Start-up Lab Procedure
胸部缩水Introduction
The KUKA KR16 robot is designed to perform well in any manufacturing task, from Welding to Palletizing to Machine Tending. It’s unique Windows PC-bad controller allows for very powerful customization for the end ur’s particular application.
The KUKA robot is equipped with resolver technology for speed and position feedback. This means that when the system is powered up it doesn’t need to be referenced or homed in order to know where it is. However, A B lock CO incidence (BCO) move is always needed to align the physical arm with the first programmed point in a program.
Safety Equipment
The Robotics facility is protected by various safety devices such as Light Curtains, Emergency Stop switches, and door switches. In order to operate a robot system, the proper safety conditions must be met.
Students are not permitted to enter the guarded cage at any time. If there is any reason to enter the cage an Instructor or Lab Supervisor must be the one to do it. Whenever the cage door opens all robots are automatically disabled. The cage door must be fully clod and the ret button must be presd before any of the robots can be re-activated. Each robot work area is protected by a Light Curtain. If any object or part of the body enters the work area, the robot is disabled. Once the safety circuit has been tripped it must be ret before the robot can be re-started. The ret button lights up when the circuit is tripped and the light goes out when the circuit has been successfully ret.
Start-up Lab Procedure
Human-Machine Interface
The Kuka Control Panel (KCP2) handheld controller has many “Soft Keys” or “Programmable Keys”. The are buttons that are positioned around the display screen. The current function of each button is displayed on the screen and changes dynamically to suit the needs of the operation. The paragraphs below describe the physical layout of the KCP; refer to the screen shot of the display itlf for an example of the types of function that could be shown on the screen.
The top row keys are referred to as Menu Keys. They are ud to open menus, while the Arrow keys and Enter key (lower right) are ud to navigate through the menus.
The keys on the left and right sides of the screen are Status Keys. They are ud for lecting operating options, switching individual functions and tting values. Their current function is displayed on the screen.
Start-up Lab Procedure
The keys at the bottom of the screen are called Softkeys. They are ud for a wide range of functions and operations.
When lecting any key or function it may result in the display of a “popup” message window or menu window. The Escape key (yellow - top left) will usually clo the windows. U the Cursor
arrow keys to lect menu items and the Enter key to register your choice. Pressing Enter will sometimes complete an operation and sometime it will open a new menu window for further choices.
The Window Selection key (blue – top left) is ud to move the focus from one open window to the next. Usually the Softkeys and status keys will have different functions in different windows.
Finally, there is a full QWERTY keyboard and Numeric keypad along the bottom of the handheld unit. Procedure to Turn On
Turn On
1.
Turn on the external computer (on top of the control cabinet.) 2. Relea three Emergency Stop buttons (one on the Robot Controller front panel, one on the Teach Pendant, and one on the Safety circuit control panel.) by turning them and allowing them to pop out. 3. Turn main power switch on 4. The Windows Operating System will start. Even after the Display is on, wait for the Message: “DSE – Boot Finished” to show in the message window. 5. Press the bottom row Softkey “Ackn. All” 6. If there is a message that says “External Emergency Stop Presd”, then ret the Safety Circuit (light curtain ret). 7.
If there is a message that says
“EMERGENCY STOP”, then ret the E-STOP buttons on the KRC2 controller or the KCP2 teach pendant (make sure they’re popped out).
8. Press the bottom row Softkey “Ackn. All” If the message window is not focud and this Softkey is not available, press the Page Key (blue) to lect the message window before “Ackn. All”.
Start-up Lab Procedure
保护视力主题班会Procedure to Test Various Manual Motion Modes
9. Press the blue Page key to lect the main part of the window. This may show a current program being run or edited, or it may show a File Manager.
10. If a program is shown in Edit mode press沙僧的性格
现代博古架“Clo”, then “Yes” to save changes. If a program is shown in Run mode, press
30个德育主题
“NAVIGATOR”, then “Delect”. You
should now e the File Manager screen.
Joint Mode 1. U the Mode Select key (directly under the Jog Select key) to toggle between Run mode
(picture of a runner) and Single Step Mode (picture of 2 walkers.) Leave the tting on Single Step .
2. U the Coordinate Select key (on the Right Side) to toggle between Joint, Tool, Robot
Ba, and World coordinate systems. Leave
the tting on Joint
.
3. Hold the Enabling Switch (Live Man) on the back of the KCP. The I indicator on the
Message Window will turn Green when the drive contactor has been initialized.游刃有余的意思是
4. U the +/- status keys to move the 6 axes labelled A1, A2, A3, A4, A5 and A6.
Press the Jog Select key (Top Left Status Key) to toggle between Key Jog, Mou Jog and No Jog (Run Mode). Leave the tting on Key Jog . Set the key switch on the control panel to T2 mode.
Set the Hand Override (HOV) speed to 30%.
Start-up Lab Procedure
Procedure to create a New Job and teach a simple program
World Mode
1. Set the Coordinate Select key to World Coordinates.
2. Hold the Enabling Switch.
3. U the +/- status keys to move the 6 coordinate directions labelled X, Y, Z, A, B and C.
4.
The origin of the coordinate system is on the floor
at the center of the robot ba.
Robot Ba Mode
1. The Robot Ba coordinate system is currently t exactly the same as the World Coordinates.
乐论Tool Mode
1. Set the Coordinate Select key to Tool Coordinates.
2. Hold the Enabling Switch.
3. U the +/- status keys to move the 6 coordinate directions labelled X, Y, Z, A, B and C.
4. Notice how the origin of the coordinates is the tip
of the tool rather than the ba of the robot.
Create a New Job
1. Make sure the display shows the File Management screen.
2. U the Page Key to Focus on the File Management screen.
走出森林3. U the right cursor and left cursor buttons (arrow keys) to move the
highlighted cursor between the Folder Window on the Left side and the File Window on the Right side. Leave the cursor in the File Window. 4. Press the Softkey “New” at the bottom of the display.
5. U the keyboard keys to type in a program name and then press Enter.
Start-up Lab Procedure
Teach a simple program (using newly created job)
Press the Softkey “Select” at the bottom of the display.
The program file will display in “Select” (Run) mode.
VERY IMPORTANT: In Select mode the robot can be moved, points taught and previous points revisited. Gripper commands can also be entered. However, program commands cannot be entered in this mode. You must switch to Edit mode to enter
commands for things like I/O and Flow Control.
1. Using the Cursor (arrow) keys, place the cursor on the first line that starts “”
2. Hold the Live Man switch and the green “Run
Forward” button. If the robot is moving too slowly, note that “Programming Override” (POV) applies for this type of motion.
3. With the arm positioned at the HOME position, u the Coordinate Select Key to switch to Joint mode. Rotate the A5 axis in the + direction until the gripper is oriented straight down.
4. Press the Softkey “Motion” to start the process of saving a location.
5. To navigate the “Inline Form” u the arrow keys and the “Option Select” Status key (bottom key on the right side of the display.)
6. For the first location u the following ttings
a. PTP (point to point, or Joint-type Motion)
b. P# (Location name, automatically indexes for each saved location.) See Note about Frames data.
c. Blank (Options are CONT (continuous, low accuracy) or blank (full accuracy)).
d. Vel = 100%
e. PDAT# (do not change anything)
