1. The KUKA robot enters the program in the teach pendant T1 mode, clicks on Instruction - Logic in the lower left corner, and you will see the commonly used logic instructions such as WAIT, WAITFOR, and OUT.
2. Select WAIT, and the lower end of the interface presents the WAIT Time port sec.......
3. Select WAITFOR (this WAITFOR is used when waiting for a certain signal, such as waiting for the input signal IN). At the lower end of the interface, the WAIT FOR port (口口口) port is displayed.
Note: NOT is the meaning of the negation of this signal, and CONT is the meaning of pre-fulfillment, which can be understood as the robot does not pause to fulfill this statement.
4. Select OUT (output signal), and more options will be presented at the right end.
Note: When the OUT output signal (3) is TRUE, the signal will always be there until you reset it from scratch by setting TRUE in (3) to FLASE
UNLIKE OUT, PULSE OUTPUTS A SIGNAL WITHIN A SET TIME (5) AND THE SIGNAL FINISHES AT THE END OF THE TIME, SO THERE IS NO NEED TO RESET IT FROM SCRATCH BY SETTING TRUE TO FLASE IN (3).
5. PULSE Commentary:
6. With SYN OUT output commentary:
NOTE: THE ONLY DIFFERENCE BETWEEN (4) AND (5) IN THE ARTICULATION TABLE IS THAT THE LINEAR MOTION TRAJECTORY FROM THE P2 POINT TO P3 POINT INDICATES THE OUTPUT OF THE SYN OUT SIGNAL WITH A DELAY OF 20MS FROM THE BEGINNING OF P2 POINT
NOTE: THE TRAJECTORY IS A LINEAR TRAJECTORY FROM P2 TO P3, WHICH MEANS THAT THE OUTPUT OF THE SYN OUT SIGNAL IS FULFILLED 20MS BEFORE THE ARRIVAL OF THE P3 POINT
SYN OUT can be understood as the synchronous output command of the system, which is mostly used in processes with strict requirements for point signal output, such as gluing.
INFERENTIALLY, SYN PULSE IS USED IN THE SAME WAY AS SYN OUT, EXCEPT THAT SYN PULSE DOES NOT NEED TO SET TRUE IN (3) TO FLASE RESET, WHILE SYN OUT NEEDS TO RESET TRUE IN (3) AS FLASE RESET
The above are the common logic instructions of KUKA robots, and the above instructions can cope with more than 90% of the automation process needs.
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