In this section we will run a simple KUKA program that moves the arm in a rectangle. This is a simple file to illustrate the main elements of a KUKA program.
The following video briefly shows what this program will look like when the robot executes it.
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This is the program we will be executing. You can download this file here.
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;Any line that has a semicolon in front of it is a comment and isn't read by the machine ;Define the name of the program DEF ExampleProgramName() ;these are some set up variables you don't have to worry about right now GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) $APO.CDIS = 0.5000 BAS (#INITMOV,0) BAS (#VEL_PTP,20) BAS (#ACC_PTP,20) $advance=5 ;Defines the coordinates of the tool attached to the robot, relative to the flange $TOOL={X 0, Y 0, Z 0, A 0, B 0, C 0} ;Defines the Origin of the base, where all the consequtive commands are relative to $BASE={X -75, Y -1638, Z 492, A 0, B 0, C 0} ;Set speed in meters/second $VEL.CP=0.3 ;First we must tell the program what the initial axis position should be PTP {A1 90, A2 -75, A3 100, A4 169, A5 -60, A6 -150, E1 0, E2 180, E3 0, E4 0, E5 0, E6 0} ;Finally, we give it a series of LIN commands to trace out a square in space ;E1 and E2 are the external axis LIN {X 0, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS LIN {X 0, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS LIN {X 300, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS LIN {X 300, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS LIN {X 0, Y 0, Z 400, A 90, B 0, C 180, E1 0, E2 180} C_DIS END |