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Table Of Contents

1 General information on KRL programs
1.1 Structure and creation of programs
1.1.1 Program interface
1.1.2 File concept
1.1.3 File structure
1.2 Creating and editing programs
1.2.1 Creating a new program
1.2.2 Editing, compiling and linking a program
1.3 Altering programs
1.3.1 Program correction
1.3.2 Editor
1.3.2.1 Block functions
1.3.2.2 Copy (CTRL--C)
1.3.2.3 Paste (CTRL--V)
1.3.2.4 Cut (CTRL--X)
1.3.2.5 Delete
1.3.2.6 Find
1.3.2.7 Replace
1.4 Hiding program sections
1.4.1 FOLD
1.4.1.1 Example program
1.5 Program run mode
1.5.1 Selecting the program run mode
1.5.2 Changing program run mode
1.6 Error treatment
1.7 Comments
2 Variables and declarations
2.1 Variables and names
2.2 Data objects
2.2.1 Declaration and initialization of data objects
2.2.3 Arrays
2.2.4 Character strings
2.2.5 Structures
2.2.6 Enumeration types
2.3 Data manipulation
2.3.1 Operators
2.3.1.1 Arithmetic operators
2.3.1.2 Geometric operator
2.3.1.3 Relational operators
2.3.1.4 Logic operators
2.3.1.5 Bit operators
2.3.1.6 Priority of operators
2.3.2 Standard functions
2.4 System variables and system files
2.5 Manipulating a string variable
2.5.1 String variable length in the declaration
2.5.2 String variable length after initialization
2.5.3 Deleting the contents of a string variable
2.5.4 Extending a string variable
2.5.5 Searching a string variable
2.5.6 Comparing the contents of string variables
2.5.7 Copying a string variable
3 Motion programming
3.1 Application of the various coordinate systems
3.2 Point--to--point motions (PTP)
3.2.1 General (Synchronous PTP)
3.2.2 Higher motion profile
3.2.3 Motion commands
3.2.3.1 Singularities
3.3 CP motions (CP = Continuous Path)
3.3.1 Velocity and acceleration
3.3.2 Orientation control
3.3.3 Linear motions
3.3.4 Circular motions
3.4 Computer advance run
3.5 Motions with approximate positioning
3.5.1 PTP--PTP approximate positioning
3.5.2 LIN--LIN approximate positioning
3.5.3 CIRC--CIRC and CIRC--LIN approximate positioning
3.5.4 PTP--CP approximate positioning
3.5.5 Tool change during approximate positioning
3.6 Teaching points
4 Program execution control
4.1 Program branches
4.1.1 Jump instruction
4.1.2 Conditional branch
4.1.3 Switch
4.2 Loops
4.2.1 Counting loop
4.2.2 Rejecting loop
4.2.3 Non--rejecting loop
4.2.4 Endless loop
4.2.5 Premature termination of loop execution
4.3 Wait instructions
4.3.1 Waiting for an event
4.3.2 Wait times
4.4 Stopping the program
4.5 Confirming messages
5 Input/output instructions
5.1 General
5.2 Binary inputs/outputs
5.3 Digital inputs/outputs
5.3.1 Signal declaration
5.3.2 Reading signal numbers
5.3.3 Setting outputs at the end point
5.4 Pulse outputs
5.5 Analog inputs/outputs
5.5.1 Analog outputs
5.5.2 Analog inputs
5.6 Predefined digital inputs
6 Subprograms and functions
6.1 Declaration
6.2 Subprogram and function call and parameter transfer
7 Interrupt handling
7.1 Declaration
7.2 Activating interrupts
7.3 Stopping active motions
7.4 Canceling interrupt routines
8.2 Switching action at any point on the path
9 Data lists
9.1 Local data lists
9.2 Global data lists
10 External editor
10.1 Starting the external editor
10.2 Operator control
10.3 “File” menu
10.3.1 Open
10.3.2 Save
10.3.3 Print
10.3.4 Close file
10.3.5 Exit
10.4 “Edit” menu
10.4.1 Cut (“CTRL”--“X”)
10.4.2 Copy (“CTRL”--“C”)
10.4.4 Delete
10.4.5 Select all (“CTRL”--“A”)
10.6.2 TTS (correction coordinate system)
10.7.3 Setting the software limit switches
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KRC2 Expert Programming Manual

KRC2 Expert Programming Manual

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Published by mikaraento

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Published by: mikaraento on Mar 26, 2012
Copyright:Attribution Non-commercial

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06/17/2013

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