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库卡机器人详细操作指导说明书.pdf
软 件
K R C...
配 置
KUKA系统软件(KSS)
版本4.1
出版日期2004年1月09日 版本:06
1
@版权 KUKA Roboter GmbH
复制或者向第三者传授本文，包括本文的段落章节，必须经过出版者的明确许可。
本文中未作描述的、控制部分中的其它功能有可能起作用。尽管如此，在重新供货或提供服务时，用户
无权对上述功能提出要求。
我们对本印制品就其内容同它所描述的硬件和软件的一致性做过审查，但是它们之间的偏差在所难免。
所以，我们对上述一致性不做承诺。本印制品中的数据和说明受到定期检查，必要的修改将在后续的版
本中给出。
在不对系统功能产生影响的前提下，保留技术更改权。
PD Interleaf
2
目录
1 配置系统.···································································································································· 7
1.1 综述············································································································································ 7
1.2 功能············································································································································ 11
1.2.1 屏幕保护································································································································· 11
1.2.1.1 屏幕保护的设置 ·················································································································· 11
1.2.1.2 功能······································································································································ 14
1.3 “Configure”菜单 ························································································································· 15
1.3.1 输入/输出································································································································ 15
1.3.1.1 夹钳······································································································································ 16
1.3.1.2 外部自动方式 ······················································································································ 16
1.3.2输入/输出驱动·························································································································· 17
1.3.2.1 编辑Config···································································································································17
1.3.2.2驱动复位········································································································································18
1.3.2.3 I/O配置 ·········································································································································21
1.3.3 Submit解释程序·······························································································································22
1.3.4 状态键 ···········································································································································23
1.3.5 手动(倍率) ······································································································································24
1.3.5.1 Program--OV--Steps(POV) ···········································································································24
1.3.5.2 Jog--OV--Steps(HOV)···················································································································24
1.3.5.3 鼠标位置······································································································································24
1.3.5.鼠标配置··········································································································································24
1.3.6 U用户组···········································································································································25
1.3.7 当前工具/基本································································································································27
1.3.8 工具定义·········································································································································28
1.3.9 On/Off选项 ······································································································································31
1.3.9.1 强制冷启动··································································································································31
1.3.9.2 不能断电延时 ······························································································································31
1.3.10 其他功能·······································································································································32
1.3.10. 语言··············································································································································32
1.3.10. 密码··············································································································································34
1.3.10. 编辑器··········································································································································35
1.3.10. Office GUI开/关····························································································································38
1.3.10.工作区域监测································································································································40
1.3.10. 技术选择······························································································································ 41
1.3.10. 重新初始化 ·························································································································· 43
1.4 “File”菜单 ··································································································································· 44
1.4.1归档··········································································································································· 44
1.4.2存储 ········································································································································· 44
2系统配置，专家·····································································································································45
2.1 变量综述············································································································································45
2.1.1 显示 ················································································································································45
2.1.2 配置 ················································································································································45
2.1.3 编辑“ConfigMon.ini”······················································································································48
2.2 长文本········································································································································ 49
2.3启动时的速度降低 ······················································································································ 51
2.4自动外部方式下确认信息 ··················································································································53
3
2.5 控制柜监测 ······································································································································· 54
2.5.1 外部风扇 ········································································································································ 54
2.5.2 PC 风扇 ·········································································································································· 54
2.5.3 硬件报警的可配置输出················································································································· 54
2.5.4 电机电缆监测 ································································································································ 54.
2.6 模拟输入/输出 (I/O 模拟)··············································································································· 55
2.6.1 功能················································································································································ 55
2.6.2 选项················································································································································ 57
2.6.3 使用的变量 ···································································································································· 58
2.7 5个原点位置 ··································································································································· 59
2.7.1 “\R1\MaDa\$machine.dat” 文件 ····································································································· 59
2.7.2 “\Steu\MaDa\$machine.dat” 文件··································································································· 60
2.8 工作区域监测 ··································································································································· 61.
2.8.1笛卡儿坐标系工作区域监测 ··········································································································· 61
2.8.1.1 配置 ··········································································································································· 61.
2.8.1.2 倍率 ············································································································································· 66
2.8.1.3 例子 ············································································································································· 67
2.8.2 轴工作区域监测····························································································································· 72
2.8.2.1 功能的原则 ································································································································· 72
2.8.2.2 配置 ············································································································································· 75
2.8.2.3 倍率 ············································································································································· 79
2.8.2.4 例子 ············································································································································· 80
2.9 力矩方式（软件伺服）···················································································································· 89
2.9.1 综述················································································································································ 89
2.9.1.1 限制和危险 ······························································································································· 89
2.9.1.2 力矩方式应用的例子·················································································································· 89
2.9.2 功能的原则 ···································································································································· 90
2.9.3 软轴有效的例子····························································································································· 91
2.9.3.1 轴1为软轴 ································································································································· 91
2.9.3.2轴3为软轴 ····································································································································· 91
2.9.4 定义轴力矩的例子························································································································· 92
2.9.5 力矩方式的变量····························································································································· 92
2.10 干涉的监测 ····································································································································· 94
2.10.1 功能 ·············································································································································· 94
2.10.2 配置 ·············································································································································· 94
3外部自动··························································································································· 99
3.1 综述··················································································································································· 99
3.2 配置接口 ··········································································································································· 99
3.2.1 输入················································································································································ 100
3.2.1.1 输出 ············································································································································· 101
3.3 自动系统开始 ··································································································································· 102
3.4 技术-特殊的组织程序CELL.SRC ···································································································· 103
3.5 P00 (AUTOMATIC EXTERNAL) 模块 ··························································································· 105
3.5.1 EXT_PGNO 功能 ························································································································· 105.
3.5.1.1请求主计算机的程序号················································································································ 105
3.5.1.2 收到程序号的通讯······················································································································ 105
3.5.1.3 错误处置 ····································································································································· 106
3.5.2 功能················································································································································ 107
3.6 信号说明 ··········································································································································· 109
4
3.6.1 输入·······················································································································109
3.6.1. PGNO_TYPE ········································································································109
3.6.1. PGNO_LENGTH ···················································································································· 109
3.6.1. PGNO_FBIT···························································································································· 109
3.6.1. REFLECT_PROG_NR············································································································ 110
3.6.1. PGNO_PARITY······················································································································ 110
3.6.1. PGNO_VALID ······················································································································ 110
3.6.1. EXT_START··························································································································· 110
3.6.1. MOVE_ENABLE···················································································································· 111
3.6.1. CHCK_MOVENA··················································································································· 111
3.6.1. CONF_MESS ························································································································ 111
3.6.1.11 DRIVES_ON ····················································································································· 112
3.6.1.12 DRIVES_OFF ····················································································································· 112
3.6.2输出 ········································································································································· 113
3.6.2.1 STOPMESS··························································································································· 113
3.6.2.2 PGNO_REQ ························································································································ 113
3.6.2.3 PGNO_FBIT_REFL ·············································································································· 113
3.6.2.4 APPL_RUN ························································································································· 113
3.6.2.5 PERI_RDY ·························································································································· 113
3.6.2.6 ALARM_STOP····················································································································· 114
3.6.2.7 USER_SAF ·························································································································· 114
3.6.2.8 T1,T2,AUT,EXTERN············································································································ 114
3.6.2.9 ON_PATH····························································································································· 114
3.6.2.10 NEAR_POSRET·················································································································· 115
3.6.2.11 PRO_ACT ························································································································· 115
3.6.2.12 IN_HOME ························································································································· 116
3.6.2.13 ERR_TO_PLC ··················································································································· 116
3.6.3 其它变量································································································································· 117
3.6.3.1 PGNO···································································································································· 117
3.6.3.2 PGNO_ERROR ··················································································································· 117
3.7 信号图········································································································································ 118
3.7.1 自动系统开始和借助于PGNO_VALID程序号确认的正常操作 ·········································· 118
3.7.2自动系统开始和借助于$EXT_START程序号确认的正常操作············································· 119
3.7.3 动态制动后重新开始(操作安全和重新开始)················································································120
3.7.4 轨迹保持急停后重新开始 ···················································································120
3.7.5运动使能后的重新开始 ···················································································································122
3.7.6用户STOP后的重新开始··················································································································123
3.8 更多的说明································································································································ 124
3.8.1被动停止后的重新开始············································································································ 124
3.8.2单段执行程序 ··························································································································· 124
3.8.3返回到编程轨迹的速度············································································································ 124
3.9 配置的实例································································································································ 125
3.9.1 声明 ······································································································································· 125
3.10 信息 ········································································································································ 127
5
6
1 配置系统
1. 1综述
1 配置系统
这一章说明怎样配置系统.配置功能的大多数通过 “Configure”菜单来实现.
低于专家级别时无效
进一步的功能在“File”菜单找到.
7
配置
*低于专家级别时无效
8
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