How the KUKA robot is launched

1. Active operation method

When the KUKA robot is in active operation, it first selects the program that needs to be operated in the manual condition, then switches the robot to self-power through the key switch, and then starts the robot operation program, so that the robot reaches the BCO safety reference point first, and then presses the start button to enable the robot to run the program normally.

Procedure

A: Write and debug programs, etc.

B: Manual condition selection of the program that needs to be run;

C: When the manual condition is correct, the power on operation program, the speed of the robot is adjusted to the appropriate speed;

D: The robot reaches the BCO point and then aborts the robot;

E: Manually rotate the key switch on the teach pendant to switch the robot to AOTU active operation mode;

F: Power-on and admit prompt information, etc., if the robot has an error alarm, the robot will not be able to operate;

G: Active operating speed correction;

H: Start the robot to function normally.

How the KUKA robot is launched

2. The external cell program is activated by the IO selection program

The external active selection of the cell program launch method means that the KUKA robot does not select any program, hits the external launch method of the robot, and then shuts down and restarts, the robot will actively select the cell program, and then through the external IO control robot to launch the abort, pause and select different program numbers to perform different cell.src is the external active main program, the robot will be shut down in the EXT form and will be actively selected to enter after starting from scratch, and the user-defined program needs to be called in cell.src.

Procedure

A: Write a program and debug it and wait for external operation;

B: Here you can take the initiative to go back to checkpHome to remove, but you should fully consider the safety of the robot startup, and write another program for the robot to return to the reference point;

C: IO equipment for external operation of the robot;

D: IO wiring for external operation of the robot;

E: The robot does not select any program, the knob key switch switches the robot to the external operation form, and shuts down and restarts (or restarts after power failure);

F: After the robot restarts, it will actively select the main cell.src program;

G: According to the IO of the equipment, the robot can be reset, powered on, started, paused, etc.

3. External selection of MIAN program starts

External selection of main and other programs to launch refers to the manual situation, write and debug good programs, and use MIAN programs to function and mission of each overall sub-program. After modifying and debugging the program, the main program can be selected manually and manually run to the BCO safety reference point; state, and then through the external IO to perform the operation of the main program.

The process is as follows

A: Write the main program main and other general subroutines or some subprograms, etc., write the program in the main program after the program call, and call the program used to wait for operation;

B: Select the main program, and manually run to reach the BCO safety reference point, and then abort the robot;

C: After this, you can go to the external IO to start, and after the equipment is equipped, the corresponding wiring, here you can connect the external button or the PLC can start, the external button can be, and you need to verify whether the wiring is correct after wiring; The KUKA robot is equipped with an external IO that can be used without restarting after it is activated.

D: Switch the robot to the external operation status through the kukasmartpad key switch;

E: Then start the robot program through the external IO;

4. Manual successive start method

In the form of manual operation, the program to be run is manually selected, and then the fundamental operation of the manual power-on and manual operation of the program is manually powered.

Procedure

A: Write the program and debug the record of the point, etc., and then manually select the program to run, and select the program after the program is selected, and the cursor of the R logo of the robot status bar is in the first line.

B: In the manual form, the robot is set to run in a continuous manner, that is, the status column is the condition of the person;

C: The speed of the robot is set according to the situation in the manual form, which is generally between 10% and 50%.

D: Power on the KUKA robot manually, press the KUKA teach pendant KUKA smartpad to enable the power-on button without releasing it

E: Press the broadcast button on the teach pendant, then the selected program can run normally;

F: When the robot starts, it will run at low speed to each point, when the robot arrives at the point, it will be stopped and reported that it has reached BCO, here BCO is to let the robot run to the safety point pHome, to ensure the safety of the robot, at this time we also need to press the start button again, the robot officially runs normally.

Note: BCO is an abbreviation for BBlockcoincidence. Coincidence means "unanimity" and "The confluence of time/space events includes the PTP operation instructions, then the BCO operation will move from the actual direction to the direction of the PTP as a PTP movement." If the selected motion sentence includes LI will be fulfilled as LIN motion. Observe this movement to avoid collisions. The speed is actively reduced during the operation of the BCO.

How the KUKA robot is launched

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