KUKAC4高级编程手册_库卡机器人自定义变量关键词资源-CSDN文库

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根据提供的文件信息，我们可以得出这是一份关于KUKA C4系统的高级编程手册，主要针对的是KUKA机器人的软件编程部分。以下是对该手册中关键知识点的详细解读。 ### 一、概述 #### 1.1 标题：KUKA C4 高级编程手册 KUKA C4 高级编程手册是一本专门介绍如何利用 KUKA C4 控制系统进行高级编程的技术文档。这份手册涵盖了从基本概念到具体应用的各个方面，对于想要深入了解并掌握 KUKA 机器人高级编程技巧的专业人士来说，是一份不可或缺的参考资料。 #### 1.2 描述：KUKA C4 系统高级编程手册。包含样例程序和语法说明。本手册不仅提供了详尽的语法说明，还包含了大量的示例程序，这些示例程序能够帮助读者更好地理解各种编程命令和控制结构的实际应用方式。通过学习这些示例程序，用户可以更快地掌握 KUKA 机器人的高级编程技能，并将其应用于实际的工业自动化项目中。 ### 二、主要内容概览 #### 2.1 基础知识 ##### 2.1.1 程序、数据列表和模块 KUKA 的编程环境支持创建不同的程序、数据列表和模块。程序是执行一系列指令的基本单元；数据列表用于存储数据项，可以是简单的数值或复杂的结构体；模块则是一种组织代码的方式，它允许将相关的函数和变量组合在一起，便于管理和复用。 ##### 2.1.2 名称与字面量在 KUKA 编程语言中，名称（如变量名、函数名等）遵循一定的命名规则，以便于区分不同的元素。而字面量则是直接在程序中表示的具体值，例如数字、字符串等。 ##### 2.1.3 数据类型 KUKA 编程语言支持多种数据类型，包括简单数据类型和复合数据类型。 ###### 2.1.3.1 简单数据类型简单数据类型通常包括整型（int）、实型（real）、布尔型（bool）等。这些类型可以直接用来声明变量，用于存储相应的数据。 ###### 2.1.3.2 类型转换在 KUKA 编程语言中，有时候需要进行不同类型之间的转换。类型转换可以是显式的，也可以是隐式的。显式类型转换由程序员明确指定，而隐式类型转换则是在某些特定情况下自动发生的。 ##### 2.1.4 常量常量是指在程序运行过程中其值不会改变的数据。在 KUKA 编程语言中，可以通过特定的关键字来定义常量。 ##### 2.1.5 变量变量是用于存储数据的标识符。在 KUKA 编程语言中，变量可以是全局的，也可以是局部的，取决于它们被定义的位置。此外，还有一些系统变量，它们是由系统自动管理的特殊变量。 ##### 2.1.6 运算符运算符是用来对操作数执行计算的符号。KUKA 编程语言中的运算符包括算术运算符、逻辑运算符、关系运算符、位运算符以及几何运算符等。 ##### 2.1.12 运动编程运动编程是 KUKA 机器人编程的一个核心部分，它涉及控制机器人的运动路径。主要包括： ###### 2.1.12.1 PTP 运动 (PTP = Point-to-Point) PTP 运动指的是机器人从一个点移动到另一个点的过程，移动过程中不考虑路径。 ###### 2.1.12.2 CP 运动 (CP = Continuous Path) CP 运动是指机器人按照连续路径移动，这种方式通常用于需要精确控制机器人运动轨迹的应用场景。 #### 2.2 命令索引这部分列举了 KUKA 编程语言中可用的所有命令，并对每个命令进行了简要说明。例如 ANIN 和 ANOUT 是两个常用的命令。 ##### 2.2.1 ANIN ANIN 命令用于读取模拟输入信号的值，并将其存储在一个变量中。 ##### 2.2.2 ANOUT ANOUT 命令用于设置模拟输出信号的值，从而控制外部设备。 ### 三、总结 KUKA C4 高级编程手册为专业用户提供了一套完整的编程指南，从基础语法到高级特性都有详细介绍。通过对这份手册的学习，不仅可以掌握 KUKA 机器人的基本编程方法，还能深入理解其高级编程技术，这对于提高编程效率、实现更复杂的功能至关重要。

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Contents

1 General 9.........................................................

1.1 T ypographical conventions 9......................................................

1.2 Graphic conventions 10...........................................................

2 Reference section 11................................................

2.1 Fundamentals 11.................................................................

2.1.1 Programs, data lists and modules 11................................................

2.1.2 Names and literals 11.............................................................

2.1.3 Data types 11....................................................................

2.1.3.1 Simple data types 11..............................................................

2.1.3.2 Implicit type conversion 12.........................................................

2.1.3.3 Predefined data types 12..........................................................

2.1.3.4 Implicit data type assignment 12....................................................

2.1.4 Constants 12.....................................................................

2.1.5 Variables 13.....................................................................

2.1.5.1 System variables 13..............................................................

2.1.6 Operators 13.....................................................................

2.1.6.1 Arithmetic operators 13............................................................

2.1.6.2 Logic operators 13................................................................

2.1.6.3 Relational operators 13............................................................

2.1.6.4 Bit operators 13..................................................................

2.1.6.5 Geometric operator 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....................................................................

2.1.11 Comment 14.....................................................................

2.1.12 Motion programming 15...........................................................

2.1.12.1 PTP motions (PTP = Point--To--Point) 15.............................................

2.1.12.2 CP motions (CP = Continuous Path) 15..............................................

2.1.13 Control structures 15..............................................................

2.1.14 Subprograms 15..................................................................

2.1.15 Functions 15.....................................................................

2.1.16 Block structure 15................................................................

2.1.17 Areas of validity 16................................................................

2.1.18 Keywords 16.....................................................................

2.2 Command index 20...............................................................

2.2.1 ANIN 20.........................................................................

2.2.1.1 Brief information 20...............................................................

2.2.1.2 Syntax 20.......................................................................

2.2.1.3 Description 20....................................................................

2.2.1.4 Example 21......................................................................

2.2.2 ANOUT 22.......................................................................

2.2.2.1 Brief information 22...............................................................

2.2.2.2 Syntax 22.......................................................................

2.2.2.3 Description 22....................................................................

2.2.2.4 Example 23......................................................................

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2.2.3 BRAKE 24.......................................................................

2.2.3.1 Brief information 24...............................................................

2.2.3.2 Syntax 24.......................................................................

2.2.3.3 Description 24....................................................................

2.2.3.4 Example 24......................................................................

2.2.4 CCLOSE 25.....................................................................

2.2.4.1 Brief information 25...............................................................

2.2.4.2 Syntax 25.......................................................................

2.2.4.3 Description 25....................................................................

2.2.4.4 Example 25......................................................................

2.2.5 CHANNEL 27....................................................................

2.2.5.1 Brief information 27...............................................................

2.2.5.2 Syntax 27.......................................................................

2.2.5.3 Description 27....................................................................

2.2.5.4 Example 28......................................................................

2.2.6 CIRC 29.........................................................................

2.2.6.1 Brief information 29...............................................................

2.2.6.2 Syntax 29.......................................................................

2.2.6.3 Description 31....................................................................

2.2.6.4 Example 33......................................................................

2.2.7 CIRC_REL 34....................................................................

2.2.7.1 Brief information 34...............................................................

2.2.7.2 Syntax 34.......................................................................

2.2.7.3 Description 36....................................................................

2.2.7.4 Example 37......................................................................

2.2.8 CONFIRM 38....................................................................

2.2.8.1 Brief information 38...............................................................

2.2.8.2 Syntax 38.......................................................................

2.2.8.3 Description 38....................................................................

2.2.8.4 Example 39......................................................................

2.2.9 CONTINUE 40...................................................................

2.2.9.1 Brief information 40...............................................................

2.2.9.2 Syntax 40.......................................................................

2.2.9.3 Description 40....................................................................

2.2.9.4 Example 40......................................................................

2.2.10 COPEN 41......................................................................

2.2.10.1 Brief information 41...............................................................

2.2.10.2 Syntax 41.......................................................................

2.2.10.3 Description 41....................................................................

2.2.10.4 Example 41......................................................................

2.2.11 CREAD 42.......................................................................

2.2.11.1 Brief information 42...............................................................

2.2.11.2 Syntax 42.......................................................................

2.2.11.3 Description 44....................................................................

2.2.12 CWRITE 48......................................................................

2.2.12.1 Brief information 48...............................................................

2.2.12.2 Syntax 48.......................................................................

2.2.12.3 Description 49....................................................................

2.2.12.4 Example 51......................................................................

2.2.13 DECL 53........................................................................

2.2.13.1 Brief information 53...............................................................

2.2.13.2 Syntax 53.......................................................................

2.2.13.3 Description 54....................................................................

2.2.13.4 Example: 56.....................................................................

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2.2.14 DEF ... END 57...................................................................

2.2.14.1 Brief information 57...............................................................

2.2.14.2 Syntax 57.......................................................................

2.2.14.3 Description 58....................................................................

2.2.14.4 Example: 59.....................................................................

2.2.15 DEFDAT ... ENDDAT 60...........................................................

2.2.15.1 Brief information 60...............................................................

2.2.15.2 Syntax 60.......................................................................

2.2.15.3 Description 60....................................................................

2.2.15.4 Example: 61.....................................................................

2.2.16 DEFFCT ... ENDFCT 63...........................................................

2.2.16.1 Brief information 63...............................................................

2.2.16.2 Syntax 63.......................................................................

2.2.16.3 Description 64....................................................................

2.2.16.4 Example 65......................................................................

2.2.17 DIGIN 66........................................................................

2.2.17.1 Brief information 66...............................................................

2.2.17.2 Syntax 66.......................................................................

2.2.17.3 Description 66....................................................................

2.2.17.4 Examples 67.....................................................................

2.2.18 ENUM 68........................................................................

2.2.18.1 Brief information 68...............................................................

2.2.18.2 Syntax 68.......................................................................

2.2.18.3 Description 68....................................................................

2.2.18.4 Example 69......................................................................

2.2.19 EXIT 70.........................................................................

2.2.19.1 Brief information 70...............................................................

2.2.19.2 Syntax 70.......................................................................

2.2.19.3 Description 70....................................................................

2.2.19.4 Example 70......................................................................

2.2.20 EXT 71..........................................................................

2.2.20.1 Brief information 71...............................................................

2.2.20.2 Syntax 71.......................................................................

2.2.20.3 Description 71....................................................................

2.2.20.4 Example 72......................................................................

2.2.21 EXTFCT 73......................................................................

2.2.21.1 Brief information 73...............................................................

2.2.21.2 Syntax 73.......................................................................

2.2.21.3 Description 73....................................................................

2.2.21.4 Example 74......................................................................

2.2.22 FOR ... TO ... ENDFOR 76........................................................

2.2.22.1 Brief information 76...............................................................

2.2.22.2 Syntax 76.......................................................................

2.2.22.3 Description 76....................................................................

2.2.22.4 Example 77......................................................................

2.2.23 GOTO 78........................................................................

2.2.23.1 Brief information 78...............................................................

2.2.23.2 Syntax 78.......................................................................

2.2.23.3 Description 78....................................................................

2.2.23.4 Example 78......................................................................

2.2.24 HALT 79.........................................................................

2.2.24.1 Brief information 79...............................................................

2.2.24.2 Syntax 79.......................................................................

2.2.24.3 Description 79....................................................................

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