kuka机器人高级编程CREAD_CWRITE
库卡机器人编程CWRITE用法介绍
1KRL程序的一般信息································ 7 1.1程序的结构和建立································ 7 1.1.1程序接口··································· 7 1.1.2文件概念··································· 9 1.1.3文件结构··································· 9 1.2 建立和编辑程序································· 11 1.2.1新建一个程序···································· 11 1.2.2建立、编译和联接程序································ 12 1.3替换程序······································· 14 1.3.1程序修改······································ 14 1.3.2编辑········································ 14 1.3.2.1块函数······································ 14 1.3.2.2拷贝(CTRL-C) ··································· 14 1.3.2.3粘贴(CTRL-V) ··································· 15 1.3.2.4剪切(CTRL-X) ··································· 15 1.3.2.5删除······································· 15 1.3.2.6搜索······································· 16 1.3.2.7替换······································· 16 1.4隐藏程序部分····································· 19 1.4.1折合········································ 19 1.4.1.1示例程序····································· 20 1.5程序运行模式····································· 22 1.6错误处理······································· 24 1.7注释········································· 27 2变量和声明······························· 29 2.1变量和名称······································ 29 2.2数据对象······································· 31 2.2.1数据对象的声明和初始化······························· 31 2.2.2简单数据类型···································· 33 2.2.3阵列········································ 35 2.2.4字符串······································· 38 2.2.5结构········································ 38 2.2.6列举类型······································ 40 2.3数据操作······································· 42 2.3.1操作········································ 42 2.3.1.1算术操作····································· 42 2.3.1.2几何操作····································· 43 2.3.1.3关系操作····································· 47 2.3.1.4逻辑操作····································· 48 2.3.1.5位操作······································ 49 2.3.1.6操作的优先级··································· 51 2.3.2标准函数······································ 52 2.4系统变量和系统文件·
库卡workvisual 软件操作教程软件包 WorkVisual 是用于由 KR C4 控制的机器人工作单元的工程环境。 它 具有以下功能: 架构并连接现场总线 对机器人离线编程 配置机器参数 离线配置 RoboTeam 编辑安全配置 将项目传送给机器人控制系统 从机器人控制系统载入项目 将项目与其它项目进行比较,如果需要则应用差值 管理长文本 管理备选软件包 诊断功能 在线显示机器人控制系统的系统信息 配置测量记录、启动测量记录、分析测量记录(用示波器)