kuka编程基础

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1、软件KRC...用户编程KUKA系统软件(KSS)试行版4.1发行:2004-01-09版本:061©版权KUKA机器人股份有限责任公司此文件或引用未经出版商许可不得复制或透漏给第三方。此文件未说明的其它功能在控制器中可能起作用。尽管如此，在重新供货或提供服务时，用户无权对上述功能提出要求。我们已经检查此文件的内容与所描述硬件和软件的一致性。然而不排除有差异，因此我们不能保证全部的一致性。此文件的信息受到定期检查，不过，必要的修改会在以后的版本中给出。保留技术修改权。PD空白页2内容1程序编辑·

2、································51.1概述··································51.2程序··································51.2.1新建·································51.2.2选择·································51.2.3打开（编辑）·····························61.2.4打印·······

3、··························71.2.4.1当前的程序·····························71.2.4.2日志································81.2.5保存修改·······························81.2.6保存程序到软盘（存档）························91.2.7复制·································101.2.8删除········

4、·························101.3编辑选择的程序·····························111.3.1删除·································111.3.2查找·································121.3.3取消程序·······························131.3.4复位程序·······························141.4使用程序编辑器工作··

5、·························151.4.1删除·································151.4.2查找·································151.4.3关闭编辑器······························172程序命令·································192.1最后的命令·······························202.2运动···········

6、·······················212.2.1点到点运动（PTP）···························242.2.2线性运动（LIN）···························282.2.3圆弧运动（CIRC）···························322.3运动参数································372.4逻辑··································382.4.1等待功能···

7、····························382.4.1.1由时间决定的等待功能（WAIT）····················382.4.1.2由信号决定的等待功能（WAITFOR）··················3932.4.2转换功能·······························412.4.2.1简单的转换功能（OUT）························412.4.2.2简单的脉冲功能（PULSE）····················

8、···432.4.2.3由路径决定的转换功能（SYSOUT）···················452.4.2.4由路径决定的脉冲功能（SYSPULSE）··················492.4.3耦合和退耦INTERBUS环节（IBUS-Segon/off）···············512.5模拟输出································522.5.1静态·································532.5.2动态·········