KST CNC 20 en
KST CNC 20 en
KUKA.CNC 2.0
For KUKA System Software 8.2
Issued: 12.01.2012
KUKA.CNC 2.0
Copyright 2012
KUKA Roboter GmbH
Zugspitzstrae 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
2 / 61
Publication:
Bookstructure:
Version:
KUKA.CNC 2.0 V2 en
Contents
Contents
1
Introduction ..................................................................................................
1.1
1.2
1.3
1.4
2.1
Safety ............................................................................................................
Installation ...................................................................................................
11
4.1
11
4.2
11
4.3
11
4.4
12
Planning .......................................................................................................
13
5.1
13
15
6.1
15
6.1.1
15
6.1.2
16
6.1.3
17
6.1.3.1
6.1.3.2
17
17
6.2
23
6.3
23
6.3.1
25
6.3.2
26
6.3.2.1
6.3.2.2
6.3.2.3
6.3.2.4
26
27
27
28
6.4
28
6.5
28
Operation ......................................................................................................
29
7.1
Menus ........................................................................................................................
29
7.2
29
7.2.1
31
7.2.2
32
7.2.3
33
7.2.4
34
7.2.5
36
7.2.6
37
7.2.7
38
7.2.8
39
3 / 61
KUKA.CNC 2.0
7.3
39
7.4
40
41
7.4.1
7.5
41
7.6
42
7.7
42
Diagnosis ......................................................................................................
43
8.1
43
44
Programming ...............................................................................................
45
9.1
45
9.2
45
9.3
46
9.4
46
10
Troubleshooting ..........................................................................................
49
49
11
51
51
51
Index .............................................................................................................
59
8.1.1
4 / 61
1 Introduction
Introduction
1.1
Target group
This documentation is aimed at users with the following knowledge and skills:
1.2
1.3
Safety
Notes
These hints serve to make your work easier or contain references to further
information.
Tip to make your work easier or reference to further information.
5 / 61
KUKA.CNC 2.0
1.4
Terms used
Term
Description
EMI
CAD
Computer-aided design
In CAD, special software is used to create a 3D model
on the computer, e.g. of a workpiece. This model can
then be integrated into an NC program by means of a
CAM system.
CAM
Computer-aided manufacturing
CAM designates the manufacturing steps leading from
a CAD model to an NC program. The software used for
this is independent of the CNC machine, so an NC program can be created during the work preparation
phase.
G-code
KR C
KRL
KUKA.CNCHMI
KUKA smartHMI
MDI
NC
Numerical control
The NC is an electronic device for the computer-aided
control of machine tools. The NC is able to read a data
set of control commands from a storage medium, convert them to work and motion sequences, and process
them one after the other.
NC program
PLC
6 / 61
2 Product description
Product description
2.1
Overview of KUKA.CNC
Functions
Areas of application
Water-jet cutting
Laser cutting
Milling of shaped parts from soft materials, e.g. wood, plastic, foam
material, etc.
Machining tasks in which high process forces are generated, but with low
accuracy requirements:
Software components
Robot
Tool
Workpiece
KUKA.CNC
7 / 61
KUKA.CNC 2.0
Using the NC controller kernel on the robot controller means that NC programs
can be processed directly, i.e. without prior conversion to KRL programs, and
executed by the robot.
Communication
The robot controller communicates with the technology controller via a field
bus. There are different bus systems for the robot controller that are configured with WorkVisual.
Further information about the bus systems can be found in the corresponding KUKA documentation. Information about bus configuration
is contained in the WorkVisual documentation.
Teach mode
Hibernate
8 / 61
The start type Hibernate is not available with KUKA.CNC. The KSS always
boots with a cold start.
3 Safety
Safety
This documentation contains safety instructions which refer specifically to the
software described here.
The fundamental safety information for the industrial robot can be found in the
Safety chapter of the Operating and Programming Instructions for System Integrators or the Operating and Programming Instructions for End Users.
The Safety chapter in the operating and programming instructions
must be observed. Death to persons, severe physical injuries or considerable damage to property may otherwise result.
9 / 61
KUKA.CNC 2.0
10 / 61
4 Installation
Installation
4.1
System requirements
KR C4
Hardware
Software
Robot controller:
Standard laptop/PC:
Compatibility
KUKA.CNC must not be installed on a robot controller together with the following technology packages:
KUKA.ConveyorTech
KUKA.CNC can be used with KUKA.RoboTeam, but only for program synchronization (Program Cooperation) and not for motion synchronization (Motion Cooperation).
4.2
Precondition
No program is selected.
T1 or T2 operating mode
Procedure
LOG file
4.3
Uninstalling KUKA.CNC
It is advisable to archive all relevant data before uninstalling a software package.
Precondition
11 / 61
KUKA.CNC 2.0
Procedure
1. Select Start-up > Install additional software in the main menu. All additional programs installed are displayed.
2. Select the entry KUKA.CNC and press Uninstall. Reply to the request for
confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
A LOG file is created under C:\KRC\ROBOTER\LOG.
LOG file
4.4
Description
The CNC development environment must be installed on the start-up computer together with WorkVisual and Multiprog. It contains the Multiprog libraries
required for the CNC and a CNC template that can be used in Multiprog.
Precondition
WorkVisual is installed.
Procedure
12 / 61
5 Planning
Planning
5.1
Description
13 / 61
KUKA.CNC 2.0
14 / 61
6.1
6.1.1
Function
Type
Description
M2
CNC_M02_Out
BOOL
CNC_M02_In
BOOL
CNC_Spindle_CW_Out
BOOL
CNC_Spindle_CW_In
BOOL
CNC_Spindle_CCW_Out
BOOL
CNC_Spindle_CCW_In
BOOL
CNC_Spindle_Stop_Out
BOOL
CNC_Spindle_Stop_In
BOOL
CNC_ToolChange_Out
BOOL
CNC_ToolChange_In
BOOL
CNC_Cooling_OnOff_Out
BOOL
CNC_Cooling_On_In
BOOL
CNC_Cooling_Off_In
BOOL
CNC_Vacuum_OnOff_Out
BOOL
CNC_Vacuum_On_In
BOOL
CNC_Vacuum_Off_In
BOOL
M3
M4
M5
M6
M8/M9
M10/M11
15 / 61
KUKA.CNC 2.0
Function
Type
Description
M30
CNC_M30_Out
BOOL
CNC_M30_In
BOOL
CNC_Tool_Number
INT
CNC_Spindle_Speed
INT
6.1.2
Description
Type
Description
M100/M101
CNC_M100_M101_Out
BOOL
CNC_M100_In
BOOL
CNC_M101_In
BOOL
Synchronization
16 / 61
6.1.3
Description
There are two ways of mapping the technology functions to the periphery:
Precondition
Procedure
WorkVisual is available.
Multiprog is available.
6.1.3.2
Precondition
Procedure
WorkVisual is available.
1. Start WorkVisual.
The Project Explorer is displayed (>>> Fig. 6-1 ).
17 / 61
KUKA.CNC 2.0
18 / 61
19 / 61
KUKA.CNC 2.0
20 / 61
21 / 61
KUKA.CNC 2.0
bot controller and activated. Once the project has been activated, the signal goes via the field bus to the periphery when a mapped technology
function is called in the NC program.
6.2
6.3
Tool change
Description
In many cases, it is necessary to work with several different tools. For example, different milling heads may be used in a milling application. For this purpose, it is possible to perform a tool change.
The TCP data for the CNC are determined by $Tool in the KRC. Unlike in the
case of the base, the last valid TCP is not used for CNC mode; instead, the
tool data or number can be specified via the CNC. To update the TCP, CNC
mode is interrupted, $Tool is updated and CNC mode is restarted.
Determination of the TCP data varies according to the variable cncReferenceTool (local integer variable in the program CNCMotion.dat).
Variant 1
23 / 61
KUKA.CNC 2.0
If the variable cncReferenceTool > 0, a reference TCP is loaded from $config.dat and used to define the spindle mount. Based on this TCP, when a tool
is selected in the CNC code (X), the values from the file Werkz_d1.lis are
linked to the data of the reference tool and $Tool is updated with the result.
24 / 61
6.3.1
Description
The default tool change method of the KRC can also be used with KUKA.CNC.
For this purpose, all the tools to be used must be calibrated using the customary calibration methods of the KRC and correspondingly entered in the tool
management ($config.dat) of the KRC. The tool change is performed as usual
via a KRL program. For this method, the value of cncReferenceTool must be
0 (variant 1) (>>> 6.3 "Tool change" Page 23).
Further information is contained in the operating and programming instructions for the KUKA System Software (KSS).
25 / 61
KUKA.CNC 2.0
6.3.2
Description
6.3.2.1
For the NC controller, the tool is the milling head mounted on the spindle
mount. The tool offset from the spindle mount to the TCP (= tip of spindle) must
be measured mechanically for every tool by means of a coordinate measuring
machine and entered in the CNC tool list (C:\KRC\ROBOTER\Isgnc\listen\werkz_d1.lis). For this, a reference tool should be calibrated in the KRC
and its index stored in cncReferenceTool (variant 2) (>>> 6.3 "Tool change"
Page 23). The offsets entered in the tool list are accordingly linked to this reference tool in the case of a tool change.
Tool list
The following parameters are available in the tool list C:\KRC\ROBOTER\Isgnc\listen\werkz_d1.lis.
Parameter description
Parameter
Description
wz[x].radius
Tool radius
wz[x].gueltig
wz[x].param[0]
wz[x].param[1]
wz[x].param[2]
wz[x].param[3]
wz[x].param[4]
wz[x].param[5]
The index x stands for the tool number, e.g. wz[1] for the tool with the number 1.
If the tool list is modified:
Following installation of KUKA.CNC, the tool list already
contains a number of tools that must be adapted by the start-up technician
according to the tools actually used. Entries that are not required must be deleted and any new tool entries required must be made.
The tools defined by default in KUKA.CNC must not be
used. They serve merely as examples of entries in the
tool list and are intended to facilitate start-up.
If the CNC function tool radius correction is to be used, the tool radius must be entered in the CNC tool list. This applies for both variant
1 and variant 2.
Example
G01 G91
T4 M6
G01 G91
T5 M6
G01 G91
T0 M6
G01 G91
Z100 F1000
Z100 F1000
Z100 F1000
Z-300 F1000
N080 M30
26 / 61
The command T4 M6 in the above example means that the tool with the number 4 (T4 = Tool 4), that was entered in the tool list during start-up, is to be selected.
6.3.2.2
Tool calibration
Description
The tool data in the CNC tool list refer to a reference tool. For this reference
tool, the offset from the robot flange to the tool mount of the milling spindle is
measured. The standard KUKA tool calibration methods can be used for this,
e.g. the XYZ 4-point and ABC 2-point methods.
The calibration data must be saved under the tool number used for CNC operation. For subsequent CNC operation, the index of the reference tool must
be entered under cncReferenceTool in the data list KRC:\R1\TP\CNC\cncMotion.dat, e.g.:
cncReferenceTool = 5
The tool offset from the spindle mount to the TCP (= tip of spindle) must be
measured mechanically for every tool by means of a coordinate measuring
machine and entered in the CNC tool list (C:\KRC\ROBOTER\Isgnc\listen\werkz_d1.lis).
6.3.2.3
Spindle mount
Precondition
Procedure
Windows interface
27 / 61
KUKA.CNC 2.0
4. Reboot the robot controller. For this, select Shutdown in the main menu
and select the option Reload files.
Alternatively, the tool data can be modified online by means of variable access in the NC program. Information about this can be found
in the CNC programming instructions.
6.3.2.4
Precondition
Procedure
Windows interface
6.4
Integrating NC programs
Precondition
Procedure
6.5
Batch mode
Description
28 / 61
7 Operation
Operation
7.1
Menus
The following menus and commands are specific to this technology package:
Display
CNC
7.2
CNC-HMI
Call
29 / 61
KUKA.CNC 2.0
Item
1
Description
CNC-HMI window
The window contains information about the axis positions and the
status of the CNC.
It is possible to switch between the display of the axis-specific position (ACS) and the Cartesian position (PCS).
Status bar
Main window
The window contains the display and operator control elements of
the selected operating mode.
Operation mode
Description
Operating mode Standby mode
The version information is displayed in Standby mode.
Operating mode Automatic mode
(>>> 7.2.5 "Operating mode Automatic mode"
Page 36)
Operating mode MDI mode
(>>> 7.2.6 "Operating mode MDI mode" Page 37)
ACS/PCS view
Button
Description
In the CNC-HMI window, the axis-specific position
(ACS) is displayed.
Pressing the button switches to the display of the Cartesian position (PCS).
(>>> 7.2.3 "Display of the Cartesian position (PCS)"
Page 33)
In the CNC-HMI window, the Cartesian position (PCS)
is displayed.
Pressing the button switches to the display of the axisspecific position (ACS).
(>>> 7.2.2 "Display of the axis-specific position (ACS)"
Page 32)
This button is only available if the diagnosis or the spindle configuration has been opened and edit mode is active.
Switches back to the display of the axis-specific position
(ACS).
30 / 61
7 Operation
Diagnosis &
Settings
Description
In the CNC-HMI window, it switches to the axis positions.
In the CNC-HMI window, it switches to the diagnostic
functions.
(>>> 8.1 "Diagnostic functions" Page 43)
In the CNC-HMI window, it switches to the technology
settings.
(>>> 7.2.4 "Technology settings" Page 34)
Switches the selected NC program in the main window
to Teach mode. Robot positions can be taught.
(>>> 7.2.7 "Teach mode" Page 38)
The information window is minimized.
7.2.1
Status bar
The status bar indicates the status of the CNC interface and the CNC, the current error status, and information about override and velocity. The status bar
is always visible as long as the information window is not hidden.
Overview
Description
Status of the CNC interface
(>>> "Status of CNC interface" Page 32)
Current velocity
Command velocity
31 / 61
KUKA.CNC 2.0
Status of CNC
interface
Icon
Description
CNC interface is not active.
CNC interface is active.
Status of CNC
Icon
Description
CNC is not active.
CNC is active. NC program or MDI block is being executed.
CNC has been stopped. NC program or MDI block has
been stopped.
CNC signals an error.
Causes of the
CNC stop
The cause of the CNC stop is indicated by the LED on the icon lighting up yellow.
Icon
Description
The motion has been stopped, e.g. due to a programmed
stop or because the Stop CNC button has been pressed.
Program run mode Single Step is active.
Waiting for wait time to elapse (G04 in the NC program)
The interpolator has no motion blocks available.
Program run mode Single Step: Stop after every program
line
Waiting for acknowledgement of PLC
Waiting for axis, e.g. axis exchanged (NC command
#CALL AX)
Current program override (POV) is 0%.
7.2.2
32 / 61
7 Operation
Description
Description
Axis or spindle at standstill
Axis or spindle in motion
The axis is mastered.
The axis is not mastered.
The axis or spindle has reached the target position.
If the target position has not yet been reached, no icon is
displayed.
7.2.3
33 / 61
KUKA.CNC 2.0
Description
In some cases, the display of the Cartesian position on the KUKA.CNC-HMI does not match the display of the Cartesian position on
the KUKA smartHMI. The reason for this is that the robot controller,
unlike the NC controller kernel, uses status and turn values.
The following icons indicate the status of the axis or spindle:
Icon
Description
Axis or spindle at standstill
Axis or spindle in motion
The axis is mastered.
The axis is not mastered.
7.2.4
Technology settings
Here it is possible to switch the external spindle, the vacuum and the spindle
cooling on and off, and to set the spindle speed and override.
34 / 61
7 Operation
Description
Spindle ON button
The spindle is switched off. Pressing the button switches the spindle on.
Spindle OFF button
The spindle is switched on. Pressing the button switches the spindle off.
Vacuum ON button
The vacuum is switched off. Pressing the button switches the vacuum on.
Vacuum OFF button
The vacuum is switched on. Pressing the button switches the vacuum off.
Cooling ON button
The cooling is switched off. Pressing the button switches the cooling on.
Cooling OFF button
The cooling is switched on. Pressing the button switches the cooling off.
Accepts the spindle speed entered in the box to the left
of the button
Unit: RPM
Decreases the spindle override (increment 5%)
35 / 61
KUKA.CNC 2.0
7.2.5
Description
Program run modes
(>>> 7.4.1 "Program run modes" Page 41)
Program progress
Description
Select NC program button
The file view is opened and the NC program can be selected.
(>>> 7.4 "Selecting an NC program" Page 40)
Edit button
Opens the selected NC program in the CNC-HMI window. The program can be edited.
(>>> 7.2.8 "Edit mode" Page 39)
Start CNC button
Starts the selected NC program.
Stop CNC button
Stops the NC program.
36 / 61
7 Operation
Button
Description
Reset CNC button
Resets the NC program.
Maximize button
If the information window is hidden, the button for displaying the information window is displayed at the bottom of the screen.
7.2.6
Description
Program run modes
(>>> 7.4.1 "Program run modes" Page 41)
Program progress
Description
Edit button
Opens the MDI block in the CNC-HMI window. The MDI
block can be edited.
(>>> 7.2.8 "Edit mode" Page 39)
Start CNC button
Starts the MDI block.
37 / 61
KUKA.CNC 2.0
Button
Description
Stop CNC button
Stops the MDI block.
Reset CNC button
Resets the MDI block.
7.2.7
Teach mode
Robot positions can be taught in Teach mode, e.g. to program the approach
motion of the robot. During teaching, an NC subprogram call is inserted into
the NC program. The taught motion blocks are saved in this subprogram.
The subprogram name has the following structure:
L NC program name_TTime stamp_Subprogram number.sub
Example: L default_T20110621_155955.sub
Description
Start teach mode button
Activates Teach mode and inserts a subprogram call
into the line indicated in red in the editor.
Teach button
Writes the current robot position into the subprogram.
This button is only available if Teach mode is activated.
Save button
Saves the subprogram in the program directory
C:\KRC\ROBOTER\Isgnc\prg and terminates Teach
mode. Switches to Standby mode.
38 / 61
7 Operation
7.2.8
Edit mode
The NC blocks of an NC program and MDI blocks can be edited in Edit mode.
Detailed information about the scope of the NC language can be
found in the CNC programming instructions.
Description
Terminates Edit mode and switches back to the display
of the axis-specific position (ACS).
Save button
Saves the changes in the NC program or MDI block.
7.3
Precondition
Procedure
Select the created KRL program, start it and execute it as far as the CNC
selection block (MOVE EMI).
39 / 61
KUKA.CNC 2.0
Description
CNC operation is now active and the message CNC_ADAPTER: CNC motion
active (Axial) is displayed in the message window. NC programs can now be
executed.
In interactive mode, the robot remains under servo-control, even if no NC program is currently being executed.
7.4
Selecting an NC program
Precondition
Procedure
Description
Description
Switches back to the main window.
40 / 61
7 Operation
Button
Description
Edit button
Opens the selected NC program in the CNC-HMI window. The program can be edited.
Select button
Opens the selected NC program in the main window.
7.4.1
Button
Description
Run mode is inactive.
Backwards
Single step
Optional stop
Block skip
7.5
Deselecting an NC program
In the CNC, it is not necessary to deselect NC programs. An NC program remains selected until another NC program is selected.
41 / 61
KUKA.CNC 2.0
7.6
Procedure
Restarting the NC program after it has been stopped with the STOP key:
Restarting the NC program after it has been stopped with the EMERGENCY
STOP button:
1. Release the EMERGENCY STOP pushbutton.
2. Acknowledge acknowledgement messages in the message window of the
smartHMI.
3. Switch on the drives.
4. Press the Start key.
If an NC program is stopped with the Stop CNC button
of the CNC-HMI, the robot remains under servo-control.
To avoid damage to the gear unit or motor, it is advisable not to leave the robot under servo-control for prolonged periods of time, e.g. overnight.
7.7
42 / 61
8 Diagnosis
Diagnosis
8.1
Diagnostic functions
Overview
Channel errors
General errors
TRACE function
The following CNC data can be recorded:
Command and actual values of the CP motion, e.g. velocity and acceleration
The path data are written to the TRACE file
PathTrace_yyyy_mm_dd_hhmmss00.log.
43 / 61
KUKA.CNC 2.0
Description
The channel error messages are displayed in the CNCHMI window.
Pressing the button switches to the display of the general errors (Gen.).
The general error messages are displayed in the CNCHMI window.
Pressing the button switches to the display of the channel errors (Chn.).
The CNC diagnosis is carried out.
Description
The ISG monitor Display R2 is available under C:\KRC\ROBOTER\ISGNC\TOOLS\DISPLAY R2. This monitor can be used to display the recorded
TRACE data as curves. Precise information about operation of the monitor can
be found in the help file Display.HLP.
Alternatively, the recorded TRACE data can be opened in a spreadsheet, e.g.
to create diagrams.
Procedure
44 / 61
9 Programming
Programming
9.1
Structure of an NC subprogram
Description
Example
9.2
Precondition
Procedure
NC program is selected.
Operating mode T1
1. Select the Diagnosis & Settings button and switch the NC program to
Teach mode.
2. Position the cursor in the line into which a subprogram call is to be inserted. The line is marked in red.
3. Press the Start teach mode button. Teach mode is activated and a subprogram call is inserted.
4. Move the robot to the desired position by jogging with the jog keys.
5. In the CNC-HMI window, display either the axis-specific position (ACS) or
the Cartesian position (PCS). During teaching, either the axis-specific position or the Cartesian position is written to the subprogram accordingly.
6. Press the Teach button. The position is written to the subprogram.
7. If additional points are to be taught in the subprogram, repeat steps 4 to 6.
8. Press the Save button. The subprogram is saved and Teach mode is terminated.
45 / 61
KUKA.CNC 2.0
9.3
Description
If, for example when approaching a workpiece, axis space errors or errors arising from singularities occur, the orientation of the robot must be changed and
re-taught.
Precondition
NC program is selected.
Operating mode T1
Procedure
1. Open the NC program with Edit and delete the NC line that contains the
subprogram call and the position to be re-taught.
2. Save the NC program with Save.
3. Select the Diagnosis & Settings button and switch the NC program to
Teach mode.
4. Position the cursor in the line into which a new subprogram call is to be
inserted. The line is marked in red.
5. Press the Start teach mode button. Teach mode is activated and a subprogram call is inserted.
6. Move the robot to the new position with the desired orientation by jogging
with the jog keys.
7. In the CNC-HMI window, display either the axis-specific position (ACS) or
the Cartesian position (PCS). During teaching, either the axis-specific position or the Cartesian position is written to the subprogram accordingly.
8. Press the Teach button. The position is written to the subprogram.
9. If additional points are to be re-taught in the subprogram, repeat steps 6
to 8.
10. Press the Save button. The subprogram is saved and Teach mode is terminated.
9.4
Description
A tool change is programmed in the NC program with the T number for the tool
selection and machine function M06 for the tool change. By default, M06 calls
a subprogram so that the robot automatically moves to the tool magazine, for
example, and changes the tool there.
In the case of a manual tool change, the motion to the tool magazine is dispensed with. The new tool must also be selected in the same way with the T
number and M06, however.
46 / 61
9 Programming
The tools with the numbers 1 (T1) and 2 (T2) are selected and automatically
changed.
...
N010
N020
N030
N040
N050
N060
...
47 / 61
KUKA.CNC 2.0
48 / 61
10 Troubleshooting
10
Troubleshooting
10.1
Errors in NC operation
In the case of errors in NC operation, an error message is generated by the
CNC and displayed in the message window. At the same time, program execution is canceled and, if possible, the motion is stopped on the contour.
NC errors must be acknowledged via the KUKA.CNC-HMI by means of the
Reset CNC button. The program is reset. When restarted, program execution
starts again at the beginning of the program.
The CNC error messages, the causes of the errors and the remedies
are described in the documentation CNC diagnostic instructions.
49 / 61
KUKA.CNC 2.0
50 / 61
11 KUKA Service
11
KUKA Service
11.1
Requesting support
Introduction
Information
11.2
Application used
Availability
KUKA Customer Support is available in many countries. Please do not hesitate to contact us if you have any questions.
Argentina
Australia
51 / 61
KUKA.CNC 2.0
52 / 61
Belgium
Brazil
Chile
China
Germany
11 KUKA Service
France
India
Italy
Japan
Korea
53 / 61
KUKA.CNC 2.0
54 / 61
Malaysia
Mexico
Norway
Austria
Poland
11 KUKA Service
Portugal
Russia
Sweden
Switzerland
Spain
55 / 61
KUKA.CNC 2.0
56 / 61
South Africa
Taiwan
Thailand
Czech Republic
Hungary
11 KUKA Service
USA
UK
57 / 61
KUKA.CNC 2.0
58 / 61
Index
Index
A
ACS 32
Areas of application 7
C
CAD 6
Calibration, tool 27
CAM 6
CNC interface, status 32
CNC operation, activating 39
CNC stop, causes 32
CNC tool list 27, 28
CNC, status 32
Communication 8
Compatibility 11
Configuration 15
D
Diagnosis 43
Diagnosis, functions 43
Display, axis-specific position 32
Display, Cartesian position 33
Documentation, industrial robot 5
E
Edit mode 39
EMERGENCY STOP 42
EMI 6
F
Functional principle 8
Functions 7
G
G-code 6
H
Hardware 11
Hibernate 8
I
Installation 11
Installation, CNC development environment for
Multiprog 12
Installation, KUKA.CNC 11
Introduction 5
J
Jogging, robot 42
K
Knowledge, required 5
KR C 6
KRL 6
KUKA Customer Support 51
KUKA.CNC-HMI 6, 29
M
M function, synchronization 16
MDI 6
Menus 29
N
NC 6
NC program 6, 26
NC program, deselecting 41
NC program, executing in T1/T2 40
NC program, restarting 42
NC program, selecting 40
NC program, stopping 42
NC subprogram, structure 45
O
Operating mode, Automatic mode 36
Operating mode, MDI mode 37
Operation 29
Orientation, changing 46
Overview, KUKA.CNC 7
P
PCS 33
PLC 6
Points, re-teaching 46
Points, teaching 45
Product description 7
Program run modes 41
Programming 45
S
Safety 9
Safety instructions 5
Service, KUKA Roboter 51
smartHMI 6
Software 11
Spindle 34
Start-up 15
Status bar 31
Status, CNC 32
Status, CNC interface 32
Support request 51
Synchronization, M function 16
System requirements 11
T
Target group 5
Teach mode 8, 38
Technology functions, CNC 15
Technology, settings 34
Terms used 6
Terms, used 6
Tool calibration 27
Tool change, programming 46
Tool data 27, 28
Tool list 26
Tool management 26
59 / 61
KUKA.CNC 2.0
60 / 61
KUKA.CNC 2.0
61 / 61