界坐标法确定姿态 ...................................................................................................................31
2.1.4 ABC 2点法确定姿态 ............................................................................................................................33
2.1.5 数字输入法 .............................................................................................................................................34
2.2 基坐标系测量 ..............................................................................................................................................35
2.2.1 3点法测定基坐标系 ..............................................................................................................................35
2.2.2 间接法测定基坐标系 ............................................................................................................................38
2.2.3 输入基准数值 .........................................................................................................................................41
2.3 固定工具测量 ..............................................................................................................................................42
2.3.1 测量外部TCP ........................................................................................................................................42
2.3.2 输入外部TCP数值 ...............................................................................................................................442.3.3 直接法测量工件 .....................................................................................................................................45
2.3.4 间接法测量工件 .....................................................................................................................................48
2.4 负载数据 ......................................................................................................................................................52
2.4.1 用KUKA-Load 检测负载 ......................................................................................................................52
2.4.2 用KUKA Load Data Determination 计算负载 .....................................................................................55
2.4.3 在线负载数据检查 .................................................................................................................................63
第3 章 专家界面、结构化编程、KRL 运动编程 ..................................................................................67
3.1 专家界面 ......................................................................................................................................................68
3.1.1 专家用户组的扩展功能 .........................................................................................................................68
3.1.2 借助模板创建程序功能 .........................................................................................................................70
3.1.3 激活专家界面和纠错的操作步骤 .........................................................................................................73
3.2 结构化编程 ..................................................................................................................................................74
3.2.1 注释 .........................................................................................................................................................75
3.2.2 FOLD（折合） ......................................................................................................................................77
3.2.3 子程序 .....................................................................................................................................................78
3.2.4 缩进 .........................................................................................................................................................78
3.2.5 合理命名 .................................................................................................................................................79
3.2.6 创建程序流程图 .....................................................................................................................................79
3.3 用KRL 进行运动编程 ................................................................................................................................80
3.3.1 KRL 运动编程 ........................................................................................................................................80
3.3.1.1 运动方式PTP .................................................................................................................................81
3.3.1.2 运动方式LIN ..................................................................................................................................83
3.3.1.3 运行方式CIRC ...............................................................................................................................84
3.3.1.4 运动参数的功能 .............................................................................................................................86
3.3.1.5 用KRL 给运动编程时的操作步骤 ...............................................................................................90
3.3.2 借助KRL 给相对运动编程 ...................................................................................................................90
3.3.2.1 相对运动PTP_REL ........................................................................................................................91
3.3.2.2 相对运动LIN_RE ..........................................................................................................................92
3.3.2.3 相对运动CIRC_REL .....................................................................................................................93
3.3.2.4 用KRL 给相对运动编程时的操作步骤 .......................................................................................94
3.3.3 计算或操纵机器人位置 .........................................................................................................................94
第4 章 变量和协定 ...........................................................................................................................................97
4.1 KRL 中的数据保存 .....................................................................................................................................98
4.2 简单数据类型 ............................................................................................................................................100
4.2.1 变量的声明 ...........................................................................................................................................100
4.2.2 变量声明的原理 ...................................................................................................................................101
4.2.3 简单数据类型变量声明的操作步骤 ...................................................................................................101
4.2.4 简单数据类型变量的初始化 ...............................................................................................................105
4.2.5 KRL 简单数据类型变量的编程 ..........................................................................................................1074.2.6 变量值的查看 ....................................................................................................................................... 112
4.3 复杂数据类型：Arrays（数组） ............................................................................................................. 113
4.4 复杂数据类型：结构/STRUC ................................................................................................................. 117
4.5 复杂数据类型：枚举数据类型（ENUM） ............................................................................................. 119
4.6 系统数据类型 ............................................................................................................................................120
4.7 变量类型的运用练习 ................................................................................................................................122
4.7.1 具有简单数据类型和计数循环的数组 ...............................................................................................122
4.7.2 用 KRL 创建结构 .................................................................................................................................123
4.7.3 用KRL 创建枚举类型 .........................................................................................................................125
第5 章 子程序和函数 .....................................................................................................................................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 将参数传递给子程序 ................................................................................................................................132
5.4 函数编程 ....................................................................................................................................................137
5.5 使用KUKA 标准函数工作 .......................................................................................................................142
5.5.1 数学函数 ...............................................................................................................................................142
5.5.2 字符串变量函数 ...................................................................................................................................143
5.5.3 用于信息输出的函数 ...........................................................................................................................147
5.5.3.1 提示信息 .......................................................................................................................................148
5.5.3.2 状态信息 .......................................................................................................................................149
5.5.3.3 确认信息 .......................................................................................................................................150
5.5.3.4 等待信息 .......................................................................................................................................151
5.5.3.5 对话信息 .......................................................................................................................................153
第6 章 中断编程 ..............................................................................................................................................159
6.1 中断功能 ....................................................................................................................................................160
6.1.1 中断程序说明 .......................................................................................................................................160
6.1.2 BRAKE：从中断程序上停止机器人 .................................................................................................163
6.1.3 RESUME：中止中断程序 ..................................................................................................................164
6.1.4 有关制动机器人或用中断程序中断当前运行的说明 .......................................................................165
6.2 中断程序编程 ............................................................................................................................................167
第7 章 程序流程控制 .....................................................................................................................................171
7.1 CONTINUE：防止预进停止 ....................................................................................................................172
7.2 EXIT：离开循环 .......................................................................................................................................172
7.3 FOR…TO…ENDFOR：编程设定计数循环 ...........................................................................................172
7.4 GOTO：跳转至程序中的位置 .................................................................................................................174
7.5 HALT：暂停程序 ......................................................................................................................................174
7.6 IF…THEN…ENDIF：编程设定有条件的分支 ......................................................................................175
7.7 LOOP…ENDLOOP：编程设定连续循环 ...............................................................................................1767.8 REPEAT…UNTIL：编程设定采用的循环 ..............................................................................................177
7.9 SWITCH…CASE…ENDSWITCH：编程设定多重分支 .......................................................................177
7.10 WAIT FOR…：等至条件已满足 ............................................................................................................179
7.11 WAIT SEC…：编程设定等待时间 ........................................................................................................179
7.12 WHILE…ENDWHILE：编程设定当型循环 ........................................................................................180
第8 章 提交解释器 .........................................................................................................................................181
8.1 SUBMIT 解释器（提交解释器） ............................................................................................................182
8.2 启动提交解释器 ........................................................................................................................................183
8.3 SUBMIT 解释器编程时的关联 ................................................................................................................184
8.4 SUBMIT 解释器编程时的特点 ................................................................................................................186
8.5 SUBMIT 解释器编程的操作步骤 ............................................................................................................187
第9 章 双工位码垛工作站 ...........................................................................................................................189
9.1 工作站布局 ................................................................................................................................................190
9.2 工作流程 ....................................................................................................................................................191
9.3 程序详细说明 ............................................................................................................................................191
9.3.1 在config.dat 中定义信号和相关变量 ...............................................................................................192
9.3.2 定义全局位置点数据 ...........................................................................................................................193
9.3.3 程序框架和详细说明 ...........................................................................................................................194
9.3.3.1 主程序MAIN.src 和中断程序 .....................................................................................................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 周期循环检查程序CycleCheck.src .............................................................................................197
9.3.3.6 位置计算程序CalPosition.src ......................................................................................................198
9.3.3.7 计算摆放位置功能程序Pattern.src .............................................................................................199
9.3.3.8 码垛计数程序PlaceRD.src ..........................................................................................................201
9.3.3.9 检查HOME 位程序CheckHomePos.src .....................................................................................202
展开全部
本类五星书
本类畅销
-
黑科技驱动世界的100项技术
¥20.9¥69.8 -
港口文化
¥19.2¥60.0 -
宣纸制造
¥6.4¥20.0 -
世界桥梁趣谈
¥10.6¥28.0 -
检测与计量研究
¥21.0¥70.0 -
ABAQUS 在水力压裂模拟中的应用
¥196.9¥358.0 -
服装制作基本技能
¥4.9¥10.0 -
环境保护辞典
¥14.4¥45.0 -
电子操作工必读
¥2.3¥8.0 -
环境影响评价技术方法基础过关800题(2024年版)
¥47.9¥57.0 -
煤矿全员素质提升丛书:煤矿企业从业人员安全生产应知应会手册
¥54.6¥78.0 -
煤矿安全生产应急管理.井工
¥47.6¥68.0 -
3D打印应用技术
¥48.3¥68.0 -
《煤矿安全生产条例》学习辅导教材:含习题及答案解析
¥45.5¥65.0 -
氧化亚氮减排原理与应用
¥70.6¥98.0 -
机电概念设计【MCD】教学工作页
¥26.3¥36.0 -
煤矿职业病危害防治培训教材
¥34.6¥48.0 -
煤矿绿色开采技术
¥39.2¥45.0 -
矿图
¥31.3¥36.0 -
我国煤矿安全及废弃矿井资源开发利用战略研究(二期)
¥208.6¥298.0
