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Operation Trainning

The document provides an overview of industrial robots, including their definition, components, and operation modes. It details the functions of the KUKA smartPAD, including emergency stop features, program selection, and robot movement in both individual axes and coordinate systems. Additionally, it outlines the process for creating and modifying robot programs and motions.

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36 views10 pages

Operation Trainning

The document provides an overview of industrial robots, including their definition, components, and operation modes. It details the functions of the KUKA smartPAD, including emergency stop features, program selection, and robot movement in both individual axes and coordinate systems. Additionally, it outlines the process for creating and modifying robot programs and motions.

Uploaded by

ahmedabdelazizalsayed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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1.

Robot basics

What is a robot? The term robot comes from the Slavic word robota, meaning hard work.

According to the official definition of an industrial robot: “A robot is a freely

programmable, program-controlled handling device”.

The robot system thus also includes the controller and the operator control

device, together with the connecting cables and software.

Fig. 1-1: Industrial robot

1 Controller ((V)KR C5 control cabinet)

2 Manipulator (robot arm)

3 Teach pendant (KUKA smartPAD)


Axes of a KUKA robot :
Overview of smartPAD:
Item Describtion
1 Button for disconnecting the smartPAD.
2 The operating mode can be changed by using the connection manager.

3 EMERGENCY STOP button. Stops the robot in hazardous situations.

4 Space Mouse: For moving the robot manually.


5 Jog keys: For moving the robot manually.
6 Key for setting the program override.
7 Key for setting the jog override.
8 Main menu key: Shows the menu items on the smartHMI
9 Status keys. The status keys are used primarily for setting parameters in
technology packages. Their exact function depends on the technology packages
installed.

10 Start key: The Start key is used to start a program.


11 Start backwards key: The Start backwards key is used to start a program
backwards. The program is executed step by step.

12 STOP key: The STOP key is used to stop a program that is running.
13 Keyboard key Displays the keyboard. It is generally not necessary to press this
key to display the keyboard, as the smartHMI detects when keyboard input is
required and displays the keyboard automatically
Selecting and setting the operating mode :

• T1 (Manual Reduced Velocity)

For test operation, programming and teaching

• T2 (Manual High Velocity)

For test operation

Velocity in program mode corresponds to the programmed velocity!

Jog mode: not possible

• AUT (Automatic)

For industrial robots without higher-level controllers

Velocity in program mode corresponds to the programmed velocity!

Jogging with the jog keys or Space Mouse is not possible.

• AUT EXT (Automatic External)

For industrial robots with higher-level controllers (PLC)

Velocity in program mode corresponds to the programmed velocity!

Jog mode: not possible


Moving individual robot axes:

1. Select Axis as the option for the jog keys.


2. Set jog override.
3. Press the enabling switch into the center position and hold it down.
4. Axes A1 to A6 are displayed next to the jog keys.
Press the Plus or Minus jog key to move an axis in the positive or negative
direction.
Moving the robot in the world coordinate system:

A robot can be moved in a coordinate system in two different ways:

• Translational (in a straight line) along the orientation directions of the coordinate

system: X, Y, Z

• Rotational (turning/pivoting) about the orientation directions of the coordinate

system: angles A, B and C


Selecting and starting robot programs:

1. Navigator: directory/drive structure


2. Navigator: directory/data list
3. Selected program
4. Button for selecting a program

Program states:

o Gray: No program is selected.


o Yellow: The block pointer is situated on the first line
of the selected program.
o Green: The program is selected and is being executed.
o Red :The selected and started program has been
stopped.
o Black: The block pointer is situated at the end of
the selected program.
How program looks like:

1 DEF KUKA_Prog()

3 INI

4 SPTP HOME VEL= 100 % DEFAULT

5 SPTP HOME VEL= 100 % DEFAULT

7 END

Creating program modules:

1. In the directory structure, select the folder in which the program is to be

created, e.g. the folder Program.

2. Press the New softkey.

3. Enter a name for the program, and a comment if desired, and confirm it

with OK.
Creating and modifying programmed motions:

1. Move the TCP to the position that is to be taught as the end point.
2. Position the cursor in the line after which the motion instruction is to be inserted.
3. Menu sequence Commands > Motion > SPTP.

1. Move the TCP to the position that is to be taught as the end point.
2. Position the cursor in the line after which the motion instruction is to be inserted.
3. Menu sequence Commands > Motion > SLIN.

1. Move the TCP to the position that is to be taught as the end point.
2. Position the cursor in the line after which the motion instruction is to be inserted.
3. Menu sequence Commands > Motion > SCIRC.

In line form for ArcON and ArcOFF is similar like the photo below :

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