In the process of long-term use of KUKA robots, with the increase of operation time, various parts and parts will present various problems due to the influence of many factors such as friction, corrosion, vibration, impact, bump, etc., so only by dealing with these problems and insisting on the normal operation of the robot can we ensure the smooth progress of production. Xiaobian summarizes the top ten common problems and treatment solutions of KUKA robots.
1 The boot coordinate system is invalid
The world coordinate system is based on the gun head, in which all the actions of the robot are completed according to the gun head as the vertex, and the XYZ direction does not change the direction of the gun. If the robot moves in the world coordinate system and the gun head changes direction with it, it means that we didn't pick anything after turning it on.
Solution: Configure the current east/west coordinates → → east-west number →1
2 Expert Login
In general, when we want to edit the program after booting, we must first log in to the expert level, which will help us operate.
Solution: Configure → user group → expert → login → password KUKA → login
3 Set END
We found that there is no end to the new program, so we need to set the end.
Solution: Configure → Miscellaneous → Editor → a line of DEF
4 The first section of the program is set to the home direction
When editing the program, the first instruction should be set to the home orientation, which is the standard for us to directly find the home orientation at the end, which can save the operation time of the manual mobile robot.
5 Manually enclose the output signal
When we are testing that the program may be used normally (the output signal has been turned on), sometimes we will encounter unexpected situations, such as the risk of collision 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 turn on 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 open)
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 from the beginning and wait for the driver indication 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: After the expert logs in→ press Num (Num is gray on the display at this moment, and then press it to convert back) → CTRL(2)+Esc→ computer C disk →KRC→ROBOTER→KRC→R1→Program
8 Robot Maintenance
When the robot crashes, it will start automatic maintenance, that is, the robot has a maintenance system at the A6 axis, when the tension spring is bent and deformed after the crash, the system will stop all operations after receiving the signal, we can't operate the robot at this moment, at this time we have to turn off the maintenance switch first.
Processing scheme: configure → input/output terminal→ external automatic → promise movement→ change 5 to 1025→ at this moment the robot is not subject to system maintenance constraints to move, pay attention to adjust 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 calibrate the zero point from scratch
If the robot is not completely enclosed, the zero point will be lost when the battery is depleted.
When the robot hits a hard limit, it loses the zero point. Manually remove the zero point.
The boot fails, and the zero point is lost when the time is turned off directly.
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
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