KUKA机器人MADA详解.doc

&PARAM VERSION = 4.5.1

&REL 1

DEFDAT $MACHINE PUBLIC

CHAR $V_R1MADA[32]

$V_R1MADA[]="V4.5.1/KUKA5.2" ;

V4.4.0 is the machine data version;KUKA 5.2 is the system software release

Machine data的版本和系统软件的版本

INT $TECH_MAX=6 ;

define the number of technology packages

定义软件包的数目

INT $NUM_AX=6 ;

The value for a robot system with six axes

定义轴的数目

INT $AXIS_TYPE[12] ;

axis type 定义轴的类型

$AXIS_TYPE[1]=3 ;

1 = LINEAR, 2 = SPINDEL, 3 = ROTATORISCH, 4 = ENDLICH DREHEND, 5 = ENDLOS

$AXIS_TYPE[2]=3

$AXIS_TYPE[3]=3

$AXIS_TYPE[4]=3

$AXIS_TYPE[5]=3

$AXIS_TYPE[6]=3

$AXIS_TYPE[7]=3

$AXIS_TYPE[8]=3

$AXIS_TYPE[9]=3

$AXIS_TYPE[10]=3

$AXIS_TYPE[11]=3

$AXIS_TYPE[12]=3

Example

In the example, external axis 7 is defined as a linear traversing unit, i.e. axis type 1:

$AXIS_TYPE[7]=1

DECL FRA $COUP_COMP[6,6] ;

机械连接补偿(没有外部轴)

$COUP_COMP= (reaction axis n)/(angle axis m)

An axis “m” is rotated through a defined angle and the angle change at axis “n” is measured.

$COUP_COMP[1,2]={N 0,D 1}

$COUP_COMP[1,3]={N 0,D 1}

$COUP_COMP[1,4]={N 0,D 1}

$COUP_COMP[1,5]={N 0,D 1}

$COUP_COMP[1,6]={N 0,D 1}

$COUP_COMP[2,1]={N 0,D 1}

$COUP_COMP[2,3]={N 0,D 1}

$COUP_COMP[2,4]={N 0,D 1}

$COUP_COMP[2,5]={N 0,D 1}

$COUP_COMP[2,6]={N 0,D 1}

$COUP_COMP[3,1]={N 0,D 1}

$COUP_COMP[3,2]={N 0,D 1}

$COUP_COMP[3,4]={N 0,D 1}

$COUP_COMP[3,5]={N 0,D 1}

$COUP_COMP[3,6]={N 0,D 1}

$COUP_COMP[4,1]={N 0,D 1}

$COUP_COMP[4,2]={N 0,D 1}

$COUP_COMP[4,3]={N 0,D 1}

$COUP_COMP[4,5]={N 23,D 4550}

$COUP_COMP[4,6]={N 9176,D 853125}

$COUP_COMP[5,1]={N 0,D 1}

$COUP_COMP[5,2]={N 0,D 1}

$COUP_COMP[5,3]={N 0,D 1}

$COUP_COMP[5,4]={N 0,D 1}

$COUP_COMP[5,6]={N 496,D 37125}

$COUP_COMP[6,1]={N 0,D 1}

$COUP_COMP[6,2]={N 0,D 1}

$COUP_COMP[6,3]={N 0,D 1}

$COUP_COMP[6,4]={N 0,D 1}

$COUP_COMP[6,5]={N 0,D 1}

DECL FRA $EXCOUP_COMP[6,6] ;

和外部轴的机械补偿

Axis “m” is rotated through a defined angle and the rotation of axis “n” is measured.

$EXCOUP_COMP[1,2]={N 0,D 1}

$EXCOUP_COMP[1,3]={N 0,D 1}

$EXCOUP_COMP[1,4]={N 0,D 1}

$EXCOUP_COMP[1,5]={N 0,D 1}

$EXCOUP_COMP[1,6]={N 0,D