库卡KUKA机器人资料Workbook_AP_KRC2_V5.x(R02)_en.pdfVIP

SOFTWARE

KRC2

Seminarworkbook

of…

AdvancedRobotProgramming

Release5.x

Issued:March2005

©KUKARoboterGmbH2005/APKRC2V5.x03.05.02enPage1of214

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Copyright

Copyright

©CopyrightKUKARoboterGmbH

Thisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpress

permissionofthepublishers.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.The

userhasnoclaimtothesefunctions,however,inthecaseofareplacementorservicework.

Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,

discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthis

documentationischeckedonaregularbasis,however,andnecessarycorrectionswillbeincorporatedinsubsequent

editions.

Subjecttotechnicalalterationswithoutaneffectonthefunction.

Page2of216©KUKARoboterGmbH2005/APKRC2V5.x03.05.02en

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Contents

Contents

1.Structuredprogramming5

1.1.Programmingmethodology-Conceptualization5

1.2.Programflowchart13

1.3.Structogram23

1.4.Programmingmethodology-Realization31

2.GeneralinforamationaboutExpertlevel45

2.1.Navigator45

2.2.Fold–Concept49

3.Variablesanddeclarations53

3.1.Simpledatatypes53

3.2.Monitoringofvariables59

3.3.Arrays63

3.4.Structures69

3.5.Enumerationdata