KUKA.ExpertTech 3 - wtech.com.tw

1 kuka system kuka system software and Roboter GmbHIssued: : KST experttech V1 en (PDF) / 43 Issued: Version: KST experttech V1 en (PDF) Copyright 2013 kuka Roboter GmbHZugspitzstra e 140D-86165 AugsburgGermanyThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of kuka Roboter 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 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, how-ever, and necessary corrections will be incorporated in the subsequent to technical alterations without an effect on the of the original documentationKIM-PS5-DOCP ublication:Pub KST experttech (PDF) enBookstructure:KST experttech :KST experttech V1 en (PDF)3 / 43 Issued: Version: KST experttech V1 en (PDF)Contents1 Introduction.

2 Group .. robot documentation .. of warnings and notes ..52 Product description .. of experttech ..73 Safety ..94 Installation .. requirements .. or updating experttech .. experttech ..115 Operation ..136 Programming .. form for collision detection .. form PTP .. form PTP_REL .. form LIN .. form LIN_REL .. form CIRC .. form CIRC_REL .. spline motions .. form SPL .. form SLIN .. form SCIRC .. with placeholders .. Adopting the robot position .. the end point .. the end point as a variable .. coordinates for the end point .. Data types for motion programming ..297 Messages ..318 kuka Service .. support .. Customer Support ..33 Index ..41 Contents4 / 43 Issued: Version: KST experttech V1 en (PDF) / 43 Issued: Version: KST experttech V1 en (PDF)1 groupThis documentation is aimed at users with the following knowledge and skills: Advanced knowledge of the robot controller system Advanced KRL programming robot documentationThe industrial robot documentation consists of the following parts: Documentation for the manipulator Documentation for the robot controller Operating and programming instructions for the kuka system software Documentation relating to options and accessories Parts catalog on storage mediumEach of these sets of instructions is a separate of warnings and notesSafetyThese warnings are relevant to safety and must be warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions.

3 NotesThese hints serve to make your work easier or contain references to further optimal use of our products, we recommend that our customers take part in a course of training at kuka College. Information about the training program can be found at or can be ob-tained directly from our warnings mean that it is certain or highly probable that death or severe injuries will occur, if no precautions are warnings mean that death or severe injuries may occur, if no precautions are warnings mean that minor injuries may occur, if no precautions are warnings mean that damage to property may oc-cur, if no precautions are warnings contain references to safety-relevant information or general safety measures. These warnings do not refer to individual hazards or individual pre-cautionary marked with this warning must be followed / 43 Issued: Version: KST experttech V1 en (PDF) to make your work easier or reference to further / 43 Issued: Version: KST experttech V1 en (PDF)2 Product description2 Product of ExpertTechFunctionsExpertTech is an add-on technology package and provides inline forms with the following functions.

4 Activation and deactivation of collision detection Programming of PTP, LIN and CIRC motions with the approximate posi-tioning option Programming of PTP_REL, LIN_REL and CIRC_REL motions with the ap-proximate positioning option Programming of individual spline motions SLIN and SCIRC with the value assignment to system variables option Programming of spline segments SPL, SLIN and SCIRC in spline blocks with the value assignment to system variables optionProperties Motions can be inserted with a placeholder if the position of the end point is not yet known at the time of creating the program. Robot positions can be adopted in an inline form in one of the following ways: Teaching the end point. Teaching the end point as a variable. Manually entering coordinates for the end / 43 Issued: Version: KST experttech V1 en (PDF) / 43 Issued: Version: KST experttech V1 en (PDF)3 Safety3 SafetyThis documentation contains safety instructions which refer specifically to the software described here.

5 The fundamental safety information for the industrial robot can be found in the Safety chapter of the Operating and Programming Instructions for system In-tegrators or the Operating and Programming Instructions for End Safety chapter in the operating and programming instructions must be observed. Death to persons, severe injuries or considerable damage to property may otherwise / 43 Issued: Version: KST experttech V1 en (PDF) / 43 Issued: Version: KST experttech V1 en (PDF)4 Installation4 Installation requirementsSoftware kuka system software or or updating ExpertTechPreparation Copy software from CD to kuka USB software must be copied onto the stick with the file at the highest level ( not in a folder).Precondition Expert user groupProcedure1. Connect the USB stick to the robot controller or In the main menu, select Start-up > Additional Press New software .

6 The entry experttech must be displayed in the Name column and drive E:\ or K:\ in the Path not, press If the specified entries are now displayed, continue with step not, the drive from which the software is being installed must be config-ured first: Press the Configuration button. A new window opens. Select a line in the Installation paths for options area. Note: If the line already contains a path, this path will be overwritten. Press Path selection. The available drives are displayed. Select E:\. (If stick connected to the robot controller.)Or select K:\. (If stick connected to the smartPAD.) Press Save. The window closes drive only needs to be configured once and then remains saved for further Mark the entry experttech and click on Install. Answer the request for confirmation with Confirm the reboot prompt with Remove the Reboot the robot fileA LOG file is created under C:\KRC\ROBOTER\ ExpertTechPrecondition Expert user groupIt is advisable to archive all relevant data before updating a software : Always use kuka sticks.

7 Data may be lost if sticks from other manufacturers are is advisable to archive all relevant data before uninstalling a soft-ware / 43 Issued: Version: KST experttech V1 en (PDF) In the main menu, select Start-up > Additional software . All additional programs installed are Mark the entry experttech and click on Uninstall. Reply to the request for confirmation with Yes. Uninstallation is Reboot the robot controller. Uninstallation is resumed and fileA LOG file is created under C:\KRC\ROBOTER\ / 43 Issued: Version: KST experttech V1 en (PDF)5 following menus and commands are specific to this technology package:Commands KRL Assistant CIRC_REL CIRC Spline Commands SCIRC SLIN SPL Collision Detection PTP_REL PTP LIN_REL LIN14 / 43 Issued: Version: KST experttech V1 en (PDF) / 43 Issued: Version: KST experttech V1 en (PDF)6 form for collision detectionCall Select the menu sequence Commands > KRL assistant > Collision instruction switches collision detection on or off.

8 The instruction refers to the next motion instruction in the collision detection is activated and the start point of the motion is approxi-mated, the switching point for collision detection lies at the end of the approx-imation distance of the start point. This switching point may therefore come too late. In order to activate collision detection in time, the switching point can be delayed or brought forward in time. Start point is approximated: With Delay=ON, collision detection is activat-ed approx. in the middle of the approximation distance of the start point. Start point is an exact positioning point: With Delay=OFF, collision detec-tion is activated at the start form PTPCall Select the menu sequence Commands > KRL assistant > a point-to-point motion to the end point. The coordinates of the end point are 6-1: KRL assistant inline form Collision detection ItemDescription1 Activate/deactivate collision detection.

9 ON OFF2 Shift the switching point toward the start of the motion in the case of an approximated start point. ON: Use if the start point is an approximate positioning point. OFF: Use if the start point is an exact positioning information about collision detection is contained in the Op-erating and Programming Instructions for system Integrators .Fig. 6-2: KRL assistant inline form PTP 16 / 43 Issued: Version: KST experttech V1 en (PDF) following buttons are available:1 Motion type PTP2 Placeholder for the end pointButtonDescription{?}Opens a menu with the data types that are available for saving the end data types: E6 POS POS FRAMEThe Cartesian coordinates refer to the BASE coordinate data types: E6 AXIS AXISP laceholder for the end point: !PTPO pens a menu for switching the motion type. LIN: LIN motion REL: PTP_REL motionContOpens a menu for specifying the 1st approximate posi-tioning parameter.

10 C_DIS: Distance parameter: Approximation starts, at the earliest, when the distance to the end point falls below the value of $ C_PTP: The end point is approximated. Remove: Deletes the approximation specification of the 1st approximate positioning pa-rameter is sufficient for PTP-PTP approximate position-ing. In the case of PTP-CP approximation, if the approximated PTP block is followed by a LIN or CIRC block, a 2nd approximate positioning parameter must also be / 43 Issued: Version: KST experttech V1 en (PDF)6 form PTP_RELCall Select the menu sequence Commands > KRL assistant > a point-to-point motion to the end point. The coordinates of the end point are relative to the current following buttons are available:2nd ContOpens a menu for specifying the 2nd approximate posi-tioning button is only available if the 1st approximate posi-tioning parameter has been defined.