kuka机器人offset指令_KUKA机器人MADA详解.doc

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

$