How KUKA Robot BCO works

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

1. The initial operation of the KUKA robot is called BCO operation.

BCO is an abbreviation for B lock coincidence. Coincidence means "consistency" and "convergence of time/space events".

BCO operations are carried out in the following cases:

Selection Procedure (Example 1)

Programmed Reset: Reset (Example 1)

Manual movement during program fulfillment (Example 1)

Change Procedure (Example 2)

Sentence Line Selection (Example 3)

                                     How KUKA Robot BCO works

2. Examples of BCO operation and fulfillment

1 Select the program or reset the program and the BCO runs to its original position

2 Perform BCO operation after changing the movement command After deleting and teaching points

3 Perform the BCO run after the sentence line selection is performed

Why BCO works:

In order for the robot orientation at that time to be consistent with the location at the time point in the robot program, the BCO operation must be performed.

Orbit planning can only be carried out if the robot's orientation at that time is in line with the programmed orientation. Therefore, TCP must be put on track in the first place.

After selecting or resetting the program, the BCO runs to the Home position

Related system variables

$ON_PATH on the track

Signal declarations used to supervise programming paths

This output is set after the BCO is running. Therefore, the robot controller will communicate with the higher-level controller so that the robot is located on the programming path, and the output will be reset again as long as the robot leaves the path and the program is reset or the fulfillment block is picked.

VW STANDARD SETTINGS: SIGNAL $ON_PATH $OUT[4040]

  $MOVE_BCO

Indicate whether the BCO operation is being performed at that time

  $MOVE_BCO=State

true: The BCO operation is in progress.

false: BCO is not running.

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