《工業(ye)機器人編程指令詳解》特色：
1.作者是(shi)自動化(hua)公司擔任機器人(ren)研發、使(shi)用的總工程師，實踐經(jing)驗十分(fen)豐碩。
2.內容實用(yong)，案例為主：對工業機器人的根本跟特別功用(yong)、編(bian)程指令、狀態變量、參數功用(yong)及設置、機器人公用(yong)輸入輸出旌旗燈號的利用(yong)及公用(yong)編(bian)程軟件應用(yong)等方(fang)面做了(le)周全(quan)的、深入淺出的先容。
3.側重機器(qi)人高等使用(yong)：聯合詳細(xi)的(de)工業(ye)使用(yong)案例去(qu)對(dui)比學習(xi)詳細(xi)的(de)編(bian)程指(zhi)令及參數設置，加深對(dui)編(bian)程指(zhi)令的(de)明白。
分揀機器人系統組成內容簡介:
本(ben)書從實用(yong)的(de)角度動身，對(dui)工業機(ji)(ji)器人的(de)根本(ben)跟特(te)別功用(yong)、編(bian)程指(zhi)令、狀(zhuang)態(tai)變量、參數功用(yong)及設置、機(ji)(ji)器人公用(yong)輸(shu)入輸(shu)出旌旗燈(deng)號(hao)的(de)利用(yong)及公用(yong)編(bian)程軟件應用(yong)等方(fang)面做了周全的(de)、深(shen)入淺出的(de)先容，并聯合詳(xiang)細的(de)工業使用(yong)案例(li)去對(dui)比(bi)學習詳(xiang)細的(de)編(bian)程指(zhi)令及參數設置，加深(shen)對(dui)編(bian)程指(zhi)令的(de)明白。
第1章是(shi)(shi)機(ji)(ji)器(qi)人(ren)的(de)基本(ben)功能先(xian)容，是(shi)(shi)機(ji)(ji)器(qi)人(ren)使用的(de)實際根底，次要先(xian)容了機(ji)(ji)器(qi)人(ren)的(de)選型、特(te)別功用。工業機(ji)(ji)器(qi)人(ren)本(ben)色(se)上也是(shi)(shi)一種運(yun)動控(kong)制器(qi)，機(ji)(ji)器(qi)人(ren)存在(zai)的(de)特(te)別功用是(shi)(shi)其(qi)他(ta)運(yun)動控(kong)制器(qi)所不的(de)。
第(di)(di)(di)(di)2章先(xian)容(rong)(rong)的(de)(de)(de)是常用(yong)(yong)的(de)(de)(de)編(bian)程(cheng)指令，便于讀者的(de)(de)(de)快捷(jie)入門跟使用(yong)(yong)。正在(zai)第(di)(di)(di)(di)3章先(xian)容(rong)(rong)了(le)(le)悉(xi)數(shu)的(de)(de)(de)編(bian)程(cheng)指令。第(di)(di)(di)(di)4章先(xian)容(rong)(rong)了(le)(le)機(ji)器(qi)人的(de)(de)(de)狀(zhuang)態(tai)變(bian)量，狀(zhuang)態(tai)變(bian)量默示(shi)了(le)(le)機(ji)器(qi)人的(de)(de)(de)實(shi)際(ji)事情形態(tai)，正在(zai)實(shi)際(ji)編(bian)程(cheng)中(zhong)會時常利(li)用(yong)(yong)。第(di)(di)(di)(di)5章先(xian)容(rong)(rong)了(le)(le)機(ji)器(qi)人編(bian)程(cheng)中(zhong)要利(li)用(yong)(yong)的(de)(de)(de)各類計較函(han)數(shu)。精確天利(li)用(yong)(yong)計較函(han)數(shu)可以大大簡化編(bian)程(cheng)事情。
第6章先容了(le)參數功用(yong)及設(she)置(zhi)。參數付與了(le)機(ji)器(qi)人各(ge)類功用(yong)，正在實際利用(yong)中(zhong)對參數的(de)(de)設(she)置(zhi)是必(bi)不可少(shao)的(de)(de)。本章聯合軟(ruan)件的(de)(de)利用(yong)對重點參數的(de)(de)功用(yong)及設(she)置(zhi)做(zuo)了(le)解釋(shi)，那也(ye)是從使用(yong)者的(de)(de)角度著想的(de)(de)。
第7章先容了(le)(le)機器(qi)(qi)(qi)人(ren)公用(yong)(yong)輸(shu)入輸(shu)出(chu)旌旗燈(deng)號的利(li)用(yong)(yong)。作(zuo)為自動化生產(chan)線上(shang)的一個焦點(dian)節制(zhi)設備，機器(qi)(qi)(qi)人(ren)必需與主控體(ti)系(xi)、核心(xin)檢測旌旗燈(deng)號有許(xu)多(duo)信息(xi)交換，為了(le)(le)便于機器(qi)(qi)(qi)人(ren)的利(li)用(yong)(yong)，機器(qi)(qi)(qi)人(ren)系(xi)統(tong)配置了(le)(le)許(xu)多(duo)公用(yong)(yong)輸(shu)入輸(shu)出(chu)旌旗燈(deng)號，精確天毗鄰(lin)跟利(li)用(yong)(yong)這些輸(shu)入輸(shu)出(chu)旌旗燈(deng)號是(shi)機器(qi)(qi)(qi)人(ren)畸形事情的條(tiao)件(jian)。
第8章先容了編程(cheng)軟件的利用，事(shi)實上(shang)一切的編程(cheng)跟(gen)參(can)數設置皆是正在軟件上(shang)實現(xian)的。該軟件同時借(jie)具(ju)有形態監督跟(gen)模擬運轉的功用。
第9章供給了一個(ge)使(shi)用案例，聯合使(shi)用案例可以對比學(xue)習編程指(zhi)令(ling)及(ji)參數設(she)置，加深對編程指(zhi)令(ling)的明(ming)白。
三亞四軸分揀機器人分揀機器人控制程序國產分揀機器人廠家第(di)1章(zhang)工(gong)業機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)基本知(zhi)識跟特(te)有(you)的(de)(de)(de)功(gong)(gong)(gong)用(yong)(yong)(yong)／0011.1機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)概述/0011.1.1機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)基本知(zhi)識/0011.1.2機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)通(tong)(tong)(tong)用(yong)(yong)(yong)功(gong)(gong)(gong)用(yong)(yong)(yong)/0021.1.3機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)型號(hao)(hao)(hao)/0021.2機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)技巧(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0031.2.1垂直(zhi)多(duo)(duo)功(gong)(gong)(gong)能機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)技巧(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0031.2.2程(cheng)(cheng)(cheng)度多(duo)(duo)功(gong)(gong)(gong)能機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)技巧(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0051.3技巧(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)中(zhong)若干(gan)性(xing)(xing)能指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)標的(de)(de)(de)注釋(shi)/0061.3.1機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)部(bu)門有(you)關(guan)規(gui)(gui)(gui)格(ge)(ge)的(de)(de)(de)名詞術(shu)(shu)語(yu)/0061.3.2控制(zhi)器(qi)技巧(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0061.3.3控制(zhi)器(qi)有(you)關(guan)規(gui)(gui)(gui)格(ge)(ge)的(de)(de)(de)名詞術(shu)(shu)語(yu)/0071.4機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)特(te)有(you)的(de)(de)(de)功(gong)(gong)(gong)用(yong)(yong)(yong)/0081.4.1機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)坐(zuo)標系及原(yuan)點/0081.4.2公用(yong)(yong)(yong)輸(shu)(shu)入(ru)輸(shu)(shu)出旌(jing)(jing)旗(qi)燈號(hao)(hao)(hao)/0141.4.3操(cao)縱權/0151.4.4佳(jia)速率節(jie)制(zhi)/0161.4.5佳(jia)加(jia)減(jian)速率節(jie)制(zhi)/0161.4.6柔性(xing)(xing)節(jie)制(zhi)功(gong)(gong)(gong)用(yong)(yong)(yong)/0161.4.7碰(peng)撞(zhuang)(zhuang)檢(jian)測功(gong)(gong)(gong)用(yong)(yong)(yong)/0161.4.8接連(lian)軌(gui)(gui)跡節(jie)制(zhi)功(gong)(gong)(gong)用(yong)(yong)(yong)/0161.4.9順(shun)序接連(lian)履行(xing)功(gong)(gong)(gong)用(yong)(yong)(yong)/0161.4.10附加(jia)軸節(jie)制(zhi)/0161.4.11多(duo)(duo)機(ji)(ji)械節(jie)制(zhi)/0161.4.12與(yu)內部(bu)機(ji)(ji)械通(tong)(tong)(tong)訊功(gong)(gong)(gong)用(yong)(yong)(yong)/0171.4.13中(zhong)止功(gong)(gong)(gong)用(yong)(yong)(yong)/0171.4.14子(zi)程(cheng)(cheng)(cheng)序功(gong)(gong)(gong)用(yong)(yong)(yong)/0171.4.15碼(ma)垛指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)功(gong)(gong)(gong)用(yong)(yong)(yong)/0171.4.16用(yong)(yong)(yong)戶界說(shuo)區/0171.4.17舉措(cuo)(cuo)規(gui)(gui)(gui)模限定/0171.4.18特(te)異面(mian)/0171.4.19連(lian)結急(ji)迫(po)終止時的(de)(de)(de)運(yun)(yun)動(dong)軌(gui)(gui)跡/0171.4.20機(ji)(ji)器(qi)人(ren)(ren)(ren)(ren)(ren)(ren)的(de)(de)(de)“形位(wei)(wei)(wei)”/017第(di)2章(zhang)編(bian)程(cheng)(cheng)(cheng)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)快(kuai)捷入(ru)門／0222.1MELFA-BASICV的(de)(de)(de)具體(ti)(ti)規(gui)(gui)(gui)格(ge)(ge)/0222.1.1MELFA-BASICV的(de)(de)(de)具體(ti)(ti)規(gui)(gui)(gui)格(ge)(ge)/0222.1.2有(you)特(te)殊界說(shuo)的(de)(de)(de)文字/0232.1.3數據類型/0242.2舉措(cuo)(cuo)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0242.2.1樞紐(niu)插補/0242.2.2直(zhi)線(xian)插補/0262.2.3Mvc——三(san)維真圓插補指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0272.2.4Cnt——接連(lian)軌(gui)(gui)跡運(yun)(yun)轉/0272.2.5減(jian)減(jian)速時間(jian)與(yu)速率節(jie)制(zhi)/0282.2.6Fine定位(wei)(wei)(wei)精(jing)度/0292.2.7Prec高精(jing)度軌(gui)(gui)跡節(jie)制(zhi)/0302.2.8抓(zhua)手TOOL節(jie)制(zhi)/0302.2.9PALLET指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0312.3程(cheng)(cheng)(cheng)序結構(gou)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0342.3.1無條件(jian)(jian)跳轉指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0342.3.2依據前提執行(xing)程(cheng)(cheng)(cheng)序分支(zhi)跳轉的(de)(de)(de)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0342.4內部(bu)輸(shu)(shu)入(ru)輸(shu)(shu)出旌(jing)(jing)旗(qi)燈號(hao)(hao)(hao)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0362.4.1輸(shu)(shu)入(ru)旌(jing)(jing)旗(qi)燈號(hao)(hao)(hao)/0362.4.2輸(shu)(shu)出旌(jing)(jing)旗(qi)燈號(hao)(hao)(hao)/0362.5通(tong)(tong)(tong)訊指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0362.5.1Open——通(tong)(tong)(tong)訊啟動(dong)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0372.5.2Print——輸(shu)(shu)出字符(fu)串(chuan)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0382.5.3Input——從(cong)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)定的(de)(de)(de)文件(jian)(jian)中(zhong)接收數據，吸收的(de)(de)(de)數值為ASCII碼(ma)/0392.5.4OnComGoSub指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0392.5.5ComOn/ComOff/ComStop/0402.6運(yun)(yun)算指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0402.6.1地(di)位(wei)(wei)(wei)數據運(yun)(yun)算/0402.6.2地(di)位(wei)(wei)(wei)數據運(yun)(yun)算/0402.7多(duo)(duo)任(ren)(ren)務處理/0412.7.1多(duo)(duo)任(ren)(ren)務界說(shuo)/0412.7.2設置(zhi)多(duo)(duo)順(shun)序使(shi)命(ming)的(de)(de)(de)方式/0422.7.3多(duo)(duo)任(ren)(ren)務使(shi)用(yong)(yong)(yong)案例/044第(di)3章(zhang)編(bian)程(cheng)(cheng)(cheng)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)具體(ti)(ti)解釋(shi)／0473.1舉措(cuo)(cuo)控制(zhi)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0473.1.1Mov——樞紐(niu)插補/0483.1.2Mvs/0493.1.3Mvr/0503.1.4Mvr2/0513.1.5Mvr3/0523.1.6Mvc——三(san)維真圓插補指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0523.1.7Mva——過渡毗(pi)鄰型圓弧插補指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0533.1.8MvTune/0543.1.9Ovrd/0543.1.10Spd/0553.1.11JOvrd/0553.1.12Cnt/0553.1.13Accel/0573.1.14CmpJnt/0573.1.15CmpPos（CompositionPosture）/0573.1.16CmpTool（CompositionTool）/0583.1.17CmpOff/0583.1.18CmpG（CompositionGain）/0593.1.19Mxt/0593.1.20Oadl（OptimalAcceleration）/0603.1.21LoadSet/0603.1.22Prec/0613.1.23Torq/0613.1.24JRC（JointRollChange）/0623.1.25Fine/0633.1.26FineJ/0633.1.27FineP——以(yi)直(zhi)線(xian)距離設置(zhi)定位(wei)(wei)(wei)精(jing)度/0643.1.28Servo——指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)伺服電源的(de)(de)(de)ON/OFF/0643.1.29Wth——正在插補舉措(cuo)(cuo)時附加(jia)處置(zhi)懲罰的(de)(de)(de)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0643.1.30WthIf/0643.1.31CavChkOn——“防碰(peng)撞(zhuang)(zhuang)功(gong)(gong)(gong)用(yong)(yong)(yong)”是不是失(shi)效/0653.1.32ColLvl——設置(zhi)碰(peng)撞(zhuang)(zhuang)檢(jian)測量(liang)級/0653.2程(cheng)(cheng)(cheng)序控制(zhi)流程(cheng)(cheng)(cheng)相關(guan)的(de)(de)(de)指(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)/0653.2.1Rem/0663.2.2If…Then…Else…EndIf/0673.2.3SelectCase/0683.2.4GoTo/0703.2.5GoSub/0703.2.6ResetErr/0713.2.7CallP/0713.2.8FPrm/0723.2.9Dly/0733.2.10Hlt/0733.2.11On…GoTo/0743.2.12On…GoSub（ONGoSubroutine）/0753.2.13While…WEnd/0753.2.14Open/0763.2.15Print/0773.2.16Input/0783.2.17Close/0793.2.18ColChk/0793.2.19OnComGoSub（ONCommunicationGoSubroutine）/080
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