Kuka - Experttech 2.4: Kuka Robot Group Kuka System Technology (KST)
Kuka - Experttech 2.4: Kuka Robot Group Kuka System Technology (KST)
Kuka - Experttech 2.4: Kuka Robot Group Kuka System Technology (KST)
KUKA.ExpertTech 2.4
For KUKA System Software (KSS) 5.x, 7.0
V1.1 26.01.200
KUKA.ExpertTech 2.4
© Copyright 2007
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of the KUKA ROBOT GROUP.
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 de-
scribed. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guaran-
tee 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.
KIM-PS4-DOC
V0.4
2 / 45
22.03.200
6 pub de V1.1 26.01.2007 KST-AD-ExpertTech24 en
Contents
Contents
1 Introduction ...................................................................................................... 5
1.1 Target group ................................................................................................................... 5
1.2 Robot system documentation ......................................................................................... 5
1.3 Representation of warnings and notes ........................................................................... 5
3 Safety ................................................................................................................ 9
4 Installation ....................................................................................................... 11
4.1 Installation for KUKA System Software (KSS) 5.4, 5.5, 7.0 ............................................ 11
4.1.1 Installing or updating KUKA.ExpertTech ................................................................... 11
4.1.2 Uninstalling KUKA.ExpertTech .................................................................................. 11
4.2 Installation for KUKA System Software (KSS) 5.2, 5.3 ................................................... 11
4.2.1 Installing KUKA.ExpertTech ...................................................................................... 11
4.2.2 Uninstalling KUKA.ExpertTech .................................................................................. 12
4.2.3 Reinstalling KUKA.ExpertTech .................................................................................. 12
5 Programming .................................................................................................... 13
5.1 Overview of programming for KSS 5.x from 5.5 onwards ............................................... 13
5.1.1 Inline form for collision detection (KRL assistant) ...................................................... 13
5.1.2 Inline form for PTP motions (KRL assistant) .............................................................. 13
5.1.3 Inline form for PTP_REL motions (KRL assistant) ..................................................... 15
5.1.4 Inline form for LIN motions (KRL assistant) ............................................................... 17
5.1.5 Inline form for LIN_REL motions (KRL assistant) ...................................................... 19
5.1.6 Inline form for CIRC motions (KRL assistant) ............................................................ 21
5.1.7 Inline form for CIRC_REL motions (KRL assistant) ................................................... 23
5.2 Overview of programming for KSS 5.2, 5.3, 5.4, 7.0 ...................................................... 25
5.2.1 Inline form for PTP motions (KRL assistant) .............................................................. 26
5.2.2 Inline form for PTP_REL motions (KRL assistant) ..................................................... 27
5.2.3 Inline form for LIN motions (KRL assistant) ............................................................... 28
5.2.4 Inline form for LIN_REL motions (KRL assistant) ...................................................... 29
5.2.5 Inline form for CIRC motions (KRL assistant) ............................................................ 29
5.2.6 Inline form for CIRC_REL motions (KRL assistant) ................................................... 30
5.3 Overview - Adopting the robot position ........................................................................... 32
5.3.1 Inserting motion with placeholder .............................................................................. 32
5.3.2 Inserting motion with variable .................................................................................... 32
5.3.3 Teaching an end point ............................................................................................... 33
5.3.4 Entering an end point manually ................................................................................. 33
5.4 Data types for motion programming ............................................................................... 34
6 Messages .......................................................................................................... 35
7 KUKA Service ................................................................................................... 37
7.1 Requesting support ......................................................................................................... 37
7.2 KUKA Customer Support ................................................................................................ 37
Index .................................................................................................................. 43
1 Introduction
This documentation is aimed at users with the following knowledge and skills:
Advanced knowledge of the robot controller system
Advanced KRL programming skills
For optimal use of our products, we recommend that our customers take part
in a course of training at KUKA College. Information about the training pro-
gram can be found at www.kuka.com or can be obtained directly from our
subsidiaries.
Safety warnings Warnings marked with this pictogram are relevant to safety and must be ob-
served.
Danger!
This warning means that death, severe physical injury or substantial material
damage will occur, if no precautions are taken.
Warning!
This warning means that death, severe physical injury or substantial material
damage may occur, if no precautions are taken.
Caution!
This warning means that minor physical injuries or minor material damage
may occur, if no precautions are taken.
Notes Notes marked with this pictogram contain tips to make your work easier or ref-
erences to further information.
2 Product description
3 Safety
All persons working with the robot system must have read and understood
the robot system documentation, including the safety chapter.
The robot system with KUKA.ExpertTech must be operated in accordance
with the applicable national laws, regulations and standards.
All KRL programs created with KUKA.ExpertTech must be tested at re-
duced program velocity in the operating modes T1 and T2.
4 Installation
4.1 Installation for KUKA System Software (KSS) 5.4, 5.5, 7.0
Es wird empfohlen, vor dem Update oder der Deinstallation einer Software
alle zugehörigen Daten zu archivieren.
Procedure 1. Select the menu sequence Setup > Install Additional Software.
2. Press the New SW softkey. Then press the Refresh softkey.
3. Select the software to be installed and press the softkey Install. Answer
the request for confirmation with Yes. The files are copied onto the hard
drive.
4. Confirm the reboot prompt with OK.
5. Reboot the robot controller. The installation is resumed and completed.
Es wird empfohlen, vor dem Update oder der Deinstallation einer Software
alle zugehörigen Daten zu archivieren.
Procedure 1. Select the menu sequence Setup > Install Additional Software. All in-
stalled additional programs are displayed.
2. Select the software to be uninstalled and press the softkey Uninstall. An-
swer the request for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
Procedure 1. Start the Setup program from the CD-ROM. The files are copied onto the
hard drive.
2. Confirm the reboot prompt with OK.
3. Reboot the robot controller. The installation is resumed and completed.
Es wird empfohlen, vor dem Update oder der Deinstallation einer Software
alle zugehörigen Daten zu archivieren.
5 Programming
Information about programming for KUKA System Software (KSS) 5.2, 5.3,
5.4, 7.0 in this documentation: (>>> 5.2 "Overview of programming for KSS
5.2, 5.3, 5.4, 7.0" page 25)
Procedure Select the menu sequence Commands > KRL assistant and the desired
menu item.
Range of
Item Description
values
1 Activates collision detection. ON, OFF
The collision detection only refers to the fol-
lowing motion block.
2 Offset for the torque. The lower the offset, the 1 ... 20
more sensitive the reaction of the collision
detection.
3 Offset for the impact. The lower the offset, the 1 ... 20
more sensitive the reaction of the collision
detection.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers
FRAME to the BASE coordinate system.
E6AXIS Axis-specific data types for saving
AXIS the robot position
! Placeholder for robot position, vari-
able
LIN/CIRC Toggles between PTP, LIN and
CIRC
REL Switches to relative motion. The
coordinates of the end point are rel-
ative to the current position.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_PTP parameter
C_DIS: distance parameter for
CP motion
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_VEL parameter
C_ORI Precondition: first approximation
parameter selected
Approximation parameters for CP
motion:
C_DIS: distance parameter
Can only be selected if C_PTP
was selected as the first approx-
imation parameter.
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers to
FRAME the BASE coordinate system.
E6AXIS Axis-specific data types for saving
AXIS the robot position
PTP Switches to PTP motion. The coor-
dinates of the end point are abso-
lute.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_PTP parameter
C_DIS: distance parameter for
CP motion
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_VEL parameter
C_ORI Precondition: first approximation
parameter selected
Approximation parameters for CP
motion:
C_DIS: distance parameter
Can only be selected if C_PTP
was selected as the first approx-
imation parameter.
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up No function in the case of REL
motions.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers to
FRAME the BASE coordinate system.
! Placeholder for robot position, vari-
able
CIRC/ Toggles between LIN, CIRC and
PTP PTP
REL Switches to relative motion. The
coordinates of the end point are rel-
ative to the current position.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_VEL parameter
C_ORI Approximation parameters for CP
motion:
C_DIS: distance parameter
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_PTP parameter
Precondition: first approximation
parameter selected
C_DIS: distance parameter for
CP motion
Can only be selected if C_VEL
or C_ORI was selected as the
first approximation parameter.
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers to
FRAME the BASE coordinate system.
Tool / << Back
Base TOOL The coordinates of the end point
refer to the TOOL coordinate sys-
tem.
BASE Default setting: The coordinates of
the end point refer to the BASE
coordinate system.
LIN Switches to LIN motion. The coordi-
nates of the end point are absolute.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_VEL parameter
C_ORI Approximation parameters for CP
motion:
C_DIS: distance parameter
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_PTP parameter
Precondition: first approximation
parameter selected
C_DIS: distance parameter for
CP motion
Can only be selected if C_VEL
or C_ORI was selected as the
first approximation parameter.
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up No function in the case of REL
motions.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers to
FRAME the BASE coordinate system.
! Placeholder for robot position, vari-
able
PTP/LIN Toggles between CIRC, PTP and
LIN
REL Switches to relative motion. The
coordinates of the end point are rel-
ative to the current position.
CA The circular angle “CA” specifies
the overall length of the arc. This
makes it possible to extend the arc
beyond the programmed end point
or to shorten it. The actual end point
thus no longer corresponds to the
programmed end point.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_VEL parameter
C_ORI Approximation parameters for CP
motion:
C_DIS: distance parameter
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_PTP parameter
Precondition: first approximation
parameter selected
C_DIS: distance parameter for
CP motion
Can only be selected if C_VEL
or C_ORI was selected as the
first approximation parameter.
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the
POS robot position. The position refers to
FRAME the BASE coordinate system.
CIRC Switches to CIRC motion. The coor-
dinates of the auxiliary point and
end point are absolute.
CA The circular angle “CA” specifies
the overall length of the arc. This
makes it possible to extend the arc
beyond the programmed end point
or to shorten it. The actual end point
thus no longer corresponds to the
programmed end point.
Softkeys Function
Cont << Back
C_DIS Selects the first approximation
C_VEL parameter
C_ORI Approximation parameters for CP
motion:
C_DIS: distance parameter
C_VEL: velocity parameter
C_ORI: orientation parameter
(tool, workpiece)
DelCONT Deletes approximation parameter.
2. Cont << Back
C_DIS Selects the second approximation
C_PTP parameter
Precondition: first approximation
parameter selected
C_DIS: distance parameter for
CP motion
Can only be selected if C_VEL
or C_ORI was selected as the
first approximation parameter.
C_PTP: approximation parame-
ter for PTP motion
DelCONT Deletes approximation parameter.
Cont Switches to selection of the first
approximation parameter
Touch Up No function in the case of REL
motions.
Information about programming for KUKA System Software (KSS) 5.x from
5.5 onwards in this documentation: (>>> 5.1 "Overview of programming for
KSS 5.x from 5.5 onwards" page 13)
Procedure Select the menu sequence Commands > KRL assistant and the desired
menu item.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position refers to the BASE
FRAME coordinate system.
E6AXIS Axis-specific data types for saving the robot
AXIS position
! Placeholder for robot position, variable
LIN/CIRC Toggles between PTP, LIN and CIRC
REL Switches to relative motion. The coordi-
nates of the end point are relative to the
current position.
Softkeys Function
CONT << Back
C_PTP Approximation parameter for PTP motion
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: Distance parameter
C_ORI
C_VEL: Velocity parameter
C_ORI: Orientation paramter (tool,
workpiece)
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position refers to the BASE
FRAME coordinate system.
E6AXIS Axis-specific data types for saving the robot
AXIS position
PTP Switches to PTP motion. The coordinates
of the end point are absolute.
Softkeys Function
CONT << Back
C_PTP approximation parameter for PTP motion
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: distance parameter
C_ORI
C_VEL: velocity parameter
C_ORI: orientation parameter (tool,
workpiece)
Touch Up No function in the case of REL motions.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position refers to the BASE
FRAME coordinate system.
! Placeholder for robot position, variable
CIRC/PTP Toggles between LIN, CIRC and PTP
REL Switches to relative motion. The coordi-
nates of the end point are relative to the
current position.
CONT << Back
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: Distance parameter
C_ORI
C_VEL: Velocity parameter
C_ORI: Orientation paramter (tool,
workpiece)
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position can refer to the BASE
FRAME or TOOL coordinate system.
LIN Switches to LIN motion. The coordinates of
the end point are absolute.
Tool / Base << Back
TOOL The coordinates of the end point refer to
the TOOL coordinate system.
BASE Default setting: The coordinates of the end
point refer to the BASE coordinate system.
CONT << Back
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: distance parameter
C_ORI
C_VEL: velocity parameter
C_ORI: orientation parameter (tool,
workpiece)
Touch Up No function in the case of REL motions.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position refers to the BASE
FRAME coordinate system.
! Placeholder for robot position, variable
PTP/LIN Toggles between CIRC, PTP and LIN
REL Switches to relative motion. The coordi-
nates of the auxiliary point and end point
are relative to the current position.
CA The circular angle “CA” specifies the overall
length of the arc. This makes it possible to
extend the arc beyond the programmed
end point or to shorten it. The actual end
point thus no longer corresponds to the pro-
grammed end point.
CONT << Back
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: Distance parameter
C_ORI
C_VEL: Velocity parameter
C_ORI: Orientation paramter (tool,
workpiece)
Touch Up Teaches the current robot position.
Softkeys Function
{?} << Back
E6POS Cartesian data types for saving the robot
POS position. The position refers to the BASE
FRAME coordinate system.
CIRC Switches to CIRC motion. The coordinates
of the auxiliary point and end point are
absolute.
CA The circular angle “CA” specifies the overall
length of the arc. This makes it possible to
extend the arc beyond the programmed
end point or to shorten it. The actual end
point thus no longer corresponds to the pro-
grammed end point.
CONT << Back
C_DIS Approximation parameters for CP motion:
C_VEL C_DIS: distance parameter
C_ORI
C_VEL: velocity parameter
C_ORI: orientation parameter (tool,
workpiece)
Touch Up No function in the case of REL motions.
Overview
Option Explanation
Inserting motion The placeholder "!" enables the motion of the robot
with placeholder to be programmed without knowing the exact posi-
tion of the points which determine the path of the
robot.
(>>> 5.3.1 "Inserting motion with placeholder"
page 32)
Inserting motion A variable name is inserted instead of the place-
with variable holder. If this name has not yet been defined, a data
type is assigned to it.
(>>> 5.3.2 "Inserting motion with variable" page 32)
Teaching an end The position of the end point is adopted directly
point using the Touch Up softkey.
(>>> 5.3.3 "Teaching an end point" page 33)
Entering an end The position of the end point can be entered manu-
point manually ally in the inline form.
(>>> 5.3.4 "Entering an end point manually"
page 33)
Description Placeholders are entered for the end point in the inline form. When the pro-
gram is subsequently executed it is stopped at the points with placeholders
and the end point or the variable is inserted.
The INI sequence must be run before robot positions can be adopted in an
inline form.
The softkey bar for assigning a data type is only available if a DAT file (data
list) exists in addition to the SRC file.
5. Select a data type using the appropriate softkey in order to save the cur-
rent position of the robot.
6. Confirm the request for confirmation with the Yes softkey.
The INI sequence must be run before robot positions can be adopted in an
inline form.
Example
The INI sequence must be run before robot positions can be adopted in an
inline form.
The softkey bar for assigning a data type is only available if a DAT file (data
list) exists in addition to the SRC file.
3. Select a data type using the appropriate softkey in order to save the cur-
rent position of the robot.
4. Change the saved position data with the edit function.
5. Save and close the inline form with the Enter key.
Description The following data types for motion programming are predefined:
{X 1040., Y 0., Z 1480., A 0., B 90., C 0., S 2., T 2., E1 0., E2 0.,
E3 0., E4 0., E5 0., E6 0.}
6 Messages
7 KUKA Service
Introduction The KUKA Robot Group documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please con-
tact your local KUKA subsidiary.
Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.
Argentina Ruben Costantini S.A. (Agency)
Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com
Index
C T
CIRC motions, inline form 21, 29 Target group 5
CIRC_REL motions, inline form 23, 30
Collision detection, inline form 13 U
Uninstallation, KUKA.ExpertTech 11, 12
D
Data types 34 V
Data types, motion programming 34 Variable 32
Documentation, robot system 5
W
E Warnings 5
End point, manual input 33
End point, teaching 33
I
Installation 11
Installation, KSS 5.2, 5.3 11
Installation, KSS 5.4, 5.5, 7.0 11
Installation, KUKA.ExpertTech 11
Introduction 5
K
KUKA Customer Support 37
L
LIN motion, inline form 17, 28
LIN_REL motion, inline form 19, 29
M
Messages 35
N
Notes 5
O
Overview, KUKA.ExpertTech 7
P
Placeholder 32
Product description 7
Programming 13
Programming KSS 5.2, 5.3, 5.4, 7.0 25
Programming KSS 5.x from 5.5 onwards 13
PTP motion, inline form 13, 26
PTP_REL motion, inline form 15, 27
R
Reinstallation, KUKA.ExpertTech 12
Robot position adoption, overview 32
S
Safety 9
Safety warnings 5
Service, KUKA Roboter 37
Support request 37