Common problems and solutions of KUKA robots

1. The boot coordinate system is invalid

Common problems and solutions of KUKA robots

The international coordinate system is based on the gun head, in this coordinate system, all the actions of the robot are in accordance with the gun head as the vertex to complete the movement, XYZ direction to cut the gun direction does not change, if the robot moves in the international coordinate system, the gun head also follows the change direction, that is, we do not choose the tool after starting.

Resolution Plan: Equip → current tool/base coordinates → tool number→1

2. Expert login

In general, when we want to edit the program after booting, we first have to log in to the expert level, which will help us operate.

Rescue plan: Equip → user group → expert → login → code KUKA → login

3. Set END

We found that there is no end to the new program, so we need to set the end.

Workaround: Equip → Miscellaneous → editor → a line of DEF

4. The first section of the program is set to the home orientation

When editing the program, the first instruction should be set to the home orientation, and then we can directly find the standard of the home orientation at the end, which can save the operation time of the manual mobile robot.

5. Manually close the output signal

When we test the normal use of the program (the output signal has been turned over), sometimes we will encounter unexpected situations, such as the danger of crashing in the program path, or the failure of the warm-up, the program error, etc., at this time we have to manually close the output signal. After the problem is solved, we can use the KCP to flip over the output signal again. (In the meantime, our output signal is 3 is low-pressure oxygen, 4 is high-pressure oxygen, and 5 is propane)

Solution: Display → input/output → digital output→ hold down the number of drive → (closed or flipped)

6. 6D mouse failure

The system indicates that the 6D mouse still has a voltage or other prompts, the mouse fails, we can release the driver at this time, press it again and wait for the driver instruction I to turn green.

7. Copy the program from your computer

Copy the program in the computer, so that after the program in the C drive is lost, we can copy and use it from the D drive or the external mobile U disk.

Solution plan: After the expert logs in→ press Num (Num is gray on the display at this time, and it will be converted back after pressing it) → CTRL(2) + Esc→ computer C disk →KRC→ROBOTER→KRC→R1→Program

8. Robot maintenance

When the robot crashes, it will start active maintenance, that is, the robot has a maintenance system at the A6 axis, when the tension spring is bent and deformed after the collision, the system will stop all operations after receiving the signal, at this time we can not operate the robot, at this time we have to turn off the maintenance switch first.

Solution plan: equipment → input/output terminal→ external active → to promise the movement→ change 5 to 1025→ at this time the robot is not limited by system maintenance to be able to move, pay attention to the direction of movement of the robot, adjust the speed of movement, get out of the collision point, and adjust the value of "promise movement" to 5 after arriving at the safety all-round.

9. In the following cases, KUKA robots need to recalibrate the zero point

The robot is not completely enclosed, and the zero point will be lost when the battery is depleted.

When the robot hits a hard limit, it will lose the zero point.

Manually remove the zero point.

If the boot fails, the zero point will be lost directly when it is turned off.

10. Program Data Parameters

The cutting speed is 0.005m/s for both straight and circular arcs, and the acceleration is 1%

The robot movement speed PTP is 20% or 10%

Linear moving speed (non-incision) 0.05m/s, acceleration 70% Output signal: 3 is low-pressure oxygen, 4 is high-pressure oxygen, 5 is propane

Common problems and solutions of KUKA robots

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