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FANUC机器人系统的KAREL系统由机器人,控制器和系统软件组成。它使用用KAREL编 程语言编写的程序来完成工业任务。KAREL可以操作数据,控制和与相关设备进行通信并与 操作员进行交互。 配备KAREL的系统R-30iA控制器可与各种机器人模型配合使用,以处理各种应用。这意味 着常见的操作,编程和故障排除程序以及更少的备件。KAREL系统扩展到包括全系列支持产 品,如整体视觉,离线编程和特定于应用的软件包。 KAREL编程语言实际上融合了像Pasca和PL / 1这样的高级语言的逻辑,类似英语的功能, 以及机器控制语言经验证的工厂车间效率。KAREL结合了高级语言通用的结构和惯例以及专 门为机器人应用开发的功能。
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FANUC Robotics SYSTEM
R-30iAandR-30iB Controller
KAREL Reference Manual
MARRC75KR07091E Rev D
Applies to Version 7.50 and higher
© 2012 FANUC Robotics America Corporation
About This Manual
This manual can be used with controllers labeled R-30iAorR-J3iC. If you have a controller labeled
R-J3iC,youshouldreadR-30iAasR-J3iC throughout this manual.
Copyrights and Trademarks
This new publication contains proprietary information of FANUC Robotics America Corporation,
furnished for customer use only. No other uses are authorized without the express written p ermission
of FANUC Robotics America Corporation.
FANUC Robotics America Corporation
3900 W. Hamlin Road
Rochester Hills, MI 48309-3253
The descriptions and specifications contained in this manual were in effect at the time this manual
was approved. FANUC Robotics America Corporation, hereinafter referred t o as FANU C Robotics,
reserves the right to discontinue models at any time or to change specifications or design without
notice and without incurring obligations.
FANUC Robotics manuals present descriptions, specifications, drawings, schematics, bills of
material, parts, connections and/or procedures for installing, disassembling, connecting, operating and
programming FANUC Robotics’ products and/or systems. Such systems consist of robots, extended
axes, robot controllers, application software, the KAREL® programming language, INSIGHT®
vision equipment, and special tools.
FANUC Robotics recommends that only persons who have been trained in one or more a pproved
FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on,
repair, and/or maintain FANUC Robotics’ products and/or systems and their respective components.
Approved training necessitates that the courses selected be relevant to the type of system installed
and application performed at the customer site.
Warning
This equipment generates, uses, and can radiate radio frequency energy
and if not installed and used in accordance with the instruction manual,
may cause interference to radio communications. As temporarily
permitted by regulation, it has not been tested for compliance with the
limits for Class A computing devices pursuant to subpart J of Part 15 of
FCC Rules, which are designed to provide reasonable protection against
such interference. Operation of the equipment in a residential area is
likely to cause interference, in which case the user, at his own expense,
will be required to take w hatever measure may be required to correct
the interference.
i
About This Manu al MARRC75KR07091E Rev D
FANUC Robotics conducts courses on its systems and products on a regularly scheduled basis at its
headquarters in Rochester Hills, Michigan. For additional information contact
FANUC Robotics America Corporation
3900 W. Hamlin Road
Rochester Hills, MI 48309-3253
w
ww.fanucrobotics.com
For customer assistance, including Technical Support, Service, Parts & Part Repair, and
Marketing Requests, contact the Customer Resource Center, 2 4 hours a day, at 1 -800-47-ROBOT
(1-800-477-6268). International customers should call 011-1-248-377-7159.
Send your comments and suggestions about this manual to:
p
roduct.documentation@fanu cro botics.com
The information illustrated or contained herein is not to be reproduced, copied, downloaded,
translated into another language, distributed, or published in any physical or electronic format,
including Internet, or transmitted in whole or in part in any way without the prior written consent
of FANUC Robotics America, Inc.
AccuStat®, ArcTool®, i RVision®, KAREL®, PaintTool®,PalletTool®, SOCKETS®, SpotTool®,
SpotWorks®, and TorchMate®are Registered Trademarks of FANUC Robotics.
FANUC Robotics reserves all proprietary rights, including but not limited to trademark and trade
name rights, in the following names:
AccuAir™, AccuCal™, AccuC hop™, AccuFlow™, AccuPath™, AccuSeal™, ARC Mate™,
ARC Mate Sr.™, ARC Mate System 1™, ARC Mate System 2™, ARC Mate System 3™, ARC
Mate System 4™, ARC Mate System 5™, ARCWorks Pro™, As sistTool™, AutoNormal™,
AutoTCP™, BellTool™, BODYWorks™, Cal Mate™, Cell Finder™, Center Finder™, Clean Wall™,
DualARM™, LR Tool™, M IG Eye™, MotionParts™, MultiARM™, NoBots™, Paint Stick™,
PaintPro™, PaintTool 100™, PAINTWorks™, PAINTWorks II™, PAINTWorks III™, PalletMate™,
PalletMate PC™, PalletTool PC™, PayloadID™, RecipTool™, RemovalTool™, Robo Chop™, Robo
Spray™, S-420i™, S-430i™, ShapeGen™, SoftFloat™, SOFT PARTS™, SpotTool+™, SR Mate™,
SR ShotTool™, SureWeld™, SYSTEM R-J2 Cont roller™, SYSTEM R-J3 Controller™, SYSTEM
R-J3iB Controller™, SYSTEM R-J3iC Controller™, SYSTEM R-30iA Controller™, SYSTEM
R-30iB Controller™, TCP Mate™, TorchMate™, TripleARM™, TurboMove™, visLOC™,
visPRO-3D™, visTRAC™, WebServer™, WebTP™, and YagTool™.
Patents
One or more of the following U.S. patents might be related to the FANUC Robotics products
described in this manual.
ii
MARRC75KR07091E Rev D About This Manual
FRA Patent List
4,630,567 4,639,878 4,707,647 4,708,175 4,708,580 4,942,539 4,984,745 5,238,029 5,239,739
5,272,805 5,293,107 5,293,911 5,331,264 5,367,944 5,373,221 5,421,218 5,434,489 5,644,898
5,670,202 5,696,687 5,737,218 5,823,389 5,853,027 5,887,800 5,941,679 5,959,425 5,987,726
6,059,092 6,064,168 6,070,109 6,086,294 6,122,062 6,147,323 6,204,620 6,243,621 6,253,799
6,285,920 6,313,595 6,325,302 6,345,818 6,356,807 6,360,143 6,378,190 6,385,508 6,425,177
6,477,913 6,490,369 6,518,980 6,540,104 6,541,757 6,560,513 6,569,258 6,612,449 6,703,079
6,705,361 6,726,773 6,768,078 6,845,295 6,945,483 7,149,606 7,149,606 7,211,978 7,266,422
7,399,363
FANUC LTD Patent List
4,571,694 4,626,756 4,700,118 4,706,001 4,728,872 4,732,526 4,742,207 4,835,362 4,894,596
4,899,095 4,920,248 4,931,617 4,934,504 4,956,594 4,967,125 4,969,109 4,970,370 4,970,448
4,979,127 5,004,968 5,006,035 5,008,834 5,063,281 5,066,847 5,066,902 5,093,552 5,107,716
5,111,019 5,130,515 5,136,223 5,151,608 5,170,109 5,189,351 5,267,483 5,274,360 5,292,066
5,300,868 5,304,906 5,313,563 5,319,443 5,325,467 5,327,057 5,329,469 5,333,242 5,337,148
5,371,452 5,375,480 5,418,441 5,432,316 5,440,213 5,442,155 5,444,612 5,449,875 5,451,850
5,461,478 5,463,297 5,467,003 5,471,312 5,479,078 5,485,389 5,485,552 5,486,679 5,489,758
5,493,192 5,504,766 5,511,007 5,520,062 5,528,013 5,532,924 5,548,194 5,552,687 5,558,196
5,561,742 5,570,187 5,570,190 5,572,103 5,581,167 5,582,750 5,587,635 5,600,759 5,608,299
5,608,618 5,624,588 5,630,955 5,637,969 5,639,204 5,641,415 5,650,078 5,658,121 5,668,628
5,687,295 5,691,615 5,698,121 5,708,342 5,715,375 5,719,479 5,727,132 5,742,138 5,742,144
5,748,854 5,749,058 5,760,560 5,773,950 5,783,922 5,799,135 5,812,408 5,841,257 5,845,053
5,872,894 5,887,122 5,911,892 5,912,540 5,920,678 5,937,143 5,980,082 5,983,744 5,987,591
5,988,850 6,023,044 6,032,086 6,040,554 6,059,169 6,088,628 6,097,169 6,114,824 6,124,693
6,140,788 6,141,863 6,157,155 6,160,324 6,163,124 6,177,650 6,180,898 6,181,096 6,188,194
6,208,105 6,212,444 6,219,583 6,226,181 6,236,011 6,236,896 6,250,174 6,278,902 6,279,413
6,285,921 6,298,283 6,321,139 6,324,443 6,328,523 6,330,493 6,340,875 6,356,671 6,377,869
6,382,012 6,384,371 6,396,030 6,414,711 6,424,883 6,431,018 6,434,448 6,445,979 6,459,958
6,463,358 6,484,067 6,486,629 6,507,165 6,654,666 6,665,588 6,680,461 6,696,810 6,728,417
6,763,284 6,772,493 6,845,296 6,853,881 6,888,089 6,898,486 6,917,837 6,928,337 6,965,091
6,970,802 7,038,165 7,069,808 7,084,900 7,092,791 7,133,747 7,143,100 7,149,602 7,131,848
7,161,321 7,171,041 7,174,234 7,173,213 7,177,722 7,177,439 7,181,294 7,181,313 7,280,687
7,283,661 7,291,806 7,299,713 7,315,650 7,324,873 7,328,083 7,330,777 7,333,879 7,355,725
7,359,817 7,373,220 7,376,488 7,386,367 7,464,623 7,447,615 7,445,260 7,474,939 7,486,816
7,495,192 7,501,778 7,502,504 7,508,155 7,512,459 7,525,273 7,526,121
VersaBell, ServoBell and SpeedDock Patents Pending.
Conventions
This manual includes information essential to the safety of personnel, equipment, software, and data.
This information is indicated by headings and boxes in the text.
iii
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