When calibrating the KUKA robot, the axes are moved to a defined mechanical orientation, i.e. the mechanical zero orientation. This mechanical zero point requires the shaft to move to a bearing that detects the notch or scribing symbol. If the KUKA robot is in the zero position of the machine, it will store the positive detection values for each axis. [General 0 increments to 0 viewpoints]. Using a dial or an electronic detection probe, the KUKA robot is moved sequentially to the correct zero point of the machine. It is necessary for KUKA robots to always operate at the same temperature conditions to avoid errors caused by thermal expansion. This method of proofreading It is necessary to pay attention to the fact that the KUKA robot is kept at the operating temperature, i.e. it is always in the cold or always in the hot state.
Rely on the rulers on each axis of the KUKA robot, or the inspection head with a dial indicator or electronic inspection probe attached. The specific situation depends on the model of the KUKA robot. In order for the axis of the KUKA robot to sit exactly in the zero position of the machine, it is necessary to find its pre-calibration position first. Then remove the maintenance cap of the detection head and attach the dial indicator or electronic detection probe. The electronic detection probe is inserted into the KUKA robot junction box [connector X32] and thus connected to the KUKA robot control device. When passing through the valley floor of the zero-point groove, the detection probe reaches the lowest point, and the mechanical zero point is reached. The electronic detection probe sends an electrical signal to the control device.
If a dial dial indicator is used, the zero point bearing can be verified by a steep reversal indication. Pre-alignment makes it easier for the KUKA robot axes to move to the zero position. The pre-calibration alignment can be identified by the dash symbol or the notch symbol. The KUKA robot must reach this position before proofreading. An axis may be able to move to the mechanical zero position just by "+". If it is necessary for an axis to be rotated from to "+", it is first necessary to turn the symbol that pre-corrects the position and then return to the symbol. This is important to be able to eliminate the backlash of the gearing.
It is necessary for KUKA robots to be proofread in the following cases:
The shaft can only be calibrated if it is not in the case of an emergency stop and the corresponding transmission equipment is connected. If necessary, reconnect the emergency stop circuit of the peripheral equipment.
For clarification on emergency stops, see (KUKA Control Screen). Cabling of the emergency stop line and X32 connection (hardware connection) for electronic testing equipment.
When calibrating the arm axis, the impact of the external orientation system is taken into account before the calibration process is performed, as the 4-axis and 6-axis viewpoints can be rotated infinitely before the alignment
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KUKA KRC4 Robot Safety Node Error Fault Repair Analysis
After the KUKA robot is turned on, the teach pendant displays KSS15101 fault code, which means that the five safety nodes of the safety device from 0 to 4 channels are wrong, and the robot cannot be put into normal operation.
First of all, the KUKA robot is repaired ...
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Introduction to the logic functions of the KUKA robot program
Introduction to logic programming, the input and output terminals are used in logic programming, and in order to communicate with the peripheral devices of the robot control system, digital and analog input and output terminals can be used.
TO THE KUKA MACHINE ...
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A detailed explanation of the TCP points of KUKA industrial robots
In order to depict the composition of the rigid body in space, it is necessary to attach the coordinate system of the target, and then confirm the composition of the coordinate system (origin orientation and the sentiment of the three coordinate axes), that is, 6 degrees of freedom are required to adequately depict the posture of the rigid body [1]. For industrial robots, something needs to be installed on a normal board ...
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The KUKA robot initiates a timing step
1. In the T1 form, the user program is pierced into cell.src according to the control requirements, the Cell.src program is selected, and the robot operation mode is switched to ExT_ AUTO.
2. Under the condition that there is no error in the robot system, PLC-. Powering on, you have to announce Smove_ enable to the robot (to- ...
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How mobile robots are classified – KUKA robots
1. According to the mode of movement, it can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged and multi-legged), crawler mobile robots, creeping robots, peristaltic robots and swimming robots;
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KUKA robot program logic functions
Introduction to Logic Programming
Use input and output in logic programming
In order to communicate with the peripherals of the robot control system, digital and analog inputs and outputs can be used.
To KUKA ...
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KUKA robots are prone to malfunctions
1. The KUKA robot does not supply power and has no response
2. KUKA robot 1-6 axis, any axis does not move, stuck
3. The KUKA robot crashes and the KUKA robot computer cannot be started and the computer does not respond
4、KU ...
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KUKA presents the new ultra-compact KR SCARA horizontal articulated arm robot
As a branch of industrial robots, KUKA SCARA robots are capable of installation, packaging, labeling, sorting and other processing technologies with their high precision, high cost performance, high flexibility and strong adaptability, helping many manufacturing enterprises to reduce staff and increase efficiency. But with the recent years of high-tech ...
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The robot is running a jitter cause check – the KUKA robot
1. Is it that the load data you entered is incorrect?
If the load data is too high or too low, and the difference between the load and the practice load is too large, it will cause flutter!
2. Whether there is a large range of turning or posture changes in the running trajectory of the robot ...
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KUKA teach pendant programming
(1) Teach: P6, P7, P8, P9, HOME
Refer to P4 and teach P6 with LIN command: P3, P2 and Pl respectively, and teach P7, P8 and pg with PTP command; Return to the HOME point with the PTP command as shown, the end of the machine ...
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KUKA robot correction function
1. Specification: KUKA robot proofreading settings, KUKA robot calibration with or without load at the zero point of the robot mechanic.
KUKA Robot Proofreading View
Check to see if the KUKA robot school is correct about this orientation, if you don't grasp this orientation is correct or need to change it...
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KUKA palletizing robots increase maintenance efficiency
l. When planners plan circuit boards, there are unreasonable local planning that are most likely to present problems.
2. The components frequently used in the circuit board are prone to problems.
The drive motor and rotating shaft of the industrial circuit board, the switch tube of the switching power supply, the common keys of the operation panel and other components ...
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The use of logical functions in robot programs – KUKA robots
Inputs and outputs are used for logic programming, and digital and analog inputs and outputs can be used for communication with the peripherals of the robot control system.
When programming the KUKA robot, the ...
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KUKA robot loads are processed during zero point correction
When calibrating at zero point, it is not necessary or advisable to disassemble the load things; Otherwise, the TCP may have to be recalibrated after disassembling and assembling things.
In practice, it is possible to carry out the zero-point proofreading operation after the installation of the robot is completed. However, in the future, when you re-calibrate the zero point or check the zero point, you will ...
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KUKA robot reports KSS15101 fault maintenance analysis
Fault Symptom:
After the robot is turned on, the teach pendant shows KSS15101 fault code (the safety device is wrong in 5 safety nodes from 0 to 4 channels), and the robot cannot be put into operation normally.
Fault Detection:
First inspect the site ...
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KUKA robot instruction line indentation and program flow diagram
What does the indentation of the KUKA robot instruction line do?
In order to illustrate the relationship between program modules, it is recommended to indent nested instruction columns in the program text and write instructions with the same nesting depth one line after another. The effect obtained is only reflected in the appearance, it only ...
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KUKA palletizing robot operation specifications
KUKA palletizing robot operation specifications
All prerequisites
Before using this equipment, wear labor protection articles as required;
Check the equipment according to the checklist, understand the status of the equipment, and make corresponding records;
Check if water, electricity, gas, etc. are turned on ...
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KUKA robot servo motor maintenance encountered the cause of overheating failure
(1) The power supply voltage is too high;
(2) The power supply voltage is too low, the motor is running with rated load, and the current is too hot for the winding;
(3) When repairing and removing the winding, the thermal dismantling method is not appropriate, and the iron core is burned;
(4) The motor is overloaded or starts frequently;
(5) Lack of phase of the motor ...
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Preventive maintenance program for KUKA robots
back-up controller memory;
Supervise the robot at regular intervals to view the robot, wires and cables;
Look at the brakes;
See how compact the robot is;
listen to sounds, vibrations, and noise;
Depending on the specific ...
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KUKA robots are successfully used on the human body
Advanced Osteotomy Tools AG (AOT), a Switzerland medical skills company, announces the launch of CARLO® in clinical use (First-in-man). Medical devices with the KUKA robot LBR Med are successfully used in the Department of Oral, Jaw and Facial Surgery at the University Hospital Basel.
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