kuka机器人程序命令.pdf

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1、22KCPQQPTPLINCIRCQQQQKRLKRL2.1-ARC10ARC20ProgrammierungAnwenderR2.2.808.98.00zh56172.220cms1PTPLINCIRCContProgrammierungAnwenderR2.2.808.98.00zh56182PTPLINCIRCA1...A6A4A6$MACHINE.DATA4A6[$MACHINE.DAT]A4A6ProgrammierungAnwenderR2.2.808.98.00zh5619P1P2P2P3P3(220°)A6P10°P2120°120°A6100°P1(0°)P1(0°

2、)P2120°P3220°P2(120°)A6200°ist:P3P4P3(220°)P3(220°)160°P120°A6P4(380°)P3220°P4380°P3(120°)200°160°P3(220°)P3P4P4P5(20°)P5100°100°100°P4(120°)ProgrammierungAnwenderR2.2.808.98.00zh562022.2.1PTPPTPPTPPTPP2P3P1PTPP2P2P3P1ProgrammierungAnwenderR2.2.808.98.00zh5621PTPPTPInLinePTPPTPLINCIRCP1ToolTool

3、_Data1...16BaseBase_Data1...16externalTrue,FalseTCPCONTContVel=100%1100%100%PDAT1Acceleration0...100Approximation0...100Distance*1*1CONTESC¯LIN/CIRCP1ProgrammierungAnwenderR2.2.808.98.00zh56222Tool16Base16externalTCPTCPexternalTCP=FalseexternalTCP=TrueInLineInLineCONTVel=PDAT2ProgrammierungAnwe

4、nderR2.2.808.98.00zh5623AccelerationApproximationDistanceKommentar2.5Logik2.4ProgrammierungAnwenderR2.2.808.98.00zh562422.2.2LINPTP.LINLINP2P3P1LINP2P2P3P1ProgrammierungAnwenderR2.2.808.98.00zh5625LINLINInLineLINPTPLINCIRCP1ToolTool_Data1...16BaseTool_Base1...16externalTCPTrue,FalseCONTContVel=

5、2m/s0,001...2m/s2m/sCPDAT1Acceleration0...100Approximation0...100Distance*1*1CONTBefehlAbbrESC¯CIRC/PTPP1ProgrammierungAnwenderR2.2.808.98.00zh56262Tool16Base16externalTCPTCPexternalTCP=FalseexternalTCP=TrueTouchUpTouchUpInLineInLineCONTVel=CPDAT1ProgrammierungAnwenderR2.2.808.98.00zh5627Accele

6、rationApproximationDistanceKommentar2.5Logik2.4ProgrammierungAnwenderR2.2.808.98.00zh562822.2.3CIRCCIRCCIRCCIRCCIRCProgrammierungAnwenderR2.2.808.98.00zh5629CIRCCIRCInLineCIRCPTPLINCIRCP1P2ToolTool_Data1...16BaseTool_Base1...16externalTCPTrue,FalseCONTContVel=2m/s0,001...2m/s2m/sPDAT1Accelerati

7、on0...100Approximation0...100Distance*1*1CONTBefehlAbbrESC¯PTP/LINP1TouchupHPTouchupHPProgrammierungAnwenderR2.2.808.98.00zh56302TouchupHPP2Tool16Base16externalTCPTCPexternalTCP=FalseexternalTCP=TrueTouchUpTouchUpInLineInLineCONTV