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首页fanuc Karel设计手册.pdf
KAREL是一种与Pascal非常相似的低级语言。它具有强类型变量,常量,自定义类型,过程,函数,并且可以访问您可能无法使用TP的各种有用的内置函数。 KAREL是一种编译语言; 源必须从KAREL源文件(.KL)转换为p-code(.PC),然后才能在控制器上加载和执行。一旦您的KAREL程序加载到控制器上,它就像一个黑匣子 ; 您不能像TP程序一样看到源代码或步骤。 作为R-30iB控制器,您的机器人必须具有KAREL软件选项才能加载您自己的自定义KAREL程序。
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FANUC Robotics SYSTEM
R-J3iB Controller KAREL
Reference Manual
MARAIKLRF06031E REV A
Applies to Version 6.31 and later
©2003 FANU
C Robotics America, Inc.
About This Manual
Copyrights and Tradema rks
This new publi
cation contains proprietary information of FANUC Robotics America, Inc. furnished
for customer use only. No other uses are authorized without the express written permission of
FANUC Robotics America, Inc.
FANUC Roboti
cs America, Inc
3900 W. Hamlin Road
Rochester Hills , Michigan 48309-3253
FANUC Robotic
s America, Inc. The descriptions and specifications contained in this manual were in
effect at the time this manual was approved. FANUC Robotics America, Inc, hereinafter referred to as
FANUC Robotics, reserves the right to discontinue models at any time or to change specifications or
design witho
ut notice and w ithout incurring obligations.
FANUC Robotics manuals present descriptions, specifications, drawings, schematics, bills of
material, parts, connections and/or procedures for installing, disassembling, connecting, operating and
programmin
g FANUC Robotics’ products and/or systems. Such systems consist of robots, extended
axes, robot controllers, application software, the KAREL® programming language, INSIGHT®
vision equipment, and special tools.
FANUC Robot
ics recommends that only persons who have been traine d in one or more approved
FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on,
repair, and/or maintain FAN UC Robotics’ products and/or systems and their respective components.
Approved t
raining necessitates that the courses selected be relevant to the type of system installed
and application performed at the customer site.
Warning
This equi
pment generates, uses, and can radiate radio frequency energy
and if not installed and used in accordance with the instruction manual,
may cause interference to radio communications. As temporarily
permitte
d by regulation, it has not been tested for compliance with the
limits for Class A computing devices pursuant to subpart J of Part 15 of
FCC Rules, which are designed to provide reasonable protection against
such int
erference. Operation of the equipment in a residential area is
likely to cause interference, in which case the user, at his own expense,
will be required to take whatever measure may be required to correct
the int
erference.
FANUC Robotics conducts courses on its systems and products on a regularly scheduled basis at its
headquarters in Rochester Hills, Michigan. For additional information contact
i
About This Manual MARAIKLRF06031E REV A
FANUC Robotics America, Inc
Training Depar
tment
3900 W. Hamlin Road
Rochester Hills, Michigan 48309-3253
w
ww.fanucrobo
tics.com
For customer assistance, including Technical Support, Service, Parts & Part Repair, and
Marketing Requests, contact the Customer Resource Center, 24 hours a day, at 1-800-47-ROBOT
(1-800-477-6
268). International customers should call 011-1-248-377-7159.
Send your comments and suggestions about this manual to:
product.documentation@fanucrobotics.com
The informati
on illustrated or contained herein is not to be reproduced, copied, translated into another
language, or transmitted in whole or in part in any way without the prior written consent of FANUC
Robotics America, Inc.
AccuStat®, A
rcTool®, KAREL®, PaintTool®, PalletTool®, SOCKETS®, SpotTool®,
SpotWorks®, and TorchMate® are Registered Trademarks of FANUC Robotics.
FANUC Robotics reserves all proprietary rights, including but not limited to trademark and trade
name rights,
in the following names:
AccuAir™, AccuCal™, AccuChop™, AccuFlow™, AccuPath™, AccuSeal™, ARC Mate™,
ARCMateSr.™,ARCMateSystem1™,ARCMateSystem2™,ARCMateSystem3™,ARC
Mate System
4™, ARC Mate System 5™, ARCWorks Pro™, AssistTool™, AutoNormal™,
AutoTCP™, BellTool™, BODYWorks™, Cal Mate™, Cell Finder™, Center Finder™, Clean
Wall™, CollisionGuard™, DispenseTool™, F-100™, F-200i™, FabTool™, FANUC LASER
DRILL™, Fle
xibell™, FlexTool™, HandlingTool™, HandlingWorks™, INSIGHT™, INSIGHT
II™, IntelliTrak™, Integrated Process Solution™, Intelligent Assist D evice™, IPC -Integrated Pum p
Control™, IPD Integral Pneumatic Dispenser™, ISA Integral Servo Applicator™, ISD Integral
Servo Disp
enser™, Laser M ate System 3™, Laser Mate System 4™, LaserPro™, LaserTool™,
LR Tool™, MIG Eye™, MotionParts™, NoBots™, Paint Stick™, PaintPro™, PaintTool 100™,
PAINTWorks™, PAINTWorks II™, PAINTWorks III™, PalletMate™, PalletMate PC™, PalletTool
PC™, Payl
oadID™, RecipTool™, RemovalTool™, Robo Chop™, Robo Spray™, S-420i™,
S-430i™, ShapeGen™, SoftFloat™, SOFT PARTS™, SpotTool+™, SR Mate™, SR ShotTool™,
SureWeld™, SYSTEM R-J2 Controller™, SYSTEM R-J3 Controller™, SYSTEM R-J3i MODEL B
Controll
er™, TCP Mate™, TorchMate™, TurboMove™, visLOC™, visPRO-3D™, visTRAC™,
WebServer™, WebTP™, and YagTool™.
Patents
One for m
ore of the following U.S. patents might be related to the FANUC Robotics products
described in this manual.
ii
MARAIKLRF06031E REV A About This Manual
3,906,323 4,274,802 4,289,441 4,299,529 4,336,926 4,348,623 4,359,815 4,366,423 4,374,349
4,396,973 4,39
6,975 4,396,987 4,406,576 4,415,965 4,416,577 4,430,923 4,431,366 4,458,188
4,462,748 4,465,424 4,466,769 4,475,160 4,479,673 4,479,754 4,481,568 4,482,289 4,482,968
4,484,855 4,488,242 4,488,746 4,489,821 4,492,301 4,495,453 4,502,830 4,504,771 4,530,062
4,530,636 4,5
38,639 4,540,212 4,542,471 4,543,639 4,544,971 4,549,276 4,549,846 4,552,506
4,554,497 4,556,361 4,557,660 4,562,551 4,575,666 4,576,537 4,591,944 4,603,286 4,626,756
4,628,778 4,630,567 4,637,773 4,638,143 4,639,878 4,647,753 4,647,827 4,650,952 4,652,203
4,653,975 4,
659,279 4,659,280 4,663,730 4,672,287 4,679,297 4,680,518 4,697,979 4,698,777
4,700,118 4,700,314 4,701,686 4,702,665 4,706,000 4,706,001 4,706,003 4,707,647 4,708,175
4,708,580 4,712,972 4,723,207 4,727,303 4,728,247 4,728,872 4,732,526 4,742,207 4,742,611
4,750,858 4
,753,128 4,754,392 4,771,222 4,773,523 4,773,813 4,774,674 4,775,787 4,776,247
4,777,783 4,780,045 4,780,703 4,782,713 4,785,155 4,796,005 4,805,477 4,807,486 4,812,836
4,813,844 4,815,011 4,815,190 4,816,728 4,816,733 4,816,734 4,827,203 4,827,782 4,828,094
4,829,454
4,829,840 4,831,235 4,835,362 4,836,048 4,837,487 4,842,474 4,851,754 4,852,024
4,852,114 4,855,657 4,857,700 4,859,139 4,859,845 4,866,238 4,873,476 4,877,973 4,892,457
4,892,992 4,894,594 4,894,596 4,894,908 4,899,095 4,902,362 4,903,539 4,904,911 4,904,915
4,906,121
4,906,814 4,907,467 4,908,559 4,908,734 4,908,738 4,916,375 4,916,636 4,920,248
4,922,436 4,931,617 4,931,711 4,934,504 4,942,539 4,943,759 4,953,992 4,956,594 4,956,765
4,965,500 4,967,125 4,969,109 4,969,722 4,969,795 4,970,370 4,970,448 4,972,080 4,972,735
4,973,89
5 4,974,229 4,975,920 4,979,127 4,979,128 4,984,175 4,984,745 4,988,934 4,990,729
5,004,968 5,006,035 5,008,832 5,008,834 5,012,173 5,013,988 5,034,618 5,051,676 5,055,754
5,057,756 5,057,995 5,060,533 5,063,281 5,063,295 5,065,337 5,066,847 5,066,902 5,075,534
5,085,6
19 5,093,552 5,094,311 5,099,707 5,105,136 5,107,716 5,111,019 5,111,709 5,115,690
5,192,595 5,221,047 5,238,029 5,239,739 5,272,805 5,286,160 5,289,947 5,293,107 5,293,911
5,313,854 5,316,217 5,331,264 5,367,944 5,373,221 5,421,218 5,423,648 5,434,489 5,644,898
5670202
5,696,687 5,737,218 5,823,389 5853027 5,887,800 5,941,679 5,959,425 5,987,726
6,059,092 6,064,168 6,070,109 6,082,797 6,086,294 6,122,062 6,147,323 6,193,621 6,204,620
6,243,621 6,253,799 6,285,920 6,313,595 6,325,302 6,345,818 6 ,360,142 6,378,190 6,385,508
VersaB
ell, ServoBell and SpeedDock Patents Pending.
Conventions
This manual includes information essential to the safety of personnel, equipment, software, a nd data.
This i
nformation is indicated by headings and boxes in the text.
Warning
Information appearing under WARNING concerns the protection of
perso
nnel. It is boxed and in bold type to set it apart from other text.
Caution
Information appearing under CAUTION concerns the protection of equipment,
soft
ware, and data. It is boxed to set i t apart from other text.
iii
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