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首页FANUC R-30iA/R-30iB机器人KAREL手册(中文版):安装与编程指南
FANUC R-30iA/R-30iB机器人KAREL手册(中文版):安装与编程指南
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更新于2024-06-30
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Karel手册中文.pdf是FANUC Robotics America Corporation发布的官方技术文档,针对R-30iA和R-30iB控制器设计,适用于7.50及更高版本的FANUC机器人系统,特别是MARRC75KR07091ERevD型号。这份手册的核心内容涵盖了FANUC机器人产品的全面指南,包括但不限于安装、拆卸、连接、操作和编程指导。Karel编程语言在其中占据了重要地位,这是一种专门用于FANUC机器人编程的语言,使得用户能够高效地编写和管理机器人的任务逻辑。
手册的版权和商标声明强调了所有信息的专有性,只能由客户在FANUC Robotics的授权下使用,禁止未经授权的复制或分发。FANUC Robotics保留随时更新规格、设计或停止某些型号的权利,但不会提前通知用户,同时也不承担因更改带来的责任。
在安全方面,手册警告用户,由于FANUC机器人产生的射频能量可能会干扰无线电通信,尤其是在未经过适当安装和操作的情况下。尽管设备尚未完全符合 FCC 规则第15部分J部分的要求,用户在住宅区操作时可能需要自行解决可能的干扰问题。
此外,手册还提到FANUCRobotics提供系统和产品培训课程,强调只有经过批准的FANUC机器人培训的人员才能安装、操作、维修和维护他们的产品。培训内容会根据所安装的系统类型和具体应用场景进行定制。
Karel手册中文.pdf是FANUC Robotics为用户提供的宝贵资源,提供了全面的机器人系统管理和控制指导,确保用户在使用过程中遵循最佳实践,降低潜在风险,并充分利用FANUC机器人技术的优势。
Contents MARRC75KR07091E Rev D
A.13.4 LOCK_GROUP Built-In Procedure .................................................................................. A–216
A.13.5 %LOCKGROUP Translator Directive
............................................................................... A–217
A.14 - M - KAREL LANGUAGE DESCRIPTION
..................................................................... A–218
A.14.1 MIRROR Built-In Function
............................................................................................. A–218
A.14.2 MODIFY_QUEUE Built-In Procedure
.............................................................................. A–219
A.14.3 MOTION_CTL Built-In Function
.................................................................................... A–221
A.14.4 MOUNT_DEV Built-In Procedure
................................................................................... A–221
A.14.5 MOVE_FILE Built-In Procedure
...................................................................................... A–222
A.14.6 MSG_CONNECT Built-In Procedure
............................................................................... A–223
A.14.7 MSG_DISCO Built-In Procedure
..................................................................................... A–225
A.14.8 MSG_PING
................................................................................................................. A–225
A.15 - N - KAREL LANGUAGE DESCRIPTION
...................................................................... A–226
A.15.1 NOABORT Action
........................................................................................................ A–226
A.15.2 %NOABORT Translator Directive
................................................................................... A–227
A.15.3 %NOBUSYLAMP Translator Directive
............................................................................ A–227
A.15.4 NODE_SIZE Built-In Function
........................................................................................ A–227
A.15.5 %NOLOCKGROUP Translator Directive
.......................................................................... A–229
A.15.6 NOMESSAGE Action
.................................................................................................... A–230
A.15.7 NOPAUSE Action
......................................................................................................... A–230
A.15.8 %NOPAUSE Translator Directive
.................................................................................... A–231
A.15.9 %NOPAUSESHFT Translator Directive
............................................................................ A–231
A.16 - O - KAREL LANGUAGE DESCRIPTION
...................................................................... A–232
A.16.1 OPEN FILE Statement
................................................................................................... A–232
A.16.2 OPEN HAND Statement
................................................................................................. A–233
A.16.3 OPEN_TPE Built-In Procedure
........................................................................................ A–233
A.16.4 ORD Built-In Function
................................................................................................... A–234
A.16.5 ORIENT Built-In Function
.............................................................................................. A–235
A.17 - P - KAREL LANGUAGE DESCRIPTION
...................................................................... A–236
A.17.1 PATH Data Type
........................................................................................................... A–236
A.17.2 PATH_LEN Built-In Function
.......................................................................................... A–238
A.17.3 PAUSE Action
.............................................................................................................. A–238
A.17.4 PAUSE Condition
......................................................................................................... A–239
A.17.5 PAUSE Statement
......................................................................................................... A–240
A.17.6 PAUSE_TASK Built-In Procedure
.................................................................................... A–241
A.17.7 PEND_SEMA Built-In Procedure
.................................................................................... A–242
A.17.8 PIPE_CONFIG Built-In Procedure
................................................................................... A–242
A.17.9 POP_KEY_RD Built-In Procedure
................................................................................... A–243
A.17.10 Port_Id Action
.............................................................................................................. A–244
A.17.11 Port_Id Condition
.......................................................................................................... A–245
A.17.12 POS Built-In Function
.................................................................................................... A–246
A.17.13 POS2JOINT Built-In Function
......................................................................................... A–246
A.17.14 POS_REG_TYPE Built-In Procedure
................................................................................ A–248
A.17.15 POSITION Data Type
.................................................................................................... A–249
A.17.16 POST_ERR Built-In Procedure
........................................................................................ A–250
A.17.17 POST_ERR_L Built-In Procedure
...................................................................................... A–251
A.17.18 POST_SEMA Built-In Procedure
..................................................................................... A–253
A.17.19 PRINT_FILE Built-In Procedure
...................................................................................... A–253
A.17.20 %PRIORITY Translator Directive
.................................................................................... A–254
A.17.21 PROG_BACKUP Built-In Procedure
................................................................................ A–255
A.17.22 PROG_CLEAR Built-In Procedure
................................................................................... A–258
A.17.23 PROG_RESTORE Built-In Procedure
............................................................................... A–260
A.17.24 PROG_LIST Built-In Procedure
....................................................................................... A–262
A.17.25 PROGRAM Statement
................................................................................................... A–263
A.17.26 PULSE Action
.............................................................................................................. A–264
xiv
MARRC75KR07091E Rev D Contents
A.17.27 PULSE Statement ......................................................................................................... A–265
A.17.28 PURGE CONDITION Statement
..................................................................................... A–266
A.17.29 PURGE_DEV Built-In Procedure
..................................................................................... A–267
A.17.30 PUSH_KEY_RD Built-In Procedure
................................................................................. A–268
A.18 - Q - KAREL LANGUAGE DESCRIPTION
...................................................................... A–269
A.18.1 QUEUE_TYPE Data Type
.............................................................................................. A–269
A.19 - R - KAREL LANGUAGE DESCRIPTION
...................................................................... A–269
A.19.1 READ Statement
........................................................................................................... A–269
A.19.2 READ_DICT Built-In Procedure
...................................................................................... A–271
A.19.3 READ_DICT_V Built-In-Procedure
................................................................................. A–272
A.19.4 READ_KB Built-In Procedure
......................................................................................... A–273
A.19.5 REAL Data Type
........................................................................................................... A–277
A.19.6 Relational Condition
...................................................................................................... A–279
A.19.7 RELAX HAND Statement
.............................................................................................. A–280
A.19.8 RELEASE Statement
..................................................................................................... A–281
A.19.9 REMOVE_DICT Built-In Procedure
................................................................................. A–281
A.19.10 RENAME_FILE Built-In Procedure
................................................................................. A–282
A.19.11 RENAME_VAR Built-In Procedure
.................................................................................. A–283
A.19.12 RENAME_VARS Built-In Procedure
................................................................................ A–283
A.19.13 REPEAT ... UNTIL Statement
......................................................................................... A–284
A.19.14 RESET Built-In Procedure
.............................................................................................. A–285
A.19.15 RESUME Action
.......................................................................................................... A–286
A.19.16 RESUME Statement
...................................................................................................... A–286
A.19.17 RETURN Statement
...................................................................................................... A–287
A.19.18 ROUND Built-In Function
.............................................................................................. A–288
A.19.19 ROUTINE Statement
..................................................................................................... A–289
A.19.20 RUN_TASK Built-In Procedure
....................................................................................... A–290
A.20 - S - KAREL LANGUAGE DESCRIPTION
...................................................................... A–291
A.20.1 SAVE Built-In Procedure
................................................................................................ A–291
A.20.2 SAVE_DRAM Built-In Procedure
.................................................................................... A–292
A.20.3 SELECT ... ENDSELECT Statement
................................................................................ A–293
A.20.4 SELECT_TPE Built-In Procedure
.................................................................................... A–294
A.20.5 SEMA_COUNT Built-In Function
................................................................................... A–294
A.20.6 SEMAPHORE Condition
............................................................................................... A–295
A.20.7 SEND_DATAPC Built-In Procedure
................................................................................. A–295
A.20.8 SEND_EVENTPC Built-In Procedure
............................................................................... A–296
A.20.9 SET_ATTR_PRG Built-In Procedure
................................................................................ A–297
A.20.10 SET_CURSOR Built-In Procedure
................................................................................... A–299
A.20.11 SET_EPOS_REG Built-In Procedure
................................................................................ A–300
A.20.12 SET_EPOS_TPE Built-In Procedure
................................................................................. A–301
A.20.13 SET_FILE_ATR Built-In Procedure
................................................................................. A–302
A.20.14 SET_FILE_POS Built-In Procedure
.................................................................................. A–303
A.20.15 SET_INT_REG Built-In Procedure
................................................................................... A–304
A.20.16 SET_JPOS_REG Built-In Procedure
................................................................................. A–304
A.20.17 SET_JPOS_TPE Built-In Procedure
................................................................................. A–305
A.20.18 SET_LANG Built-In Procedure
....................................................................................... A–306
A.20.19 SET_PERCH Built-In Procedure
...................................................................................... A–307
A.20.20 SET_PORT_ASG Built-In Procedure
................................................................................ A–308
A.20.21 SET_PORT_ATR Built-In Function
.................................................................................. A–309
A.20.22 SET_PORT_CMT Built-In Procedure
............................................................................... A–311
A.20.23 SET_PORT_MOD Built-In Procedure
............................................................................... A–312
A.20.24 SET_PORT_SIM Built-In Procedure
................................................................................. A–313
A.20.25 SET_PORT_VAL Built-In Procedure
................................................................................ A–314
A.20.26 SET_POS_REG Built-In Procedure
.................................................................................. A–315
xv
Contents MARRC75KR07091E Rev D
A.20.27 SET_POS_TPE Built-In Procedure ................................................................................... A–316
A.20.28 SET_PREG_CMT Built-In-Procedure
............................................................................... A–317
A.20.29 SET_REAL_REG Built-In Procedure
............................................................................... A–317
A.20.30 SET_REG_CMT Built-In-Procedure
................................................................................. A–317
A.20.31 SET_SREG_CMT Built-in Procedure
................................................................................. A–318
A.20.32 SET_STR_REG Built-in Procedure
.................................................................................... A–319
A.20.33 SET_TIME Built-In Procedure
........................................................................................ A–319
A.20.34 SET_TPE_CMT Built-In Procedure
.................................................................................. A–321
A.20.35 SET_TRNS_TPE Built-In Procedure
................................................................................ A–321
A.20.36 SET_TSK_ATTR Built-In Procedure
................................................................................ A–322
A.20.37 SET_TSK_NAME Built-In Procedure
............................................................................... A–323
A.20.38 SET_VAR Built-In Procedure
.......................................................................................... A–324
A.20.39 %SHADOWVARS Translator Directive
............................................................................ A–327
A.20.40 SHORT Data Type
......................................................................................................... A–327
A.20.41 SIGNAL EVENT Action
................................................................................................ A–328
A.20.42 SIGNAL EVENT Statement
............................................................................................ A–328
A.20.43 SIGNAL SEMAPHORE Action
....................................................................................... A–329
A.20.44 SIN Built-In Function
.................................................................................................... A–329
A.20.45 SQRT Built-In Function
................................................................................................. A–330
A.20.46 %STACKSIZE Translator Directive
.................................................................................. A–330
A.20.47 STD_PTH_NODE Data Type
.......................................................................................... A–331
A.20.48 STOP Action
................................................................................................................ A–331
A.20.49 STOP Statement
............................................................................................................ A–332
A.20.50 STRING Data Type
....................................................................................................... A–333
A.20.51 STR_LEN Built-In Function
........................................................................................... A–334
A.20.52 STRUCTURE Data Type
................................................................................................ A–334
A.20.53 SUB_STR Built-In Function
........................................................................................... A–335
A.21 - T - KAREL LANGUAGE DESCRIPTION
...................................................................... A–336
A.21.1 TAN Built-In Function
................................................................................................... A–336
A.21.2 %TIMESLICE Translator Directive
.................................................................................. A–337
A.21.3 %TPMOTION Translator Directive
.................................................................................. A–337
A.21.4 TRANSLATE Built-In Procedure
..................................................................................... A–337
A.21.5 TRUNC Built-In Function
.............................................................................................. A–339
A.22 - U - KAREL LANGUAGE DESCRIPTION
...................................................................... A–340
A.22.1 UNHOLD Action
.......................................................................................................... A–340
A.22.2 UNHOLD Statement
...................................................................................................... A–340
A.22.3 UNINIT Built-In Function
.............................................................................................. A–341
A.22.4 %UNINITVARS Translator Directive
............................................................................... A–341
A.22.5 UNLOCK_GROUP Built-In Procedure
............................................................................. A–342
A.22.6 UNPAUSE Action
......................................................................................................... A–343
A.22.7 UNPOS Built-In Procedure
............................................................................................. A–344
A.22.8 USING ... ENDUSING Statement
.................................................................................... A–344
A.23 - V - KAREL LANGUAGE DESCRIPTION
...................................................................... A–345
A.23.1 V_CAM_CALIB iRVision Built-In Procedure
.................................................................... A–345
A.23.2 V_GET_OFFSET iRVision Built-In Procedure
................................................................... A–347
A.23.3 V_GET_PASSFL iRVision Built-In Procedure
.................................................................... A–348
A.23.4 V_GET_QUEUE iRVision Built-in Procedure
.................................................................... A–350
A.23.5 V_INIT_QUEUE iRVision Built-in Procedure
.................................................................... A–350
A.23.6 V_RALC_QUEUE iRVision Built-in Procedure
.................................................................. A–351
A.23.7 V_RUN_FIND iRVision Built-In Procedure
....................................................................... A–351
A.23.8 V_SET_REF iRVision Built-In Procedure
.......................................................................... A–353
A.23.9 V_START_VTRK iRVision Built-in Procedure
................................................................... A–354
A.23.10 V_STOP_VTRK iRVision Built-in Procedure
..................................................................... A–354
A.23.11 VAR_INFO Built-In Procedure
........................................................................................ A–355
xvi
MARRC75KR07091E Rev D Contents
A.23.12 VAR_LIST Built-In Procedure ......................................................................................... A–357
A.23.13 VECTOR Data Type
...................................................................................................... A–360
A.23.14 VOL_SPACE Built-In Procedure
...................................................................................... A–361
A.23.15 VREG_FND_POS iRVision Built-in Procedure
................................................................... A–362
A.23.16 VREG_OFFSET iRVision Built-in Procedure
..................................................................... A–363
A.24 - W - KAREL LANGUAGE DESCRIPTION
..................................................................... A–364
A.24.1 WAIT FOR Statement
.................................................................................................... A–364
A.24.2 WHEN Clause
.............................................................................................................. A–364
A.24.3 WHILE...ENDWHILE Statement
..................................................................................... A–365
A.24.4 WITH Clause
............................................................................................................... A–365
A.24.5 WRITE Statement
......................................................................................................... A–366
A.24.6 WRITE_DICT Built-In Procedure
.................................................................................... A–367
A.24.7 WRITE_DICT_V Built-In Procedure
................................................................................ A–368
A.25 - X - KAREL LANGUAGE DESCRIPTION
...................................................................... A–369
A.25.1 XML_ADDTAG Built-In Procedure
................................................................................. A–369
A.25.2 XML_GETDATA Built-In Procedure
................................................................................. A–370
A.25.3 XML_REMTAG Built-In Procedure
.................................................................................. A–371
A.25.4 XML_SCAN Built-In Procedure
....................................................................................... A–371
A.25.5 XML_SETVAR Built-In Procedure
................................................................................... A–373
A.25.6 XYZWPR Data Type
..................................................................................................... A–374
A.25.7 XYZWPREXT Data Type
............................................................................................... A–375
A.26 - Y - KAREL LANGUAGE DESCRIPTION
...................................................................... A–375
A.27 - Z - KAREL LANGUAGE DESCRIPTION
...................................................................... A–375
Appendix B KAREL EXAMPLE PROGRAMS
................................................................................ B–1
B.1 SETTING UP DIGITAL OUTPUT PORTS FOR PROCESS MONITORING
.............................. B–6
B.2 COPYING PATH VARIABLES
......................................................................................... B–18
B.3 SAVING DATA TO THE DEFAULT DEVICE
..................................................................... B–28
B.4 STANDARD ROUTINES
................................................................................................. B–31
B.5 USING REGISTER BUILT-INS
........................................................................................ B–33
B.6 PATH VARIABLES AND CONDITION HANDLERS PROGRAM
......................................... B–38
B.7 LISTING FILES AND PROGRAMS AND MANIPULATING STRINGS
................................. B–44
B.8 GENERATING AND MOVING ALONG A HEXAGON PATH
.............................................. B–49
B.9 USING THE FILE AND DEVICE BUILT-INS
..................................................................... B–54
B.10 USING DYNAMIC DISPLAY BUILT-INS
.......................................................................... B–58
B.11 MANIPULATING VALUES OF DYNAMICALLY DISPLAYED VARIABLES
......................... B–68
B.12 DISPLAYING A LIST FROM A DICTIONARY FILE
.......................................................... B–70
B.12.1 Dictionary Files
.............................................................................................................. B–80
B.13 USING THE DISCTRL_ALPHA BUILT-IN
........................................................................ B–81
B.13.1 Dictionary Files
.............................................................................................................. B–85
B.14 APPLYING OFFSETS TO A COPIED TEACH PENDANT PROGRAM
.................................. B–85
Appendix C KCL COMMAND ALPHABETICAL DESCRIPTION
..................................................... C–1
C.1 ABORT command
............................................................................................................. C–6
C.2 APPEND FILE command
................................................................................................... C–6
C.3 APPEND NODE command
................................................................................................. C–6
C.4 CHDIR command
............................................................................................................. C–7
xvii
Contents MARRC75KR07091E Rev D
C.5 CLEAR ALL command ..................................................................................................... C–7
C.6 CLEAR BREAK CONDITION command
............................................................................. C–8
C.7 CLEAR BREAK PROGRAM command
............................................................................... C–8
C.8 CLEAR DICT command
.................................................................................................... C–9
C.9 CLEAR PROGRAM command
........................................................................................... C–9
C.10 CLEAR VARS command
................................................................................................... C–9
C.11 COMPRESS DICT command
............................................................................................. C–10
C.12 COMPRESS FORM command
........................................................................................... C–10
C.13 CONTINUE command
..................................................................................................... C–11
C.14 COPY FILE command
...................................................................................................... C–11
C.15 CREATE VARIABLE command
........................................................................................ C–12
C.16 DELETE FILE command
.................................................................................................. C–13
C.17 DELETE NODE command
............................................................................................... C–13
C.18 DELETE VARIABLE command
......................................................................................... C–14
C.19 DIRECTORY command
.................................................................................................... C–14
C.20 DISABLE BREAK PROGRAM command
........................................................................... C–15
C.21 DISABLE CONDITION command
..................................................................................... C–15
C.22 DISMOUNT command
..................................................................................................... C–15
C.23 EDIT command
.............................................................................................................. C–16
C.24 ENABLE BREAK PROGRAM
.......................................................................................... C–16
C.25 ENABLE CONDITION command
...................................................................................... C–16
C.26 FORMAT command
......................................................................................................... C–17
C.27 HELP command
.............................................................................................................. C–17
C.28 HOLD command
............................................................................................................. C–18
C.29 INSERT NODE command
................................................................................................ C–18
C.30 LOAD ALL command
...................................................................................................... C–18
C.31 LOAD DICT command
..................................................................................................... C–19
C.32 LOAD FORM command
................................................................................................... C–19
C.33 LOAD MASTER command
............................................................................................... C–20
C.34 LOAD PROGRAM command
........................................................................................... C–20
C.35 LOAD SERVO command
................................................................................................. C–21
C.36 LOAD SYSTEM command
............................................................................................... C–21
C.37 LOAD TP command
........................................................................................................ C–22
C.38 LOAD VARS command
................................................................................................... C–23
C.39 LOGOUT command
........................................................................................................ C–24
C.40 MKDIR command
........................................................................................................... C–24
C.41 MOUNT command
.......................................................................................................... C–24
C.42 MOVE FILE command
.................................................................................................... C–25
C.43 PAUSE command
............................................................................................................ C–25
C.44 PURGE command
........................................................................................................... C–26
C.45 PRINT command
............................................................................................................ C–26
xviii
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