Experttech r21 En

ExpertTech R5.2,5.3 04.04.01 en

1 of 16

SOFTWARE

KR C...

KUKA.ExpertTech 2.1

for KUKA.KR C 5.2, 5.3, 5.4, 5.5

Issued: 20 Oct. 2004 Version: 01

2 of 16


e Copyright KUKA Roboter GmbHThis 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, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, and necessary corrections will be incorporated in subsequent editions.Subject to technical alterations without an effect on the function.

PD Interleaf

3 of 16


Contents

1 Introduction 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Installation / uninstallation / update 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Installation CD 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Operator control 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Position specifications 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 [PTP] positioning 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 [LIN] linear motion 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 [CIRC] circular motion 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

KUKA.ExpertTech 2.1

4 of 16


1 Introduction

5 of 16


1 Introduction

The technology package KUKA ExpertTech offers the user syntax--supportedprogramming. After the desired KRL command has been selected, instructions relating tothe command are offered in masks. The contents of these masks can be either left as theyare or changed. All contents can be modified again later as required.

KUKA.ExpertTech 2.1

6 of 16


2 Installation / uninstallation / update

2.1 Installation CD

From system software version 5.1 onwards, technology packages are offered exclusively asadd--on software modules. These are available on CD--ROM. Should you be interested inpurchasing further modules, please contact KUKA Support.

The installation procedure is the same for all technology packages and is described in aseparate documentation module.

The installation, uninstallation, reinstallation and update of technology packagesare described in detail in the documentation Installation/Uninstallation/Update ofTech Packages.

7 of 16


3 Operator control

Pay attention to the position of theedit cursor. The program line createdby you will be inserted as a new lineunder the cursor.

Use themenu key Commands to open themenu and select themenu item KRLassistant.The following submenu is displayed:

You can now make your selection from the motion instructions offered.

KUKA.ExpertTech 2.1

8 of 16


3.1 Position specifications

The placeholder !

The ! sign is a placeholder. Using it, it is possible to create a motion program withoutknowing the exact position of the points which later determine the path of the robot.

When theprogram is run later, it will stop here and you can teach the point as decribedbelow:

If, during subsequent execution of the program, the message Instruction not allowedappears in the message window, delete it using the softkey Ack.

Instruction not allowed

Move the robot system to the desired position.

Pressing the softkey Change opens the input mask.

Now press the softkey Touch Up. Read the message displayed in the message window.

Confirmation that the position has been saved is displayed in the message window.

15:44 0 TPEXPERT Actual position {POS: X 1620, Y 0, Z 1910, A 0, B 90, C 0, S 2, T 2} was transferred

This message can then also be deleted by pressing the softkey Ack.

Position specification using variables

Instead of the placeholder you can also enter a valid variable name. A list of keywordsreserved for KRL, which you thus cannot use, can be found in [KRL Reference Guide].

You should move the robot system to the desired position before programming thisfunction.

Press the softkey Touch Up.

If the name you have entered is not recognized by the system, the softkey VAR appearsin the softkey bar. You are prompted to use this softkey to assign a data format to the name.

After it is pressed, the softkey bar changes:

9 of 16


The softkey bar is only available if, alongside the .SRC file, a .DAT data list also exists.

After one of the softkeys E6POS, POS, FRAME, E6AXIS or AXIS is pressed, thecurrent position of the robot system is saved under the selected data format. This isconfirmed by a message in the message window.

Point KUKA 01 touched with current coordinates

This message can then be deleted by pressing the softkey Ack.

Saving the position with Touch Up

Before you can save positions in a program using Touch Up, data regarding the positionof the valid robot coordinate system, and also valid tool/workpiece data, must be passedon to the controller.For this purpose, the INI sequence at the start of the program must be run.

You should move the robot system to the desired position before programming thisfunction.

If you press the softkey Touch Up, the current position of the robot system is saved.

Amessage is displayed in themessagewindow confirming that the position has been saved.

15:44 0 TPEXPERT Actual position {POS: X 1620, Y 0, Z 1910, A 0, B 90, C 0, S 2, T 2} was transferred

This message can then be deleted by pressing the softkey Ack.

Manual position specification

As well as being able to save positions already reached by the robot, you can also manuallyenter points in space.

To do so, press the softkey { ? } after the inline form has appeared. The assignment of thesoftkey bar changes:

After a data format has been selected by pressing the corresponding softkey, the currentposition is saved in the inline form.

KUKA.ExpertTech 2.1

10 of 16


Using the edit functions you can alter these position specifications to suit your requirements.

The geometric operator :

Position specifications of types POS and FRAME are combined using the geometricoperator :. This is always necessary if, for example, the origin of a coordinate systemneedsto be shifted using a correction value.

Further information on this can be found in the chapter [Variables and declarations],section [Data manipulation] under Geometric operator.

11 of 16


3.2 [PTP] positioning

Here, the robot system is positioned using the quickest route between two points in theworkenvelope. Since themotion starts and ends in all of the axes at the same time, the axesmustbe synchronized. The path taken by the robot cannot, therefore, be predicted exactly.

When this instruction is used, the path taken by the robot cannot be predictedexactly. For this reason there is the risk of collision in the proximity of obstacleswithin the work envelope. The motion characteristics of the robot near obstaclesmust be tested at reduced velocity!

Switch between PTP, LIN and CIRC

Back

Geometric expressionsfor position specification,Cartesian

Geometric expressions forposition specification, axis--related

Placeholder for positionspecification


Switch between PTP and PTP_REL

Back

Save current position

Approximate positioningbetween two PTP motionsApproximate positioningbetween PTP and LIN orCIRC commands. Criteria:distance (DIS), velocity (VEL)and tool/workpiece orienta-tion (ORI)

KUKA.ExpertTech 2.1

12 of 16


Back


Geometric expressions forposition specification, axis--related


Switch between PTP_REL and PTP

Back


Approximate positioningbetween two PTP motions

Approximate positioningbetween PTP and LIN orCIRC commands. Criteria:distance (DIS), velocity (VEL)and tool/workpiece orienta-tion (ORI)

13 of 16


3.3 [LIN] linear motion

Here, the robot system is positioned using the shortest route between two points in the workenvelope -- a straight line. The axes of the robot system are here synchronized in such awaythat the path velocity remains constant along the length of this straight line.

Switch between LIN, CIRC and PTP

Back




Switch between LIN and LIN_REL

Back



KUKA.ExpertTech 2.1

14 of 16


Back

Geometric expressions forposition specification, Car-tesian


Switch between LIN_REL and LIN

Back



Relative motion in the Basecoordinate system(Default)

Back

Relative motion in the Toolcoordinate system

15 of 16


3.4 [CIRC] circular motion

The robot system is here positioned along a circular path in the work envelope defined bystart point, auxiliary point and end point. The axes of the robot system are here synchronizedin such a way that the path velocity remains constant along this circular path.

Switch between CIRC, PTP and LIN

Back




Switch between CIRC and CIRC_REL

Back



Specification of the angle that is to be executed;priority higher than that of the end point

KUKA.ExpertTech 2.1

16 of 16


Back



Switch between CIRC and CIRC_REL

Back



Specification of the angle that is to be executed;priority higher than that of the end point

1

Index

Index -- i

AAXIS, 9

CC_DIS, 11C_ORI, 11C_PTP, 11C_VEL, 11CIRC, 15CIRC_REL, 15

EE6AXIS, 9E6POS, 9Edit cursor, 7

FFRAME, 9

GGeometric operator :, 10

IInstallation, 6

LLIN, 13LIN_REL, 13

PPlaceholder, 8POS, 9Position specification, 9PTP, 11PTP_REL, 11

TTouch Up, 9

VVAR, 8

1 Introduction2 Installation / uninstallation / update2.1 Installation CD

3 Operator control3.1 Position specifications3.2 [ PTP] positioning3.3 [ LIN] linear motion3.4 [ CIRC] circular motion

Documents

Experttech r21 En