Configuration_manual.pdf
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1245 KB
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Pobierz
Deckblatt-P10.98neu
SOFTWARE
KR C2 / KR C3
Configuration
KUKA System Software (KSS)
Release 5.2
Issued: 05 Aug 2005 Version: 02
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e
Copyright
KUKA Roboter GmbH
This documentation or excerpts therefrommay not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim 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 subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf
KonfigurationPHR5.2 09.03.02 en
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Contents
1 Configuring the system
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7
1.1 The “Configure” menu
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9
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1.1.1.1 Automatic External
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9
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1.1.2.1 Edit I/O Config.
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10
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1.1.2.3 Reconfigure I/O Driver
10
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12
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1.1.2.5 Serial Communication
13
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13
1.1.3 Submit interpreter
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14
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1.1.5 Jogging (Override)
14
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1.1.5.1 Program override steps (POV)
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15
1.1.5.2 Jog override steps (HOV)
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15
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1.1.5.4 Mouse configuration
15
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15
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1.1.7 Cur. tool/base
15
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17
1.1.8 Tool definition
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1.1.9.1 Force cold startup
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1.1.9.2 Disable PowerOff Delay
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1.1.10 Miscellaneous
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1.1.10.2 Change password
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1.1.10.4 Office GUI
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1.1.10.5 Monitoring working envelope
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1.1.10.7 Cycle Time Optimizer
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1.2 The “File” menu
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1.2.1 Archive
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1.2.2 Restore
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2 Configuring the system, Expert
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31
2.1 Variable overview
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31
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2.1.2 Configure
31
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2.1.3 Edit ConfigMon.ini
31
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2.2
Long text
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34
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2.3.1 Control cabinet external fan
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37
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2.3.3 Configurable output for hardware warnings
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2.4 Simulated inputs/outputs (I/O simulation)
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1.1.1 I/O
1.1.2 Drivers
1.1.2.2 I/O Driver Reset
1.1.2.4 I/O State
1.1.4 Status keys
1.1.5.3 Mouse position
1.1.6 User group
1.1.9 On/Off Options
1.1.10.1 Language
1.1.10.3 Editor
1.1.10.6 Reinitialization
1.1.10.8 Event planner
2.1.1 Display
2.3 Monitoring
2.3.2 PC fan
2.3.4 Motor cable monitoring
Configuration
2.4.1 Function
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2.4.3 Variables used
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2.5.1 “\R1\MaDa\$machine.dat” file
5 home positions
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2.5.2 “\Steu\MaDa\$machine.dat” file
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2.6.1 Cartesian workspace monitoring
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2.6.1.1 Configure
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2.6.1.2 Override
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2.6.2 Axis--specific workspace monitoring
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2.6.2.1 Functional principle
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2.6.2.2 Configure
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2.6.2.3 Override
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2.7 Torque mode (Soft Servo)
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2.7.1.1 Limitations and risks
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2.7.1.2 Example of torque mode application
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2.7.3 Examples for activation of soft axes
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2.7.3.1 Axis 1 soft
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2.7.4 Example of axis with defined torque
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2.7.5 Variables for torque mode
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2.8 Collision monitoring
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2.8.2 Configuration
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3 Automatic External
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3.2 Configuring the interface
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3.2.1.1 Outputs
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3.3 Automatic system start
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3.4 Technology--specific organization program CELL.SRC
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3.5 The P00 (AUTOMATIC EXTERNAL) module
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3.5.1.1 Request of a program number from the host computer
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3.5.1.2 Communication of receipt of a valid program number
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3.5.2 The EXT_ERR function
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3.6 Signal descriptions
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3.6.1.1 PGNO_TYPE
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3.6.1.2 PGNO_LENGTH
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3.6.1.4 REFLECT_PROG_NR
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3.6.1.5 PGNO_PARITY
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2.4.2 Options
2.5
2.6 Workspace monitoring
2.6.1.3 Examples
2.6.2.4 Example
2.7.1 General
2.7.2 Functional principle
2.7.3.2 Axis 3 soft
2.8.1 Function
3.1 General
3.2.1 Inputs
3.5.1 The EXT_PGNO function
3.5.1.3 Error handling
3.6.1 Inputs
3.6.1.3 PGNO_FBIT
3.6.1.6 PGNO_VALID
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3.6.1.8 MOVE_ENABLE
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3.6.1.9 CHCK_MOVENA
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3.6.1.10 CONF_MESS
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3.6.1.11 DRIVES_ON
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3.6.1.12 DRIVES_OFF
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3.6.2.1 STOPMESS
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3.6.2.3 PGNO_FBIT_REFL
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3.6.2.4 APPL_RUN
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3.6.2.6 ALARM_STOP
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3.6.2.8 T1, T2, AUT, EXTERN
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3.6.2.10 NEAR_POSRET
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3.6.2.11 PRO_ACT
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3.6.2.13 ERR_TO_PLC
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3.6.3 Other variables
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3.6.3.2 PGNO_ERROR
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3.7.1 Automatic system start and normal operation with program number acknowledgement
by means of PGNO_VALID
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3.7.2 Automatic system start and normal operation with program number acknowledgement
by means of $EXT_START
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3.7.3 Restart after dynamic braking (operator safety and restart)
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3.7.4 Restart after path--maintaining EMERGENCY STOP
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3.7.5 Restart after motion enable
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3.7.6 Restart after user STOP
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3.8.1 Restart after passive stop
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3.8.2 Step by step program execution
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3.8.3 Velocity for returning to the programmed path
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3.9 Configuration example
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3.9.1 Declarations
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3.10 Messages
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3.6.1.7 EXT_START
3.6.2 Outputs
3.6.2.2 PGNO_REQ
3.6.2.5 PERI_RDY
3.6.2.7 USER_SAF
3.6.2.9 ON_PATH
3.6.2.12 IN_HOME
3.6.3.1 PGNO
3.7 Signal diagrams
3.8 Other
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