SOFTWARE
`
`KR C2
`
`Seminar workbook
`of …………………
`
`Basic Robot
`Programming
`
`Release 4.1
`
`IRONBURG EX2017, Page 1
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`
`
`KR C2
`
`Seminar workbook
`of …………………
`
`Basic Robot
`Programming
`
`Release 4.1
`
`IRONBURG EX2017, Page 1
`
`
`
`© Copyright KUKA Roboter GmbH
`This documentation or excerpts therefrommay 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 claim 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 this documentation 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.
`
`handout GP KR C2 V4.1 01.03.01
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`1. Contents and goals of this course
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`handout GP KR C2 V4.1 01.03.01
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`Seminar goal
`
`Basic Robot Programming
`Controller Type KR C2
`
`The Basic Robot Programming seminar is aimed at the
`programming personnel for KUKA industrial robots. This
`seminar provides training with regard to
`
`(cid:129) the proper and safety-conscious operation of a robot
`in a production environment,
`(cid:129) the modification and maintenance of robot application
`programs,
`(cid:129) and the creation of linear application programs.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 16.08.00 I College I ML I 1
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`Topics covered
`
`Basic Robot Programming
`Controller Type KR C2
`
`• Safety requirements for programmers
`• Components of the robot system
`• Operation of the robot system (start-up, shut-down, manual
`motion, program selection, automatic program execution)
`• Commissioning the robot system (mastering, tool calibration)
`• Creation of simple application programs (programming of
`motion instructions and predefined application technology
`instructions)
`• Integration of application programs into the production process
`(interface between equipment controller (PLC) and robot
`controller)
`• Archiving and maintenance of production programs
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 16.08.00 I College I ML I 2
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`handout GP KR C2 V4.1 01.03.01
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`2. Safety
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`handout GP KR C2 V4.1 01.03.01
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`Safety
`
`Safety regulations for working with industrial robots
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 1
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`Liability
`
`• The robot system is built using state-of-the-art technology and in accordance
`with the recognized safety rules. Nevertheless, improper use of the robot
`system or its employment for a purpose other than the intended one may
`cause danger to life and limb or damage to material property.
`
`The robot is always stronger than you!
`
`• The robot system may only be used in technically perfect condition in
`accordance with its designated use and only by safety-conscious persons
`who are fully aware of the risks involved in its operation. Any functional
`disorders affecting the safety of the linear unit must be rectified immediately.
`
`• The robot system is designed to comply with the EC Machinery Directive
`and associated standards. These include, for example, EN 775, the
`European norm for the safety of industrial robots.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
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`Designated use
`
`• The robot system is designed exclusively for the specified applications.
`
`Applications for the KR 125/2 include:
`– Spot welding
`– Handling
`– Assembly
`– Application of adhesives, sealants and preservatives
`– Machining
`– MIG/MAG welding
`– YAG laser beam welding
`
`Using the robot system for any other or additional purpose is
`considered contrary to its designated use. The manufacturer cannot
`be held liable for any damage resulting from such use. The risk lies
`entirely with the user.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 3
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`Safety symbols
`
`This symbol is used where failure to fully and accurately observe
`operating instructions, work instructions, prescribed sequences
`and the like could result in injury or a fatal accident.
`
`This symbol is used where failure to fully and accurately observe
`operating instructions, work instructions, prescribed sequences
`and the like could result in damage to the robot system.
`
`This symbol is used to draw attention to a particular feature.
`Observance of the note will generally result in facilitation of the
`work concerned.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 4
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`handout GP KR C2 V4.1 01.03.01
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`General safety regulations
`
`• Improper use of the robot system or its employment for a
`purpose other than the intended one may cause
`
`– danger to life and limb
`– danger to the robot system and other assets of the user
`and
`– danger to the efficient working of the robot system or its
`operator.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 5
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`General safety regulations
`
`• Every person involved with the robot system must have read and
`understood these operating instructions, particularly the “Safety” chapter,
`paying special attention to the passages marked with the warning symbol .
`
`• Installation, exchange, adjustment, operation, maintenance and repair must
`be performed only as specified in these operating instructions and only by
`personnel specially trained for this purpose.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 6
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`General safety regulations
`
`• The responsibilities involved in operation of the robot system and in all other
`work performed on the robot system or in its immediate vicinity must be
`clearly defined and observed by the user in order to prevent any uncertainty
`regarding spheres of competence in matters of safety.
`
`• The user and operating personnel must ensure that only authorized
`personnel are permitted to work on the robot system.
`
`• The user must clearly set out what the responsibilities of operating personnel
`actually entail and give them the authority to refuse to carry out
`instructions from third parties which are contrary to safety procedures.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 7
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`General safety regulations
`
`• The danger zones of the robot system must be safeguarded to prevent
`persons or objects from entering these zones. This safety facility is the
`responsibility of the user.
`
`• The switching times of the EMERGENCY STOP system must be taken
`into account when determining the size of the danger zones.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 8
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`handout GP KR C2 V4.1 01.03.01
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`Particular safety regulations for the user and the operating personnel
`
`• The robot system must be switched off before maintenance
`work, i.e. the main switch on the control cabinet must be turned to
`“OFF”.
`
`• Secure it with a padlock to prevent unauthorized persons from switching it
`on again.
`
`• De-energize power supply lead and disconnect X1.
`
`• Before exchanging the power unit (power module), wait at least 5 minutes.
`
`• Work on the electrical equipment of the robot system
`may only be carried out by a skilled electrician.
`
`• Skin contact with grease is to be avoided.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 9
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`Particular safety regulations for the user and the operating personnel
`
`• The operating personnel are obliged to inform the user
`immediately of any changes to the robot system which impair
`its safety.
`
`• The user must ensure that the robot system is only ever operated in
`faultless condition.
`
`• No functional safety equipment may be dismantled or taken out of
`operation.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 10
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`Particular safety regulations for the user and the operating personnel
`
`• When work is carried out in the danger zone of the robot, the
`latter may only, if absolutely essential, be operated at manual
`traversing speed at the most.
`
`• All persons situated in the environment of the robot must be informed in
`good time that the robot is about to move.
`
`• Wherever possible, only one person should work in the danger zone of
`the robot at any time.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 11
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`Particular safety regulations for the user and the operating personnel
`
`• In sensor-assisted operation, the robot is liable to perform
`unexpected movements and path corrections if the main
`switch on the control cabinet has not been turned to “OFF”.
`
`• Due regard must be paid to hazards posed by the peripheral system
`components of the robot such as grippers, conveyors, feed
`devices or other robots in a multi-robot system.
`
`• Any unauthorized conversion or modification of the robot system is not
`allowed.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`(c) Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 12
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`handout GP KR C2 V4.1 01.03.01
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`3. The robot system
`3.1.
`Basics at the robot system
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`handout GP KR C2 V4.1 01.03.01
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`Components of a complete KUKA robot system
`
`KUKA robot
`(e.g. KR 350/2 )
`
`Robot controller
`(e.g. KR C2)
`
`KUKA Control Panel
`(KCP)
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 1
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`KUKA Control Panel (KCP)
`
`• Keyswitch for mode selection
`• Drives on/off switch
`• Emergency Stop button
`
`• Large color graphic
`display
`• Softkeys around the
`display
`• Hardkeys for program
`and display control
`
`6D mouse
`
`Numeric keypad, alphabetic keypad, cursor block with Enter key
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`handout GP KR C2 V4.1 01.03.01
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`Robot type designations
`
`The model classification of KUKA industrial robots is based on the
`rated payload.
`
`The type designation is made up as follows:
`
`K xxx / y
`R
`
`KUKA
`industrial
`robot
`
`Rated payload
`of the robot
`in kilograms
`
`Generation of
`the given
`robot type
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 3
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`Example: Robot type designations
`
`KR 150 / 2
`
`KUKA industrial robot
`with a rated payload of 150 kg
`of the 2nd generation
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 4
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`handout GP KR C2 V4.1 01.03.01
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`Mechanical construction of a KUKA robot
`
`Arm
`
`Rotating
`column
`
`Wrist
`
`Link arm
`
`Base frame
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 5
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`Axis designations of a KUKA robot
`
`Axis 4
`
`Axis 5
`
`Axis 6
`
`Axes 1, 2 and 3 are the main axes.
`Axes 4, 5 and 6 are the wrist axes.
`
`Axis 3
`
`Axis 1
`
`Axis 2
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`The work envelope of a KUKA robot (side view)
`
`Overhead zone
`
`Side view:
`work envelope
`
`Can be
`expanded using
`an arm extension
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 7
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`The work envelope of a KUKA robot (top view)
`
`Top view:
`work envelope
`
`Angle, axis 1:
`>360°
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 8
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`handout GP KR C2 V4.1 01.03.01
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`Load distribution on a KUKA robot
`Supplementary load
`
`Payload
`
`Total Load = Payload + Supplementary Load
`
`From the KR 2000 series onwards, it is
`also possible to attach supplementary
`loads to the link arm and rotating column.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 9
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`Loads on a KUKA robot (standard series)
`
`Supplementary
`load
`Mass, M, and center
`of gravity of the
`supplementary load
`
`Payload
`
`Load center distance
`
`Mass, M, of the payload
`(weight of tool)
`Load center of gravity, P
`
`Axis 3
`
`Robot wrist
`Robot flange
`
`Axis 2
`
`Axis 1
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 10
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`
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`VxWorks
`
`Robot programs
`
`Control programs
`
`Kernel system
`
`Software concept
`
`Drives
`
`Main memory
`
`Windows 95
`
`KUKA GUI
`R1 / STEU
`
`Systems
`communicate
`with each other
`
`CROSS
`
`Operation / visualization
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
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`I 14.03.02 I College I ML I 7
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`User groups
`
`• Configuration of the robot
`controller (external axes,
`technology packages)
`• Configuration of the robot
`system (field buses, vision
`systems, etc.)
`• User-defined technology
`commands with UserTECH
`
`Expert
`
`• Start-up tasks (mastering,
`tool calibration)
`• Simple application programs
`(programming using inline
`forms, motion commands,
`technology commands, limit
`value checking, no syntax errors)
`
`Administrator
`
`• Advanced programming using
`the KRL programming language
`• Complex application programs
`(subprograms, interrupt
`programming, loops, program
`branches)
`• Numeric motion programming
`
`User
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 8
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`3.3.
`
`Energy supply
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`handout GP KR C2 V4.1 01.03.01
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`Energy supply - Overview KR 2000
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 03.02.03 I College I DON I 1
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`Energy supply - Length attitude
`
`Velcro fastener
`
`Only as long as
`necessary
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 03.02.03 I College I DON I 2
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`handout GP KR C2 V4.1 01.03.01
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`Energy supply - Hose routing
`
`adjusting trumpet
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 03.02.03 I College I DON I 3
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`adjusting compression spring
`
`Energy supply - Attitude of the protectors
`
`If the protector is sanded off up to the red
`interior, it is to be exchanged.
`
`Protector cannot be
`adjusted
`
`Robot-lateral protection device
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 03.02.03 I College I DON I 4
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`handout GP KR C2 V4.1 01.03.01
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`4. Operation of the KUKA control panel (KCP)
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`KUKA Control Panel (KCP)
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 1
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`Hardwired operator control elements
`
`Mode selector
`switch
`
`Drives ON
`
`Drives OFF
`
`EMERGENCY
`STOP
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 2
`
`Page 46 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 25
`
`
`
`Mode selector switch
`
`AUTOMATIC
`
`AUTOMATIC EXTERNAL
`
`T
`T2 (Test 2)
`
`T
`T1 (Test 1)
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 3
`
`Mode table
`
`Mode selector
`switch
`
`Manual motion
`using
`keys
`or
`Space Mouse
`HOV
`
`Program
`execution
`
`POV
`
`T1
`
`T2
`
`AUTOMATIC AUTOMATIC
`EXTERNAL
`
`250 mm/s
`
`250 mm/s Manual motion
`not active
`
`Manual motion
`not active
`
`Enabling switch
`(dead man
`function)
`
`Enabling switch
`(dead man
`function)
`
`250 mm/s
`
`Enabling switch
`(dead man
`function)
`START key
`pressed
`
`Prog.
`velocity
`Enabling switch
`(dead man
`function)
`START key
`pressed
`
`Prog. velocity
`
`Prog. velocity
`
`Drives ON
`START key
`--> PULSE
`
`Drives ON
`External start
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 4
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 47 of 227
`
`IRONBURG EX2017, Page 26
`
`
`
`CAN bus operator control elements
`
`Escape key
`
`Window selection key
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 5
`
`Display window
`
`Programming window Status window
`
`Message window
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 6
`
`Page 48 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 27
`
`
`
`Window selection key
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 7
`
`Softkeys
`
`Softkeys
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 8
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 49 of 227
`
`IRONBURG EX2017, Page 28
`
`
`
`Status window
`
`The status window is
`displayed as required.
`
`The status window can
`be closed at any time.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 9
`
`Message window
`
`The controller communicates with
`the operator via the message window.
`
`Softkeys for acknowledging
`messages
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 10
`
`Page 50 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 29
`
`
`
`Message types
`
`Hint
`
`Status
`
`Acknowl.
`
`Wait
`
`Dialog
`
`-
`
`-
`
`-
`
`-
`
`-
`
`e.g. "Start key required"
`
`e.g. "EMERGENCY STOP"
`
`e.g. "Ackn. EMERGENCY STOP"
`
`e.g. "Wait for $IN[1]==True"
`
`e.g. "Do you want to teach point?"
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 11
`
`CAN bus operator control elements
`
`STOP key
`
`Program start forwards
`
`Program start backwards
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 12
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 51 of 227
`
`IRONBURG EX2017, Page 30
`
`
`
`CAN bus operator control elements
`
`Numeric keypad
`
`NUM key
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 13
`
`Numeric keypad
`
`HOME
`Jumps to the
`beginning of the line
`in which the edit
`cursor is positioned.
`
`UNDO
`Cancels the last entry.
`
`END
`Jumps to the end of
`the line in which the
`edit cursor is
`positioned.
`
`INS
`Switches between
`insert and overwrite
`modes.
`
`LDEL
`Deletes the line in
`which the edit
`cursor is positioned.
`
`PGUP
`Moves one screen
`towards the
`beginning of the file.
`
`TAB
`Tab jump
`
`PGDN
`Moves one screen
`towards the end of
`the file.
`
`CTRL
`Control key
`
`Arrow
`Backspace key;
`deletes the
`character to the left
`of the edit cursor.
`
`DEL
`Deletes the
`character to the
`right of the edit cursor.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 14
`
`Page 52 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 31
`
`
`
`CAN bus operator control elements
`
`ASCII
`alphabetic
`keypad
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 15
`
`ASCII alphabetic keypad
`
`NUM key
`
`SYM key
`
`SHIFT key
`
`ALT key
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 16
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 53 of 227
`
`IRONBURG EX2017, Page 32
`
`
`
`CAN bus operator control elements
`
`RETURN key
`
`CURSOR block
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 17
`
`Menu keys
`
`Menu keys
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 18
`
`Page 54 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 33
`
`
`
`Status keys
`
`Status keys
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 19
`
`Status bar
`
`Numeric keypad
`
`Upper/lower-
`case letters
`
`Time
`
`Robot name
`
`Selected
`program
`
`Current line
`number
`
`Override
`
`Operating mode
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 20
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 55 of 227
`
`IRONBURG EX2017, Page 34
`
`
`
`Status bar
`
`Drives not ready
`Drives ready (600 ms)
`
`Submit interpreter deselected
`Submit interpreter stopped
`Submit interpreter running
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 19.03.02 I College I DON I 21
`
`Page 56 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 35
`
`
`
`5. The coordinate systems at the robot
`
`handout GP KR C2 V4.1 01.03.01
`
`
`
`Page 57 of 227
`
`IRONBURG EX2017, Page 36
`
`
`
`Coordinate systems
`
`• Axis-specific motion
`Each robot axis can be moved individually in a positive
`or negative direction.
`
`• WORLD coordinate system
`Fixed, rectangular coordinate system whose origin is located
`at the base of the robot.
`
`• TOOL coordinate system
`Rectangular coordinate system, whose origin is located in
`the tool.
`
`• BASE coordinate system
`Rectangular coordinate system which has its origin on
`the workpiece that is to be processed.
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 1
`
`Selecting a coordinate system
`
`• Select manual motion
`
`Motion keys
`
`Motion with mouse
`
`• Select the coordinate system
`
`Axis-specific manual motion
`
`WORLD coordinate system
`
`TOOL coordinate system
`
`BASE coordinate system
`
`KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-1906, Fax: +49 (0) 8 21/7 97-2340, http://www.kuka-roboter.de
`© Copyright by KUKA Roboter GmbH College 1996-2002
`
`I 14.03.02 I College I ML I 2
`
`Page 58 of 227
`
`
`
`handout GP KR C2 V4.1 01.03.01
`
`IRONBURG EX2017, Page 37
`
`
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