KUKA系统软件8.1-8.3英文系统变量详解

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"KUKA机器人系统的专家文档，包含8.1、8.2和8.3版本的系统变量，提供英文版PDF。" 本文档详细介绍了KUKA机器人系统软件8.1到8.3版本的系统变量，由KUKA机器人有限公司发布，日期为2012年8月16日，版本号为KSS8.1,8.2,8.3SystemvariablenV2en。这些系统变量对于理解和操作KUKA机器人控制系统至关重要，特别是对于高级用户和系统集成者，他们需要深入理解这些变量以优化机器人的性能和定制化工作流程。系统变量是控制机器人行为的关键元素，它们可以调整机器人的运动参数、I/O控制、错误处理、通信设置等各个方面。在KUKA的8.x系统中，这些变量可能包括但不限于以下类别： 1. 运动控制变量：这些变量与机器人的速度、加速度、定位精度等相关，允许用户微调机器人的运动特性。 2. 输入/输出（I/O）变量：用于控制和监控机器人与其他设备（如传感器、执行器）之间的通信。 3. 错误和诊断变量：记录和报告机器人系统的状态，帮助识别和解决问题。 4. 时间和日期变量：管理机器人的时钟和时间同步功能。 5. 用户程序变量：存储和传递用户程序中的数据，支持程序的动态行为。请注意，尽管文档已经过检查以确保与描述的硬件和软件一致，但可能存在未预见的不一致之处，因为技术的不断发展可能导致控制器中存在未在文档中描述的新功能。在进行任何更改或服务工作时，用户无权要求这些未描述的功能。此外，未经KUKA机器人有限公司明确许可，不得复制或向第三方披露此文档或其部分内容。为了保持最新性，文档内容会定期审查，并在后续版本中修正任何必要的错误。用户在使用过程中遇到问题或发现文档中的不准确之处，应联系KUKA官方获取支持或更新。 KUKA机器人系统的详细知识需要通过深入学习和实践来掌握，而这份英文版系统变量文档是这一过程的重要参考资料。对于那些希望提升技能或解决特定问题的IT专业人员，它提供了宝贵的资源。同时，后续发布的HTML版本将提供更方便的在线访问和交互体验，便于交流和学习。

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16 / 131 Issued: 16.08.2012 Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)

System Variables

3.9 $ACC_CAR_MAX

Description Maximum Cartesian acceleration

The variable of structure type ACC_CAR saves the value of the highest mag-

nitude that the Cartesian acceleration $ACC_CAR_ACT reaches.

 X, Y, Z: Cartesian acceleration for X, Y, Z in [m/s

]

 A, B, C: Cartesian acceleration for A, B, C in [°/s

]. This acceleration is not

be evaluated.

 ABS: Overall Cartesian acceleration in the XYZ space, i.e. relative to the

absolute value of the acceleration in X, Y, Z in [m/s

]

Example The variable can be set to zero in the KRL program in order to determine the

maximum values.

3.10 $ACC_EXTAX

Description Acceleration of the external axes in the advance run

The variable contains the planned axis acceleration as a percentage. In the

case of motions planned using the dynamic model, the percentage value re-

fers to the axis torque available for acceleration.

If no dynamic model is available, the percentage value refers to the maximum

acceleration values defined by means of $RAISE_TIME in the machine data

(variable in the file …R1\Mada\$machine.dat).

Syntax $ACC_EXTAX[

Axis number]=Acceleration

Explanation of

the syntax

3.11 $ACC_EXTAX_C

Description Acceleration of the external axes in the main run

The variable contains the axis acceleration of the motion currently being exe-

cuted as a percentage value. In the case of motions planned using the dynam-

ic model, the percentage value refers to the axis torque available for

acceleration.

If no dynamic model is available, the percentage value refers to the maximum

acceleration values defined by means of $RAISE_TIME in the machine data

(variable in the file …R1\Mada\$machine.dat).

Further information about the machine data can be found in the ma-

chine data documentation.

$ACC_CAR_MAX={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0 ABS 0.0}

Element Description

Axis number

Type: INT

 1 … 6: External axis E1 … E6

Acceleration

Type: INT; unit: %

 1 … 100

The variable is write-protected and can only be read.

20 / 131 Issued: 16.08.2012 Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)

System Variables

Explanation of

the syntax

3.22 $APO

Description Approximation parameters in the advance run

This variable is used to define the approximation distance.

Syntax $APO={CVEL

Velocity, CPTP DisPTP, CDIS DisCP, CORI Orientation}

Explanation of

the syntax

CPTP The approximation parameter CPTP has a different effect depending on

whether a PTP or a PTP spline motion (SPTP) is programmed.

 In the case of a PTP motion, the percentage value specified for CPTP re-

fers to an axis angle defined by $APO_DIS_PTP in the machine data. As

soon as the axis angle of all axes has fallen below the approximate posi-

tioning distance thus defined, approximate positioning is carried out.

Approximate positioning is not started, however, until 50% of the block

length has been reached, i.e. half the distance between the start point and

Element Description

Output

number

Type: INT

 1 … 32

Voltage

Type: REAL

 -1.0 … +1.0

Element Description

CVEL Type: INT; unit: %

Velocity parameter

 1 … 100

The approximation parameter specifies the percentage of

the programmed velocity at which the approximate posi-

tioning process is started, at the earliest, in the decelera-

tion phase towards the end point.

CPTP Type: INT; unit: %

Approximation distance for PTP and PTP spline motions (=

furthest distance before the end point at which approximate

positioning can begin)

 1 … 100

Explanation of the approximation parameter:

(>>> "CPTP" Page 20)

Note: PTP spline motions (SPTP) can be programmed in

KUKA System Software 8.3 or higher.

CDIS Type: REAL; unit: mm

distance parameter

Approximation starts, at the earliest, when the distance to

the end point falls below the value specified here.

CORI Type: REAL; unit: °

Orientation parameter

Approximation starts, at the earliest, when the dominant

orientation angle (rotation or swiveling of the longitudinal

axis of the tool) falls below the angle distance to the target

point specified here.

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