前 言
第1章　KUKA機器人系統(tǒng) ...............................................................................................................................1
1.1　認識工業(yè)機器人 ............................................................................................................................................2
1.2　KUKA工業(yè)機器人品種 ................................................................................................................................2
1.3　機器人機械系統(tǒng)構成 ....................................................................................................................................3
1.4　控制柜分類 ....................................................................................................................................................3
1.5　機器人控制系統(tǒng)構成 ....................................................................................................................................4
1.5.1　控制系統(tǒng)操作面板 ..................................................................................................................................4
1.5.2　控制系統(tǒng)元件 ..........................................................................................................................................5
1.5.3　網(wǎng)絡系統(tǒng) ..................................................................................................................................................6
1.5.4　KCB..........................................................................................................................................................7
1.5.5　KSB ..........................................................................................................................................................8
1.5.6　KEB ..........................................................................................................................................................8
1.5.7　KLI ...........................................................................................................................................................9
1.5.8　CCU網(wǎng)絡接口.........................................................................................................................................9
1.6　示教器SmartPad介紹 .................................................................................................................................10
1.6.1　SmartPad概覽 .......................................................................................................................................10
1.6.2　SmartPad拔插 .......................................................................................................................................12
1.6.3　操作界面介紹 ........................................................................................................................................13
1.6.4　菜單使用 ................................................................................................................................................14
1.6.5　語言切換 ................................................................................................................................................14
1.6.6　更換用戶組 ............................................................................................................................................15
1.7　機器人的安全 ..............................................................................................................................................16
第2章　KUKA機器人投入運行 ....................................................................................................................17
2.1　機器人系統(tǒng)線路連接 ..................................................................................................................................18
2.2　機器人安全回路連接與屏蔽 ......................................................................................................................21
2.3　機器人安全機制 ..........................................................................................................................................23
2.3.1　觸發(fā)停機方式 ........................................................................................................................................23
2.3.2　停機方式 ................................................................................................................................................24
2.3.3　安全相關裝置 ........................................................................................................................................25
2.3.4　安全附加防護裝置 ................................................................................................................................26
2.3.5　運行方式與防護功能 ............................................................................................................................26
2.4　機器人運行設置 ..........................................................................................................................................26
2.4.1　初次上電設置 ........................................................................................................................................26
2.4.2　投入運行模式 ........................................................................................................................................28
2.5　數(shù)據(jù)的備份與還原 ......................................................................................................................................29
2.6　機器人運動 ..................................................................................................................................................302.6.1　機器人軸運動 ........................................................................................................................................30
2.6.2　相關坐標系介紹 ....................................................................................................................................33
2.6.3　建立工具坐標系 ....................................................................................................................................35
2.6.4　建立基坐標系 ........................................................................................................................................39
2.6.5　機器人當前位置顯示 ............................................................................................................................40
2.6.6　坐標系中移動機器人 ............................................................................................................................41
2.6.7　機器人系統(tǒng)信息提示 ............................................................................................................................43
2.6.8　增量式手動移動 ....................................................................................................................................44
2.7　機器人零點標定 ..........................................................................................................................................45
2.7.1　零點標定的必要性 ................................................................................................................................45
2.7.2　電子校準裝置 ........................................................................................................................................46
2.7.3　首次零點標定 ........................................................................................................................................46
2.7.4　偏量學習 ................................................................................................................................................47
2.7.5　工具負載數(shù)據(jù) ........................................................................................................................................48
第3 章　KUKA 機器人編程基礎 ....................................................................................................................51
3.1　程序文件的使用 ..........................................................................................................................................52
3.1.1　創(chuàng)建程序模塊 ........................................................................................................................................52
3.1.2　程序模塊構成 ........................................................................................................................................54
3.1.3　程序文件編輯 ........................................................................................................................................54
3.2　聯(lián)機表單方式創(chuàng)建運動指令 ......................................................................................................................54
3.2.1　程序模塊的打開 ....................................................................................................................................55
3.2.2　程序模塊結(jié)構 ........................................................................................................................................55
3.2.3　PTP 運動功能 ........................................................................................................................................56
3.2.4　LIN 運動功能 ........................................................................................................................................59
3.2.5　CIRC 運動功能 .....................................................................................................................................61
3.3　變量的應用 ..................................................................................................................................................63
3.3.1　變量概述 ................................................................................................................................................63
3.3.2　變量聲明 ................................................................................................................................................63
3.3.3　變量初始化 ............................................................................................................................................66
3.3.4　變量運算 ................................................................................................................................................67
3.3.5　數(shù)組變量 ................................................................................................................................................68
3.3.6　程序錯誤處理 ........................................................................................................................................69
3.3.7　常用系統(tǒng)變量 ........................................................................................................................................69
3.3.8　變量監(jiān)視 ................................................................................................................................................71
3.4　聯(lián)機表單創(chuàng)建邏輯功能 ..............................................................................................................................72
3.4.1　預進功能 ................................................................................................................................................72
3.4.2　簡單切換功能 ........................................................................................................................................72
3.4.3　時間等待功能 ........................................................................................................................................75
3.4.4　信號等待功能 ........................................................................................................................................763.4.5　脈沖切換功能 ........................................................................................................................................78
3.5　KRL 流程控制功能 .....................................................................................................................................79
3.5.1　無限循環(huán)編程 ........................................................................................................................................79
3.5.2　計數(shù)循環(huán)編程 ........................................................................................................................................81
3.5.3　當型循環(huán)編程 ........................................................................................................................................82
3.5.4　直到型循環(huán)編程 ....................................................................................................................................83
3.5.5　IF 分支編程 ...........................................................................................................................................83
3.5.6　SWITCH-CASE 分支編程 ....................................................................................................................84
3.5.7　跳轉(zhuǎn)指令編程 ........................................................................................................................................85
3.6　結(jié)構化編程 ..................................................................................................................................................86
3.6.1　結(jié)構化編程方法 ....................................................................................................................................86
3.6.2　局部子程序 ............................................................................................................................................88
3.6.3　全局子程序 ............................................................................................................................................89
3.7　程序文件執(zhí)行 ..............................................................................................................................................89
3.7.1　初始化運行 ............................................................................................................................................89
3.7.2　SUBMIT 解釋器狀態(tài) ............................................................................................................................90
3.7.3　驅(qū)動裝置狀態(tài) ........................................................................................................................................90
3.7.4　程序狀態(tài) ................................................................................................................................................91
3.7.5　程序運行方式 ........................................................................................................................................92
3.7.6　程序在T1 方式下運行 .........................................................................................................................92
3.7.7　程序在AUT 方式下運行 ......................................................................................................................93
第4 章　WorkVisual 軟件配置機器人 .........................................................................................................95
4.1　WorkVisual 軟件介紹 ..................................................................................................................................96
4.2　WorkVisual 軟件與控制系統(tǒng)連接 ..............................................................................................................96
4.3　上傳項目 ......................................................................................................................................................98
4.4　設備管理 ......................................................................................................................................................99
4.5　編目管理 ....................................................................................................................................................101
4.6　控制系統(tǒng)組件 ............................................................................................................................................102
4.7　總線結(jié)構 ....................................................................................................................................................102
4.8　BECKHOFF I/O 模塊配置 ........................................................................................................................104
4.9　機器人輸入/ 輸出端配置 .........................................................................................................................107
4.10　長文本編輯 ..............................................................................................................................................109
4.11　下載項目 .................................................................................................................................................. 110
第5 章　KUKA 機器人編程軟件使用 ..........................................................................................................111
5.1　OrangeEdit 軟件編程 ................................................................................................................................. 112
5.1.1　創(chuàng)建文件 .............................................................................................................................................. 113
5.1.2　運動編程 .............................................................................................................................................. 116
5.1.3　邏輯信號編程 ......................................................................................................................................121
5.1.4　流程控制編程 ....................................................................................................................................1275.1.5　模板的應用 ..........................................................................................................................................132
5.2　WorkVisual 軟件編程 ................................................................................................................................138
5.2.1　創(chuàng)建程序模塊 ......................................................................................................................................138
5.2.2　運動編程 ..............................................................................................................................................141
5.2.3　邏輯信號編程 ......................................................................................................................................143
5.2.4　流程控制編程 ......................................................................................................................................145
5.2.5　模板的應用 ..........................................................................................................................................146
5.3　KUKA 機器人編程實踐 ............................................................................................................................149
5.3.1　基礎工作梳理 ......................................................................................................................................149
5.3.2　WorkVisual 在線連接 ..........................................................................................................................150
5.3.3　WorkVisual 在線編輯 ..........................................................................................................................151
第6 章　碼垛工作站應用精析 .......................................................................................................................157
6.1　碼垛工作站 ................................................................................................................................................158
6.2　系統(tǒng)各部分連接 ........................................................................................................................................160
6.3　系統(tǒng)I/O 模塊配置 .....................................................................................................................................161
6.4　機器人輸入/ 輸出端配置 .........................................................................................................................162
6.5　系統(tǒng)I/O 清單 .............................................................................................................................................162
6.6　坐標系的建立 ............................................................................................................................................163
6.7　相關知識點拓展 ........................................................................................................................................165
6.8　機器人碼垛程序框圖 ................................................................................................................................166
6.9　傳送帶控制框圖 ........................................................................................................................................167
6.10　碼垛動作分解 ..........................................................................................................................................168
6.11　目標點示教 ..............................................................................................................................................168
6.12　程序清單 ..................................................................................................................................................170
第7 章　上下料工作站應用精析 ..................................................................................................................175
7.1　上下料工作站 ............................................................................................................................................176
7.2　系統(tǒng)各部分連接 ........................................................................................................................................179
7.3　系統(tǒng)I/O 模塊配置 .....................................................................................................................................179
7.4　機器人輸入/ 輸出端配置 .........................................................................................................................180
7.5　系統(tǒng)I/O 清單 .............................................................................................................................................180
7.6　坐標系的建立 ............................................................................................................................................181
7.7　機器人上下料程序框圖 ............................................................................................................................183
7.8　傳送帶裝置控制框圖 ................................................................................................................................185
7.9　上下料動作分解 ........................................................................................................................................185
7.10　示教目標點 ..............................................................................................................................................185
7.11　程序清單 ..................................................................................................................................................187
7.12　本章說明 ..................................................................................................................................................192