《工業(ye)機器人編(bian)程指令詳解》特色：

1.作者是自動化(hua)公司擔任機器(qi)人(ren)研發、使用的總工(gong)程師，實踐經驗十分豐碩(shuo)。

2.內(nei)容實用，案例為(wei)主：對(dui)工業機器人(ren)的(de)根本跟特別功用、編(bian)程指令、狀態(tai)變量、參數(shu)功用及設置(zhi)、機器人(ren)公用輸(shu)入(ru)輸(shu)出旌旗燈號的(de)利用及公用編(bian)程軟件應用等方面做了周(zhou)全的(de)、深入(ru)淺出的(de)先容。

3.側重(zhong)機器人高等使用：聯合詳細的(de)(de)工業使用案(an)例去(qu)對比學習詳細的(de)(de)編程指(zhi)令及參數設置，加(jia)深對編程指(zhi)令的(de)(de)明白。

內容簡介:

本(ben)書從實用(yong)的(de)角度動身，對(dui)工業(ye)機器(qi)人的(de)根本(ben)跟特別功(gong)用(yong)、編程(cheng)(cheng)指令、狀態變量(liang)、參(can)(can)數(shu)功(gong)用(yong)及(ji)設置(zhi)、機器(qi)人公(gong)用(yong)輸入(ru)輸出旌旗燈(deng)號的(de)利(li)用(yong)及(ji)公(gong)用(yong)編程(cheng)(cheng)軟件(jian)應用(yong)等方面做了周全的(de)、深入(ru)淺出的(de)先容，并聯合(he)詳細的(de)工業(ye)使用(yong)案例(li)去對(dui)比學習詳細的(de)編程(cheng)(cheng)指令及(ji)參(can)(can)數(shu)設置(zhi)，加(jia)深對(dui)編程(cheng)(cheng)指令的(de)明白。

第(di)1章是(shi)(shi)(shi)機(ji)器(qi)(qi)人(ren)的(de)(de)基(ji)本功(gong)能(neng)先容(rong)，是(shi)(shi)(shi)機(ji)器(qi)(qi)人(ren)使用(yong)的(de)(de)實(shi)際根(gen)底(di)，次(ci)要(yao)先容(rong)了機(ji)器(qi)(qi)人(ren)的(de)(de)選型、特別(bie)(bie)功(gong)用(yong)。工業機(ji)器(qi)(qi)人(ren)本色上也是(shi)(shi)(shi)一種運動(dong)控制(zhi)器(qi)(qi)，機(ji)器(qi)(qi)人(ren)存在(zai)的(de)(de)特別(bie)(bie)功(gong)用(yong)是(shi)(shi)(shi)其他運動(dong)控制(zhi)器(qi)(qi)所不的(de)(de)。

第(di)(di)(di)2章(zhang)先容(rong)的(de)(de)是常(chang)用(yong)的(de)(de)編程(cheng)指令，便于讀者(zhe)的(de)(de)快捷入門(men)跟使(shi)用(yong)。正在(zai)第(di)(di)(di)3章(zhang)先容(rong)了悉數的(de)(de)編程(cheng)指令。第(di)(di)(di)4章(zhang)先容(rong)了機(ji)器(qi)人的(de)(de)狀態(tai)變量，狀態(tai)變量默(mo)示了機(ji)器(qi)人的(de)(de)實(shi)際(ji)事情(qing)形(xing)態(tai)，正在(zai)實(shi)際(ji)編程(cheng)中(zhong)會時常(chang)利(li)用(yong)。第(di)(di)(di)5章(zhang)先容(rong)了機(ji)器(qi)人編程(cheng)中(zhong)要利(li)用(yong)的(de)(de)各類計較函(han)數。精確天利(li)用(yong)計較函(han)數可(ke)以大大簡化編程(cheng)事情(qing)。

第6章(zhang)先容了(le)參(can)數功(gong)用及(ji)(ji)設置(zhi)。參(can)數付與了(le)機器人各類功(gong)用，正(zheng)在實際利用中(zhong)對(dui)參(can)數的(de)設置(zhi)是必(bi)不可少的(de)。本章(zhang)聯合軟件的(de)利用對(dui)重(zhong)點參(can)數的(de)功(gong)用及(ji)(ji)設置(zhi)做了(le)解釋，那也是從(cong)使用者(zhe)的(de)角度(du)著想的(de)。

第7章先容(rong)了(le)機(ji)器(qi)(qi)(qi)人公用(yong)輸(shu)入(ru)(ru)輸(shu)出旌旗(qi)燈號(hao)的利(li)用(yong)。作為自(zi)動化生產線上的一個焦點節制(zhi)設備，機(ji)器(qi)(qi)(qi)人必需與主控(kong)體系、核心檢測(ce)旌旗(qi)燈號(hao)有許多(duo)(duo)信息交換，為了(le)便于機(ji)器(qi)(qi)(qi)人的利(li)用(yong)，機(ji)器(qi)(qi)(qi)人系統配置了(le)許多(duo)(duo)公用(yong)輸(shu)入(ru)(ru)輸(shu)出旌旗(qi)燈號(hao)，精確天毗鄰(lin)跟(gen)利(li)用(yong)這些輸(shu)入(ru)(ru)輸(shu)出旌旗(qi)燈號(hao)是(shi)機(ji)器(qi)(qi)(qi)人畸形事(shi)情的條件。

第(di)8章先容(rong)了(le)編(bian)程軟(ruan)件(jian)的(de)(de)(de)利(li)用，事實上(shang)一切的(de)(de)(de)編(bian)程跟參數設置皆是正(zheng)在軟(ruan)件(jian)上(shang)實現(xian)的(de)(de)(de)。該軟(ruan)件(jian)同時借具有形(xing)態監督(du)跟模擬運轉的(de)(de)(de)功(gong)用。

第9章供給(gei)了一個使用案例，聯(lian)合使用案例可以對(dui)比學習編程指(zhi)令及參(can)數(shu)設置，加深(shen)對(dui)編程指(zhi)令的明白。

第(di)1章(zhang)工(gong)業機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人基本知識跟特(te)(te)(te)有(you)的(de)(de)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)／0011.1機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人概述/0011.1.1機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人基本知識/0011.1.2機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人通用(yong)(yong)(yong)(yong)(yong)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0021.1.3機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人型號/0021.2機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人技巧(qiao)(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0031.2.1垂直多功(gong)(gong)能機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人技巧(qiao)(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0031.2.2程(cheng)度多功(gong)(gong)能機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人技巧(qiao)(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0051.3技巧(qiao)(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)中若干性能指(zhi)(zhi)(zhi)標的(de)(de)注釋/0061.3.1機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人部門有(you)關(guan)規(gui)(gui)(gui)格(ge)(ge)的(de)(de)名詞術語(yu)/0061.3.2控制(zhi)(zhi)器(qi)(qi)(qi)(qi)技巧(qiao)(qiao)(qiao)規(gui)(gui)(gui)格(ge)(ge)/0061.3.3控制(zhi)(zhi)器(qi)(qi)(qi)(qi)有(you)關(guan)規(gui)(gui)(gui)格(ge)(ge)的(de)(de)名詞術語(yu)/0071.4機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人特(te)(te)(te)有(you)的(de)(de)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0081.4.1機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人坐標系(xi)及原點/0081.4.2公用(yong)(yong)(yong)(yong)(yong)輸(shu)(shu)入(ru)輸(shu)(shu)出(chu)(chu)旌(jing)旗燈(deng)號/0141.4.3操縱權/0151.4.4佳速(su)率節(jie)(jie)(jie)制(zhi)(zhi)/0161.4.5佳加(jia)(jia)減(jian)速(su)率節(jie)(jie)(jie)制(zhi)(zhi)/0161.4.6柔性節(jie)(jie)(jie)制(zhi)(zhi)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0161.4.7碰撞(zhuang)檢測(ce)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0161.4.8接連(lian)軌跡(ji)(ji)節(jie)(jie)(jie)制(zhi)(zhi)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0161.4.9順序接連(lian)履行功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0161.4.10附加(jia)(jia)軸節(jie)(jie)(jie)制(zhi)(zhi)/0161.4.11多機(ji)(ji)(ji)械節(jie)(jie)(jie)制(zhi)(zhi)/0161.4.12與內部機(ji)(ji)(ji)械通訊(xun)(xun)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0171.4.13中止功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0171.4.14子程(cheng)序功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0171.4.15碼垛指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)/0171.4.16用(yong)(yong)(yong)(yong)(yong)戶界(jie)(jie)說(shuo)區/0171.4.17舉(ju)措規(gui)(gui)(gui)模(mo)限定(ding)(ding)/0171.4.18特(te)(te)(te)異(yi)面/0171.4.19連(lian)結(jie)急迫終(zhong)止時(shi)的(de)(de)運動軌跡(ji)(ji)/0171.4.20機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人的(de)(de)“形位(wei)”/017第(di)2章(zhang)編程(cheng)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)快捷入(ru)門／0222.1MELFA-BASICV的(de)(de)具體(ti)(ti)規(gui)(gui)(gui)格(ge)(ge)/0222.1.1MELFA-BASICV的(de)(de)具體(ti)(ti)規(gui)(gui)(gui)格(ge)(ge)/0222.1.2有(you)特(te)(te)(te)殊界(jie)(jie)說(shuo)的(de)(de)文字/0232.1.3數據(ju)類型/0242.2舉(ju)措指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0242.2.1樞(shu)紐插(cha)補(bu)(bu)/0242.2.2直線(xian)插(cha)補(bu)(bu)/0262.2.3Mvc——三維真圓(yuan)(yuan)(yuan)插(cha)補(bu)(bu)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0272.2.4Cnt——接連(lian)軌跡(ji)(ji)運轉/0272.2.5減(jian)減(jian)速(su)時(shi)間(jian)與速(su)率節(jie)(jie)(jie)制(zhi)(zhi)/0282.2.6Fine定(ding)(ding)位(wei)精(jing)度/0292.2.7Prec高(gao)精(jing)度軌跡(ji)(ji)節(jie)(jie)(jie)制(zhi)(zhi)/0302.2.8抓手TOOL節(jie)(jie)(jie)制(zhi)(zhi)/0302.2.9PALLET指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0312.3程(cheng)序結(jie)構指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0342.3.1無條件(jian)跳轉指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0342.3.2依據(ju)前提(ti)執行程(cheng)序分支跳轉的(de)(de)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0342.4內部輸(shu)(shu)入(ru)輸(shu)(shu)出(chu)(chu)旌(jing)旗燈(deng)號指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0362.4.1輸(shu)(shu)入(ru)旌(jing)旗燈(deng)號/0362.4.2輸(shu)(shu)出(chu)(chu)旌(jing)旗燈(deng)號/0362.5通訊(xun)(xun)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0362.5.1Open——通訊(xun)(xun)啟(qi)動指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0372.5.2Print——輸(shu)(shu)出(chu)(chu)字符(fu)串(chuan)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0382.5.3Input——從指(zhi)(zhi)(zhi)定(ding)(ding)的(de)(de)文件(jian)中接收(shou)數據(ju)，吸(xi)收(shou)的(de)(de)數值為ASCII碼/0392.5.4OnComGoSub指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0392.5.5ComOn/ComOff/ComStop/0402.6運算指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0402.6.1地位(wei)數據(ju)運算/0402.6.2地位(wei)數據(ju)運算/0402.7多任務(wu)處(chu)理/0412.7.1多任務(wu)界(jie)(jie)說(shuo)/0412.7.2設置多順序使命的(de)(de)方(fang)式(shi)/0422.7.3多任務(wu)使用(yong)(yong)(yong)(yong)(yong)案例/044第(di)3章(zhang)編程(cheng)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)具體(ti)(ti)解(jie)釋／0473.1舉(ju)措控制(zhi)(zhi)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0473.1.1Mov——樞(shu)紐插(cha)補(bu)(bu)/0483.1.2Mvs/0493.1.3Mvr/0503.1.4Mvr2/0513.1.5Mvr3/0523.1.6Mvc——三維真圓(yuan)(yuan)(yuan)插(cha)補(bu)(bu)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0523.1.7Mva——過渡毗(pi)鄰型圓(yuan)(yuan)(yuan)弧插(cha)補(bu)(bu)指(zhi)(zhi)(zhi)令(ling)(ling)(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——以直線(xian)距離設置定(ding)(ding)位(wei)精(jing)度/0643.1.28Servo——指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)伺服電源(yuan)的(de)(de)ON/OFF/0643.1.29Wth——正在插(cha)補(bu)(bu)舉(ju)措時(shi)附加(jia)(jia)處(chu)置懲罰的(de)(de)指(zhi)(zhi)(zhi)令(ling)(ling)(ling)(ling)(ling)(ling)/0643.1.30WthIf/0643.1.31CavChkOn——“防碰撞(zhuang)功(gong)(gong)用(yong)(yong)(yong)(yong)(yong)”是(shi)(shi)不是(shi)(shi)失(shi)效/0653.1.32ColLvl——設置碰撞(zhuang)檢測(ce)量(liang)級/0653.2程(cheng)序控制(zhi)(zhi)流程(cheng)相關(guan)的(de)(de)指(zhi)(zhi)(zhi)令(ling)(ling)(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