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: Start the program, and the KUKA robot runs one after another according to the program.
FWD: The robot program moves forward in a single step.
WD: The robot program runs backwards in a single step.
ModPos: Corrects the robot's operating position.
Instr: Switches to the command window.
(2) Selection of operation form:
Press the toggle button in the test window and move the cursor to Running, and the function keys will show the Cont and Cycle options.
· Cont runs in succession, and the program is actively performed in a loop.
· Cycle single cycle form, the program is actively stopped after operation.
(3) Running rate selection:
Press the toggle button in the test window and move the cursor to Speed Select, at this point, the function keys will appear with -%, +%, 25 and 100 options, and use the function keys to confirm the speed of movement.
· The actual running speed of the robot is the speed defined by the program motion instruction multiplied by the corresponding percentage, and the maximum speed does not exceed 250mm/s.
· -% and +% between 1% and 5% will be increased or decremented by 1%, and -% and +% between 5 and 100 will be increased or decremented by 5%.
· 25 and 100 is a convenient switch to 25 and 100 for the robot running rate.
· The operating speed adjustment can be synchronized while the program is running.
· In the welding procedure, the running speed selection only changes the idle stroke speed, and the welding speed does not change.
(4) Program operation pointer (》):
· The Program Operation Pointer (PP) is crucial because it indicates where the program will be performed once it is started.
· It is necessary for the program operation pointer and cursor to point to the same line of instructions for the KUKA robot to start normally.
· Use the menu key Special to change the direction of the program operation pointer and select the instructions to be fulfilled.
1. MoveCursortoPP: Move the cursor to the PP position.
2. MovePPtoCursor: Move PP to the cursor position.
3. MovePPtoMain to move PP: to the yi line of the main program.
4. MovePPtoRoutine: Move PP to the corresponding routine.
3. Delete the instruction:
Move the cursor to the command line you want to delete, press the delete button, and use the function key OK to confirm.
4. Add commands:
Press the function key Instr-> in the test window to enter the command window, select Add Command, and the selected command will be generated on the next line of the command line pointed by the cursor. If the cursor is on the yi line of the program, a prompt window will appear to select the new command generated on the yi line of the program (select the function key Yes) or the next line (select the function key No), and then confirm it with the function key OK.
5. Correction operation points:
· Move the robot to the robot maintenance point where the demand is recorded.
· Move the cursor to the motion command of the demand correction, and press the function key ModPos to mark the operation point.
· Note that the Tool and Wobj selected by the operation window at this moment must be the same as the movement command.
6. Suspension:
Press the S-Stop button to abort the test, and try to prevent the KUKA robot from directly releasing the enabling device.
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