KUKA机器人MADA详解.doc

PARAM VERSION = 4.5.1 REL 1 DEFDAT $MACHINE PUBLIC CHAR $V_R1MADA[32] $V_R1MADA[]=V4.5.1/KUKA5.2 ; V4.4.0 is the machine data version;KUKA 5.2 is the system software release Machine data的版本和系统软件的版本 INT $TECH_MAX=6 ; define the number of technology packages 定义软件包的数目 INT $NUM_AX=6 ; The value for a robot system with six axes 定义轴的数目 INT $AXIS_TYPE[12] ; axis type 定义轴的类型 $AXIS_TYPE[1]=3 ; 1 = LINEAR, 2 = SPINDEL, 3 = ROTATORISCH, 4 = ENDLICH DREHEND, 5 = ENDLOS $AXIS_TYPE[2]=3 $AXIS_TYPE[3]=3 $AXIS_TYPE[4]=3 $AXIS_TYPE[5]=3 $AXIS_TYPE[6]=3 $AXIS_TYPE[7]=3 $AXIS_TYPE[8]=3 $AXIS_TYPE[9]=3 $AXIS_TYPE[10]=3 $AXIS_TYPE[11]=3 $AXIS_TYPE[12]=3 Example In the example, external axis 7 is defined as a linear traversing unit, i.e. axis type 1: $AXIS_TYPE[7]=1 DECL FRA $COUP_COMP[6,6] ; 机械连接补偿（没有外部轴） $COUP_COMP= (reaction axis n)/(angle axis m) An axis “m” is rotated through a defined angle and the angle change at axis “n” is measured. $COUP_COMP[1,2]={N 0,D 1} $COUP_COMP[1,3]={N 0,D 1} $COUP_COMP[1,4]={N 0,D 1} $COUP_COMP[1,5]={N 0,D 1} $COUP_COMP[1,6]={N 0,D 1} $COUP_COMP[2,1]={N 0,D 1} $COUP_COMP[2,3]={N 0,D 1} $COUP_COMP[2,4]={N 0,D 1} $COUP_COMP[2,5]={N 0,D 1} $COUP_COMP[2,6]={N 0,D 1} $COUP_COMP[3,1]={N 0,D 1} $COUP_COMP[3,2]={N 0,D 1} $COUP_COMP[3,4]={N 0,D 1} $COUP_COMP[3,5]={N 0,D 1} $COUP_COMP[3,6]={N 0,D 1} $COUP_COMP[4,1]={N 0,D 1} $COUP_COMP[4,2]={N 0,D 1} $COUP_COMP[4,3]={N 0,D 1} $COUP_COMP[4,5]={N 23,D 4550} $COUP_COMP[4,6]={N 9176,D 853125} $COUP_COMP[5,1]={N 0,D 1} $COUP_COMP[5,2]={N 0,D 1} $COUP_COMP[5,3]={N 0,D 1} $COUP_COMP[5,4]={N 0,D 1} $COUP_COMP[5,6]={N 496,D 37125} $COUP_COMP[6,1]={N 0,D 1} $COUP_COMP[6,2]={N 0,D 1} $COUP_COMP[6,3]={N 0,D 1} $COUP_COMP[6,4]={N 0,D 1} $COUP_COMP[6,5]={N 0,D 1} DECL FRA $EXCOUP_COMP[6,6] ; 和外部轴的机械补偿 Axis “m” is rotated through a defined angle and the rotation of axis “n” is measured. $EXCOUP_COMP[1,2]={N 0,D 1} $EXCOUP_COMP[1,3]={N 0,D 1} $EXCOUP_COMP[1,4]={N 0,D 1} $EXCOUP_COMP[1,5]={N 0,D 1} $EXCOUP_COMP[1,6]={N 0,D 1}