If a robot collides with an object, the robot control system will increase the axis torque in order to overcome the resistance. This can cause damage to robots, tools, or other components. Bump recognition will reduce the risk of such damage. The bump recognition system monitors the shaft torque. If there is a deviation between this torque and the specific scale of public service, the following repercussions will occur.
The bot aborts with STOP 1. The robot control system calls up the program tm_useraction. The program is located in the program folder and contains the HALT (abort) instruction. Alternatively, the user can program other responses in the program tm_useraction. Editing program tm_useraction" The robot control system actively confirms the size of the error. (Exception: The value is not confirmed under operation mode T1.) It is generally necessary to run a program 2 to 3 times until the robot control system confirms a feasible scale of error in the process. For the size of the error confirmed by the robot control system, the user can define a bias through the user interface. If the robot is aborted for a long period of time (e.g. on weekends), the motors, gearboxes, etc. will cool down. During the first operation after such a pause, a different shaft torque is required than that of a hot robot. The robot control system actively adjusts the bump recognition according to the changing temperature. Prerequisites In order to be able to use bump recognition, acceleration adjustment must be switched on. If the system variable $ADAP_ACC is not equal to #NONE, the acceleration adaptation adjustment is initiated. (This is the default setting.) The system variables can be found in the file C:\KRC\Roboter\KRC\R1\MaDa\$ROBCOR. DOT. Confirm the size of the error only for the motion statement that has been fully operational. In order to initiate the collision recognition of the movement, it is necessary to have the parameter collision recognition set to TRUE during programming. This can be seen in the program code from the attached CD.
Bumps cannot be identified for HOME and other big picture bearings. Collisions on additional shafts cannot be recognized. Bumps cannot be identified when reversing. Bump recognition is not possible under operation mode T1. If the robot is in a stopped state, a high shaft torque will occur when it is started. As a result, the shaft torque is not monitored during the start-up phase (approx. 700 ms). After changing the program magnification, bump recognition will be significantly sluggish in the first 2 to 3 programs of operation. Since then, the robot control system has adjusted the size of the error according to the new program multiplier.
Confirm the size of the promised error and activate bump recognition Prerequisites Acceleration adjustment is on. The load data has been entered correctly. For all movements to be monitored, parameter bump recognition is now TRUE in the program. If necessary: The desired response to bumps has been programmed in program tm_useraction. Procedure 1. From the main menu, select Equipment> Other (or Tools) > Bump Recognition. (>>> 6.16.3 "Bump Recognition Options Window" page 167) 2. In the field KCP it is necessary to have MonOff manifested. If this is not the case, press Reactivate Activation. 3. Start the program and run it repeatedly. After 2 to 3 program cycles, the robot control system has determined the scale of public service that is feasible in practice. 4. Press Activate. It is now necessary to show MonOn in the KCP slot identified by the window bump. Save the equipment with closing.
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KUKA palletizing robot operation specifications
KUKA palletizing robot operation specifications
All prerequisites
Before using this equipment, wear labor protection articles as required;
Check the equipment according to the checklist, understand the status of the equipment, and make corresponding records;
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KUKA robot units are inspected before they are put into operation
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First, the characteristics of parallel robots
1. No accumulated error, high accuracy;
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Germany Borgward officially signed a contract with KUKA Robotics
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Tutorial on external automatic configuration of KUKA robots
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Software limit switches have been put into operation in industrial robots.
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One. Outline:
With win10 system, after installing WoV4.0.X or WoV5.0.x, WoV will stop working when the bus configuration is turned over:
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