Show content of Kuka KRC1 programming manual %Kuka KRC1 programming manual % from thread %Programowanie robotów Kuka i . Manual traversing of the robot. 55 Jog override (manual traversing velocity). 61 KCP (KUKA Control Panel) hand programming unit. KUKA KRC1 PROGRAMMING MANUAL SMVLPIMPCZ | PDF | | 24 Aug, TABLE OF KUKA KRC1 PROGRAMMING MANUAL.
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To generate a blank softkey, simply leave this specification out. The frequency set must agree exactly with the processor and processor quartz frequencies, the result otherwise being encoder errors in every axis. After a restart and renewed line selection or change of program run mode, the controller is unable to take the distance already covered into account and moves the robot again by the full relative distance programmed, leading ultimately to an incorrect end point. Step 1 Load the file ” A fundamental distinction can be made between joint axis-specific and Cartesian coordinate systems: A computer advance run of 1 means that the instructions in lines 16 to 22 and line 26 have been completely processed parallel to the execution of the motion, that the motion data for the PTP movement in line 24 have been prepared, and that those for the PTP movement in line 28 are currently being prepared.
To do so, repeatedly press the status key ” HOV”.
After adjustment, the determined values are displayed for control purposes: In order to be able to access this database successfully, it must contain a module with the name of the technology package in which krx1 script was defined. Now press the Enter key. Initialization, however, can take place in the instruction section at any time. An imported variable can be given a different name in the main program from the one it had in the data list from which it was imported.
This also occurs, incidentally, in the event of the first motion instruction being stopped if a corresponding computer advance run is set.
Once one of the softkeys available for user group selection has kec1 pressed, the content of the status window changes. Instead, the acceleration entered for axis 1 is now also used for all other axes. First move the tool away from the workpiece: G Now save the configuration by pressing the softkey ” Save” then activate the data re, cording process by means of the softkey ” Start”. G High pulses and Low pulses can both be programmed.
The value 3 makes the status key usable in operating modes T1 and T2. For reasons of speed, the computer generally accesses a whole bundle of such zeros kukka ones.
Kuka KRC1 programming manual english.zip
Since S and T are not taken into consideration in continuous-path motions see 4. If the motion program is interrupted by an error message, however, the last trace is saved and the error can be analyzed with the aid of the recorded data.
Repeated use is permissible. The command speed, the actual speed and the torque of the drive of axis 1 and the statuses of inputs 1 to 32 will now be recorded and saved until the data buffer is full and the trace status changes to T-END.
Status S and Turn T define the position of the axes. For this reason, the individual curves also have different forms and different colors on your screen. The declaration can be entirely omitted for variables not arrays! The name of the file can be freely selected within the confines of the operating system conventions and does not, itself, appear in the technology package.
Status keys already declared can be re-assigned using the statement: The time difference between these two cursors is displayed on the lefthand side. This means that only the axis with the longest trajectory, the so-called leading axis, is actually moved with the programmed limit value for acceleration and velocity see Fig.
Now use the arrow keys to move the cursor to a file with the end digit 1, for example. A variable is represented by a name in the program, this designation being freely selectable subject to certain restrictions.
When all entries have been made, confirm them by pressing the softkey ” Data Ok”. In contrast to the structured data types see Sections 3.
R deactivated by repeatedly pressing the ” Enter”key.
In the case of parameterized outputs, the parameters must be tagged on to the key, separated by the ” “character If an error occurs during execution, the calling script is also cancelled. The following steps are necessary for this: The motion characteristics of the orc1 near obstacles must be tested at reduced velocity! R measuring range” whichis displayed as a white box.
Entering a text is optional. In this way the program is subdivided manusl meaningful sections, called ” FOLDS”due to their folderlike nature. Please remove the blue curve by pressing the softkey ” Blue”once. The meaning of the symbols, icons and particular font conventions is explained in the chapter [About this documentation].
KRC1 Programming Manual English in KUKA Robot Forum – Page 1 of 1
It continues until the set recording length has been reached. The point of separation between the name of the technology and the name of the inline form is suppressed. For this purpose, the INI sequence at the manuzl of the program must be run.
The refresh rate of the KCP’ LCD display is not s high enough, however, for you to be able to see all the values consecutively. Start of approximate positioning Three predefined variables are available for specifying the start of approximate positioning see Tab.
Blue More detailed information about the curves can be found in manul upper part of the display.