Introduction to the logic functions of the KUKA robot program

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

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.

Introduction to the logic functions of the KUKA robot program

Introduction to the logic functions of the KUKA robot program

When programming the KUKA robot, input and output signals are used to represent logic instructions.

1、OUT | Closes the output in a certain direction in the program

2、WAIT FOR | Signal-related waiting function: The control system waits for a signal here:

3. The input terminal is IN

4. The output is OUT

5. Timing signal TIMER

6. Control the internal storage address (symbol / 1 bit memory) FLAG or CYCFLAG (if continuous analysis is performed in a cyclic manner)

7、WAIT | Time-related waiting function: The controller waits in that direction in the program according to the time of input.

Waiting for functional programming

Computer pre-entry The computer pre-reads motion statements (not visible to the operator) during computer pre-entry so that the control system can plan the orbit when there are imminent instructions for the orbit. But it's not just the pre-motion data that's being processed, but also the mathematical and manipulating the peripherals.

Some orders will trigger a pre-advance abort. This includes commands that affect peripherals, such as the OUT command (gripper closed, weld clamp open). If the advance pointer is paused, the orbit imminent cannot be performed.

1 Main run pointer (gray statement bar)

2 The command statement that triggers the pre-advance abort

3 Possible pre-advance pointer orientation

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