用户编程 库卡系统软件.pdf

KUKA系统软件操作控制 2011-10-25 内容 1程序编辑 ································· 5 1.1概述 ·································· 5 1.2程序 ·································· 5 1.2.1新建 ································· 5 1.2.2选择 ································· 5 1.2.3打开（编辑） ····························· 6 1.2.4打印 ································· 7 1.2.4.1 当前的程序 ····························· 7 1.2.4.2日志 ································ 8 1.2.5保存修改 ······························· 8 1.2.6保存程序到软盘（存档） ························ 9 1.2.7复制 ································· 10 1.2.8删除 ································· 10 1.3编辑选择的程序 ····························· 11 1.3.1删除 ································· 11 1.3.2查找 ································· 12 1.3.3取消程序 ······························· 13 1.3.4复位程序 ······························· 14 1.4使用程序编辑器工作 ··························· 15 1.4.1删除 ································· 15 1.4.2查找 ································· 15 1.4.3关闭编辑器 ······························ 17 2程序命令 ································· 19 2.1最后的命令 ······························· 20 2.2运动 ·································· 21 2.2.1点到点运动（PTP） ··························· 24 2.2.2 线性运动（LIN） ··························· 28 2.2.3圆弧运动（CIRC） ··························· 32 2.3运动参数 ································ 37 2.4逻辑 ·································· 38 2.4.1等待功能 ······························· 38 2.4.1.1由时间决定的等待功能（WAIT） ···