Introduction to the IF logic of the KUKA robot

Create Date: 2024-8-30 12:03:23|Source: KUKA

1. Enter the program in the form of the teach pendant T1, click on the lower left corner: Instruction - Logic, and you will see the commonly used logic instructions such as WAIT, WAITFOR, and OUT.

2. Select WAIT. The lower end of the interface presents the WAIT Time port sec This WAIT is used when waiting for time, and the port input 1 represents waiting for 1 second and input 2 represents waiting for 2 seconds.......

　　 Introduction to the IF logic of the KUKA robot

Introduction to the IF logic of the KUKA robot

3. Select WAITFOR (this WAITFOR is used when waiting for a signal, such as waiting for the input signal IN). The lower end of the interface *** presents the WAIT FOR port (口口口口) port.

Note: NOT is the meaning of the negation of this signal, and CONT is the meaning of pre-fulfillment, which can be understood as the KUKA robot does not pause to fulfill this sentence.

4. Select OUT (output signal), there will be more options at the right end, and the meaning of each option is explained in the figure below.

Note: When the OUT output signal (3) is TRUE, the signal will always be there until you reset it from scratch by setting TRUE in (3) to FLASE

UNLIKE OUT, PULSE OUTPUTS A SIGNAL WITHIN A SET TIME (5) AND THE SIGNAL FINISHES AT THE END OF THE TIME, SO THERE IS NO NEED TO RESET IT FROM SCRATCH BY SETTING TRUE TO FLASE IN (3).

5. PULSE Commentary:

6. With SYN OUT output commentary:

Note: The command in the connection table is only different from (4) and (5) As shown in the figure below, the motion track is a linear motion track from P2 to P3 point, which means that the output of the SYN OUT signal is performed with a delay of 20MS from the beginning of P2 point

NOTE: AS SHOWN IN THE FIGURE BELOW, THE MOTION TRACK IS A LINEAR MOTION TRACK FROM P2 POINT TO P3 POINT, WHICH MEANS THAT THE OUTPUT OF THE SYN OUT SIGNAL IS FULFILLED 20MS IN ADVANCE WHEN THE P3 POINT IS REACHED

SYN OUT can be understood as the synchronous output command of the system, which is mostly used in processes with strict requirements for point signal output, such as gluing.

Touch-bypass SYN PULSE is used in the same way as SYN OUT, except that SYN PULSE does not need to reset TRUE in (3) to FLASE, while SYN OUT needs to reset TRUE in (3) to FLASE

The above are the common logic instructions of KUKA robots, and the above instructions can cope with more than 90% of the automation process needs.

More on that

	Tutorial on external automatic configuration of KUKA robots KUKA Robot External Active Configuration Tutorial - Interface Interface Description Description of the output variable There are a total of 4 menus for output signals; First, we will introduce the commonly used output signals $ALARM_STOP—Urgent abort ...
	Gear oil filling for the A1 axis of the KUKA robot 1. Connect the oil pump to the discharge hose. 2. Increasing the required amount of oil through the discharge hose. 3. Clean the magnetic plug, check the seal, and replace the damaged magnetic plug. 4. Install the magnetic and tighten it; M ...
	KUKA welding robot operation specifications Routine safe operation and maintenance of KUKA welding robots. KUKA welding robot operation I must go through professional training, master the use of system indicators and buttons, and be familiar with the most basic equipment knowledge, safety knowledge and precautions before being able to take up the post. Before booting up KUKA ...
	KUKA Robot if Logic Programming Logic Instructions 1. The KUKA robot enters the program in the teach pendant T1 mode, clicks on Instruction - Logic in the lower left corner, and you will see the commonly used logic instructions such as WAIT, WAITFOR, and OUT. 2. Select WAIT, and the lower end of the interface presents the WAIT Time port sec.
	Common problems and solutions of KUKA robots 　　1. The boot coordinate system is invalid The international coordinate system is based on the gun head, in this coordinate system, all the actions of the robot are completed in accordance with the gun head as the vertex to complete the movement, the XYZ direction to cut the gun direction does not change, if the machine ...
	Variables and instructions related to the operation of external axes – KUKA robots Switching the axes of the external kuka robot to the bit arrangement in an asynchronous form means switching the synchronous and asynchronous forms of the external axes Program example: $ ASYNC_AXIS='b1000' Indicates the outer axis 1, 2, 3, 4 from right to left. The example above shows that an external welding robot ...
	Fault diagnosis method for industrial robots - KUKA robots Don't panic when the robot has a problem in the working process, if the fault is not caused by the controller, then the cause of the problem must be the damage to the machine parts. In order to deal with the problem in the easiest way possible, the problem should be analyzed. And the need to find out which part is the lead ...
	Check the electric drive of the robot before powering on - KUKA robot The power of the electric drive equipment is simple, the speed change scale is large, the efficiency is high, and the speed and position accuracy are high. However, they are often associated with deceleration equipment, and direct drive is more difficult. Electric drive equipment can be divided into direct current (DC), communication (AC) servo motor drive and stepper electric ...
	The KUKA controller KR C5 accelerates the cycle time of automated production The KUKA controller KR C5 offers even more possibilities and cost-effectiveness in robotics applications Compact, high-quality, energy-efficient: KUKA has been tested with the new controller KR C5 for KUKA industrial robots and the corresponding small robot controller.
	A subsystem of the industrial robot system – KUKA robots Industrial robots are composed of three parts and six subsystems, which can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system. 1. Mechanical structure ...
	Characteristics and applications of parallel robots - KUKA robots First, the characteristics of parallel robots 1. No accumulated error, high accuracy; 2. The driving equipment can be placed on or close to the direction of the fixed channel, so that the moving part is light in weight, high in speed and has good dynamic response; 3. Compact structure, high stiffness and large bearing capacity; ...
	KUKA robot PTP motion command The TCP of the robot moves to the target point at the fastest speed, and this movement is called the PTP motion of the robot. Since the axis of the robot is rotary, the arc track is faster than the straight track. The specific course of the movement is unpredictable. The first movement in the program must be the PTP ...
	Automatic assembly of high-precision transmissions – KUKA robots Each sensor on the seven axes of the KUKA robot LBR IIWA records everything that touches with the partner to ensure safety when assembling the DQ 200 automatic transmission, which requires several high-precision tasks in the manufacture of the transmission. This is not news for Škoda Auto. ŠkodaAuto ...
	Causes and countermeasures of abnormal noise of KUKA robot reducer 1.Japan The internal gear error of the RV reducer affects the gear manufacturing process, and the tooth shape error, base joint deviation, tooth direction error and gear ring radial runout error are the main errors that lead to the transmission noise of the planetary Japan RV reducer. It is also a problem point to control the transmission power of the planetary Japan RV reducer. Now with ...
	KUKA industrial robots are controlled in four ways The control method of KUKA robot teach pendant is the most used industrial robot on the market at present, and it is also the most perfect one, KUKA type robot can be widely used, the maintenance of KUKA robot teach pendant, thanks to its multiple control methods, according to the work task of ...
	KUKA robots and CNC machines perform stamping methods First, a single robot stamping and unloading: the robot will transfer the plate data from the palletizing table to the positioning table, and then transfer it to the stamping die for stamping after positioning, and after the stamping is completed, the data will be brought into the palletizing table through the robot, and the single pressure robot will be automatically loaded and unloaded. Second, robot stamping ...
	The KUKA robot needs to correct the situation If the origin orientation is incorrect, the encoder debugging/zeroing position is used to move each axis to a defined mechanical orientation, i.e. the mechanical zero orientation. This mechanical zero point requires the shaft to move to a position defined by the detection notch or scribe mark. If the KUKA robot is in the mechanical ...
	KUKA robot KUKA servo drive and motor maintenance The first thing you need to know is what kind of fault the robot presents, whether there is a fault code or what fault the teach pendant prompts. If the teach pendant directly displays the fault text or fault code, we can determine which parts are showing the problem through these, and then ...
	The control method of industrial robots - KUKA robots At present, the most widely used robot on the market is industrial robots, which are also the most mature and complete robots. Industrial robots have a variety of control methods, what are the control methods of industrial robots? 1. Point Control (PTP) ...
	Introduction to KUKA welding robots KUKA welding robot has stable performance, large working space, fast moving speed, strong load capacity, and the welding quality is significantly better than manual welding, which greatly improves the production efficiency of spot welding operations. Spot welding machine is mainly used for spot welding of automobiles. 　　With the development of the automobile industry, butt welding ...