bedhbstartup_r5.2_en.pdf

SOFTWARE

KR C2 / KR C3

Start--up

KUKA System Software (KSS)

Release 5.2

Issued: 26 Sep 2003 Version: 00

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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

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Contents

1 Robot mastering/unmastering

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.......................................................................

1.2 Mastering with the dial gauge

....................................................

.........................................................

1.3.1 Brief description of the functions

.................................................

...........................................................

1.3.3 Preparation for EMT mastering

..................................................

......................................................................

1.3.4.1 Set mastering

.................................................................

1.3.4.2 Check mastering

...............................................................

1.3.5 With load correction

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1.3.5.1 First mastering

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1.3.5.2 Teach offset

...................................................................

1.4 Save mastering data

...........................................................

1.5 Mastering the KR 3

.............................................................

1.5.1 Robot mastering

...............................................................

..................................................................

1.5.3 Alter factory mastering

..........................................................

1.6 Reference point mastering

......................................................

...........................................................

1.8 Mastering of master/slave drives

.................................................

2 Calibration

......................................................

2.1 Fundamentals

.................................................................

2.1.1 Prerequisites

..................................................................

...................................................................

2.2 Tool calibration

................................................................

2.2.2 X Y Z -- Reference

.............................................................

2.2.3 A B C -- 2--Point

...............................................................

.................................................................

2.2.4.1 The “A B C -- World (5D)” method

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2.2.4.2 The “A B C -- World (6D)” method

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2.2.5 Numeric Input

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2.2.6 Payload data

..................................................................

.........................................................................

2.3.1 3--Point

.......................................................................

2.3.3 Numeric Input

.................................................................

2.4 Fixed tool

.....................................................................

....................................................................

2.4.1.1 Direct measuring

...............................................................

2.4.1.2 Indirect measuring

.............................................................

2.4.2 Tool

..........................................................................

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1.1 General

1.3 Mastering with the EMT

1.3.2 Application examples

1.3.4 Standard

1.3.5.3 Master load

1.5.2 Commutation

1.7 Unmastering an axis

2.1.2 Introduction

2.2.1 X Y Z -- 4--Point

2.2.4 A B C -- World

2.3 Base

2.3.2 Indirect

2.4.1 Workpiece

Start--up

2.4.3 Offset external kinematic

........................................................

2.4.4 Numeric Input

.................................................................

2.5 Supplementary load data

........................................................

2.6 External kinematic

.............................................................

2.7 Measurement Points

...........................................................

2.8 Tolerances

....................................................................

2.9 Error treatment

................................................................

3 Calibration -- External kinematics

.................................

3.1 Root point

.....................................................................

3.2 Root point (numeric)

............................................................

3.3 Offset

........................................................................

...............................................................

3.5 Offset external kinematic

100

........................................................

102

4 Robot Data

......................................................

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3.4 Offset (numeric)

1 Robot mastering/unmastering

1.1 General

When mastering the robot, the axes are moved into a defined mechanical position, the

so--called mechanical zero position. This mechanical zero position represents an

assignment to the axis drive angle and is defined by a reference notch or mark.

Once the robot is in this mechanical zero position, the increment counter for each axis is set

to the value corresponding to the axis angle (generally 0 increments for 0 degrees). In order

to move the robot exactly to the mechanical zero position, a dial gauge or electronic

measuring tool (EMT) is used.

The robot must always be mastered under the same temperature conditions and with the

same load in order to avoid inaccuracies arising through thermal expansion. This means

that mastering must be carried out with the robot always cold or always at operating

temperature.

Vernier on axis 5 Gauge cartridge on axis 2

Depending on the size of the robot, the axes feature either a vernier or a gauge cartridge for

receiving a dial gauge or an electronic measuring tool (EMT).

1 Reference notch

2 Electronic measuring

tool or dial gauge

3 Gauge pin

4 Gauge cartridge

Cross--section of a gauge cartridge

To locate the mechanical zero position of a robot axis precisely, it must first be aligned to its

pre--mastering position. The protective cap of the gauge cartridge is then removed and a dial

gauge or an EMT is fitted to it. The EMT is connected via a cable to connection “X32” on the

robot junction box.

When, on moving over the reference notch, the gauge pin reaches its lowest point, the

mechanical zero position is reached. The electronic measuring tool sends an electronic

signal to the controller. The corresponding axis is mastered.

If using a dial gauge, the zero position can be recognized by the abrupt reversal of the pointer.

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