Robots at the same station, in the process of operation, need to enter the same area, but there is no strict restriction on the order of entry, a robot (Master) has the right of priority, that is, the robot first enters the dry and area, and the other robot (Slave) can enter the dry and area after the operation is completed. Any robot enters the master first, and agrees to use the dry and zone signals to control the operation of the robot and prevent collisions between robots. For dry and with strict process timing, interlock signals are selected to control.
(1) Rob2 is the Master, and Rob1 is the Slave. Rob1 and Rob2 robots first initialize each other separately (enable the monitoring of the trunk and zone and release the trunk zone) before entering the trunk zone.
(2) There are three situations in which the robot enters the trunk and zone:
1. Before the Rob1 robot enters the trunk zone, it sends a pleading signal that the slave wants to enter the trunk zone, and detects whether Rob2 as the host sends a plea signal to enter the trunk zone. If Rob2's plea signal to enter the Dry Zone is activated, Rob1 will stop moving and wait for Rob2 to finish its movement and exit the Dry Zone, regardless of whether Rob2 enters or is about to enter the Dry Zone.
2. If Rob1 and Rob2 announce their pleas to enter the dry zone at the same time, Rob2 will have priority to enter, and Rob1 will stop moving and wait for Rob2 to finish the movement and exit the dry zone.
3. If Rob1 has entered the dry and from the and from Rob2 if it wants to enter the and dry zone, Rob2 must stop the movement and wait for Rob1 to finish the movement and exit the dry and the zone.
(3) The robot to enter the dry zone must wait for the robot that has entered the dry zone to complete the movement and exit the dry zone before entering.
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Phenomenon 1: The direction of the finger does not coincide with the mouse arrow.
Reason 1: After the driver is installed in the industrial robot teach pendant, when correcting the bearing, there is no pen directly touching the square position of the bull's-eye.
Treatment 1: Correct the orientation from the beginning.
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Industrial robots have requirements for joint drive motors
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The difference between KUKA robot inverter and servo manipulator
The servo manipulator controls the manipulator's actions through servo motors and servo drives. The servo manipulator has higher control accuracy than the frequency conversion manipulator and is expensive.
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KUKA bot syntax
Quiz of the KUKA robot
1. Check the syntax of the KUKA robot program:
---> the menu key File--->7CheckProgram
2. Programming Window (Test):
---> the menu key View--->5Test
(1) Function key:
TART: Initiation ...
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The KUKA KR CYBERTECH series is a new generation of Edition robots
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EXAMPLE1:
XP1.x = 200 ; The new X value at point P1 is 200mm
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PTP XP1 is assigned and moves to the new P1 position
; EXAMPLE2:
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2. The buffer is closed.
3. Put the feeder cable in a powerless condition.
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2. First the general and then the special
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