kuka manual
TRANSCRIPT
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_________________________
SEMINAR WORKBOOK OF
ROBOT BRIEFING
for KUKA System Software V5.x
OPERATOR
Workbook MO1 01.06.00
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Copyright
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Copyright
© Copyright 2006
KUKA Roboter GmbHZugspi tzstraße 140
D-86165 Augsburg
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the
publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions,however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless,
discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in thisdocumentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
KUKA Roboter GmbH accepts no liability whatsoever for any errors in technical information communicated orally or in writing in the
training courses or contained in the documentation. Nor will liability be accepted for any resultant damage or consequential damage.
Responsible for this training documentation: College Development (WSC-IC)
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The robot system
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1. The robot system
1.1. Robot system basics
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The robot system
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1.2. System overview
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The robot system
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mo1_system_overview_en.ppt
© Copyright by KUKA Roboter GmbH College
KR C2 control cabinet for m ax. 8 axes
KR 6 to KR 500
Robots
KL 250 & KL 1500
Linear units
Two-axis positioner
DKP 200&
DKP 400
Control of the 6robot axes
Connection of up to 2 external axes
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mo1_system_overview_en.ppt
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PC chassis - KR C2
Floppy disk drive
CD-ROM drive
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The robot system
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mo1_system_overview_en.ppt
© Copyright by KUKA Roboter GmbH College
Robot serial number
Serial number
Typ Type Type: KR16
Wer k-Nr . Ser ial -No . No . Sér ie 858057
Baujahr Date Anneé de. Fab. 2003
Zeich.Nr. Draw No. Plan No. 394.029
Gewicht Weight Poids 235 kg
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mo1_system_overview_en.ppt
© Copyright by KUKA Roboter GmbH College
Control cabinet serial number
Serial number
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Operation and coordinate systems
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2. Operation and coordinate systems
2.1. Operation of the KUKA Control Panel (KCP)
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Operation and coordinate systems
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
KUKA Control Panel (KCP)
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
Operator control elements
E-STOP
Drives OFF
Drives ON
Mode selectorswitch
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Operation and coordinate systems
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
T T
T1 (Test 1)T2 (Test 2)
AUTOMATIC AUTOMATIC EXTERNAL
Mode selector switch
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
Mode selector switch
T1 T2 AUTOMATIC AUTOMATICEXTERNAL
Joggingusingkeys
or Space Mouse
250 mm/s 250 mm/s Joggingnot active
Joggingnot active
HOV
Enabling switch(dead manfunction)
Enabling switch(dead manfunction)
Program execution 250 mm/s
POV
Prog.velocity
Prog. velocity Prog. velocity
Enabling switch(dead manfunction)
START keypressed
Enabling switch(dead manfunction)
START keypressed
Drives ONSTART key--> PULSE
Drives ON externalExternal start
Mode table
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Operation and coordinate systems
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mo1_kcp_en.ppt
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CAN bus operator control elements
Escape key
Window selection key
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mo1_kcp_en.ppt
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Display window
Programming window Status window
Message window
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Operation and coordinate systems
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mo1_kcp_en.ppt
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Message types
Notify - e.g. “Start key required”
Status - e.g. “EMERGENCY STOP”
Acknowl. - e.g. “Ackn. EMERGENCY STOP”
Wait - e.g. “Wait for $IN[1]==True”
Dialog - e.g. “Do you want to teach point?”
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
Online help
Select a message text using the arrow keys; the “Online help” function willprovide an explanation.
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mo1_kcp_en.ppt
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Menu keys
Menu keys
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mo1_kcp_en.ppt
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Status keys
Status keys
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mo1_kcp_en.ppt
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Status bar
Selected
program
Current block
number
Override
Time
Numeric keypad
Operatingmode
Upper/lower-case letters
Robot name
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mo1_kcp_en.ppt
© Copyright by KUKA Roboter GmbH College
Status bar
Submit interpreter deselectedSubmit interpreter stoppedSubmit interpreter running
Drives not readyDrives ready (approx. 1 s)
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Operation and coordinate systems
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mo1_coordinate_systems_en.ppt
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Coordinate systems
• Ax is-speci fic motionEach robot axis can be moved individually in a positiveor negative direction.
• WORLD coordinate system
Fixed, rectangular coordinate system whose origin is locatedat the base of the robot.
• TOOL coord inate system
Rectangular coordinate system, whose origin is located in
the tool.
• BASE coordinate system
Rectangular coordinate system which has its origin onthe workpiece that is to be processed.
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Operation and coordinate systems
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2.3. Jogging axis specific
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2.4. WORLD coordinate system
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Operation and coordinate systems
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mo1_coordinate_systems_world_en.ppt
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Cartesian moti on with the 6D mouse
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mo1_coordinate_systems_world_en.ppt
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Mouse configuration - Degrees of freedom of the mouse
The menu item “Mouse configuration” allows you to set the degrees offreedom and adapt the dominance of the mouse.
Degrees of freedomof the mouse
Unlimitedfunctionality
Only linear motions
Only rotationalmotions
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Operation and coordinate systems
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mo1_coordinate_systems_world_en.ppt
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Mouse configuration - Dominant axis
When this function is switched on, only the coordinate axis withthe greatest deflection of the mouse is moved. In this exampleonly the Y axis is moved.
Dominant axis activated
Dominant axis not activated
X-
Z+
Y+
This function allows a superposed motion. Depending on thesetting of the degrees of freedom, either 3 or 6 axes can bemoved simultaneously. In this example, motion is possible in theX, Y and Z directions (the velocity depends on the deflection).
Current setting:
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Operation and coordinate systems
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2.5. Choice of a coordinate system
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Operation and coordinate systems
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mo1_coordinate_systems_en.ppt
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Selecting a coordinate system
• Select the coordinate system
Axis-specific jogging
WORLD coordinate system
TOOL coordinate system
BASE coordinate system
• Select jog mode
Jog keys
Jogging with the mouse
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Setup
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3. Setup
3.1. Mastering
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Setup
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mo1_tool_en.ppt
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Tool calibration
What happens during tool calibration?
The tool receives a user-definedCartesian coordinate system
with its origin at a referencepoint specified by the user.
XZ
Y
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mo1_tool_en.ppt
© Copyright by KUKA Roboter GmbH College
Activating t he tool
Tool nameis displayed
Enter the tool number
1 - 16
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Setup
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3.3. Activate a base
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Programming
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4. Programming
4.1. Motion programming
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Programming
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4.2. PTP – Motion
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Programming
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mo1_motion_ptp_en.ppt
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Programming a PTP motion
Type of motion
Point name
Velocity
Motion parameters
Approximatepositioning ON
Exact positioning
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mo1_motion_ptp_en.ppt
© Copyright by KUKA Roboter GmbH College
Programming a PTP motion
ToolTool selectionTool_Data[1]..[16], Nullframe
BaseWorkpiece coordinate systemselectionBase_Data[1]..[32], Nullframe
External TCPRobot guiding tool: FalseRobot guiding workpiece: True
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Programming
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mo1_motion_ptp_en.ppt
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Programming a PTP motion
Accelerat ion Acceleration used for themotion.Range of values: 1..100%
Approximation d istance*)
Size of approximate positioningrange for the motion.Range of values: 0..100%
*) The parameter “Approximation distance” isdisplayed if approximate positioning hasbeen selected (CONT).
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mo1_motion_ptp_en.ppt
© Copyright by KUKA Roboter GmbH College
BCO run - part 1
For the purpose of ensuring that the robot position corresponds to thecoordinates of the current program point, a so-called BCO run (blockcoincidence) is executed.
Block pointer(program pointer)
This is carried out at reduced velocity. The robot is moved to thecoordinates of the motion block in which the block pointer is situated.
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Programming
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mo1_motion_ptp_en.ppt
© Copyright by KUKA Roboter GmbH College
BCO run - part 2
This is done:
• after a program reset by means of a BCO run to the home position• after block selection to the coordinates of the point at which the block
pointer is situated
• after selection of the “CELL” program before the Automatic External modecan be started
• after a new program has been selected
• after modifying a command
• after jogging in programming mode
A HOME run is recommended for both the first andfinal motions as this represents an unambiguouslydefined uncritical position.
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mo1_motion_ptp_en.ppt
© Copyright by KUKA Roboter GmbH College
BCO run - part 3
1. This is done by holding down the Start key after selecting theprogram
2. The robot moves automatically at reduced velocity3. Once the robot has reached the programmed path, the
program can be continued by pressing the Start key again
A BCO run always takes place by the direct route
from the current position to the destination position. Itis therefore important to make sure that there are noobstacles on this path in order to avoid damage tocomponents, tools or the robot!
No BCO run is carried out in Automatic External mode!
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Navigator
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5. Navigator
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Navigator
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mo1_navigator_user_en.ppt
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Navigator (user)
Header
Directory structureDirectory
or file list
Status line
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mo1_navigator_user_en.ppt
© Copyright by KUKA Roboter GmbH College
Navigation using the keyboard
Focus
Select drive,directory or file
Toggle between
directory struc ture / file list Open drive,
directory or file
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Navigator
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mo1_navigator_user_en.ppt
© Copyright by KUKA Roboter GmbH College
Program run modes
Motion Step (motion block)
The program is executed one motion instruction at a time, i.e. with a STOP
before each motion instruction.
The program is executed without advance processing.
MSTEP
GO mode
All instructions in the program are executed up to the end of the program
without a STOP.
GO
DescriptionRun mode
U S E R
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mo1_navigator_user_en.ppt
© Copyright by KUKA Roboter GmbH College
Archive
This function allows you to save important data to floppy disk. All files aresaved in compressed form as ZIP files.
If you try to insert a file in an existing archive, the robotname is checked. The robot name in the archive iscompared with the name that is set in the controller.
If the two names are different, a request for confirmationis generated asking if you really wish to overwrite theexisting archive.
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Navigator
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mo1_navigator_user_en.ppt
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Arch ive All
The menu item Archive “All” is used to save to floppy disk allthe data that are required to restore the robot system.These include
- machine data
- tool/base data- all applications- etc.
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mo1_navigator_user_en.ppt
© Copyright by KUKA Roboter GmbH College
Restore All
Once the system has been restored, it must be shut down andrebooted.
All files, with the exception of log files, are loaded backonto the hard disk.
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Automatic external mode
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6. Automatic external mode
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Automatic external mode
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mo1_automatic_external_en.ppt
© Copyright by KUKA Roboter GmbH College
System structure
Host computer
PLCs
Robots
Control systemcomponents
(robots and periphery)
Controls the entire
system and savesdata
Execute application programs
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mo1_automatic_external_en.ppt
© Copyright by KUKA Roboter GmbH College
The entire robot process, e.g.motion enable, faultacknowledgement, program start,is controlled by the PLC
Information about operating andfault states are transmitted to thePLC
System structure: KRC - SPS
CELL.SRC
P L C
Signal exchange
Organization program for selecting the motion programs
Automatic External:Operating mode in which ahost computer or PLCassumes control of the robotsystem.
T T
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Exercise: Operator control, jogging101
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Tasks:
• Switch the control cabinet on and wait for the system to boot
• Check the robot type and software version
• Release and acknowledge the EMERGENCY STOP
• Make sure that the mode selector switch is set to T1
• Activate axis-specific jogging
• Move the robot in joint (axis-specific) mode with various different jog override settings (HOV) using
the jog keys and Space Mouse
• Explore the range of motion of the individual axes. Be careful to avoid any obstacles present, such
as a table or cube magazine with fixed tool (accessibility investigation)
• On reaching the software limit switches, observe the message window
• In joint (axis-specific) mode, move the gripper to the reference tool (black metal tip) from several
different directions
• Repeat this procedure in the World coordinate system
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Exercise: “In-air” program (PTP motion) 105
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Exercise: “ In-air” program (PTP motion) 105
Aim of the exercise:
On successful completion of this exercise, you will be able to carry out the following activities:
• Create a new robot program (program folder / program)
• Select a robot program and execute, stop and reset it in the required operating modes
• Move between points in space by means of programmed PTP motion commands
• Change the program run mode and step-by-step movement to programmed points
• Carry out a BCO run (block selection)
Prerequisites:
• Theoretical knowledge of the PTP motion type
• Knowledge of the Navigator
Necessary equipment:
• Training robot cell
Shortest
distance Fastest path
TCP
P2
P1
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