TechPack Function manual.pdf

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Software
SOFTWARE
KR C...
Function Generator
System Tech (KSS) 5.1
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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 Characteristics, functional description
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1.1 Characteristics
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1.2 Functional description
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1.2.2 Function definition
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1.2.4 The correction coordinate system TTS
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1.3 Configuration
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2 Programming, parameterization
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2.1.1 $TECH[i], $TECH_C[i], i=1,...,6
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2.1.3 $TECHPAR[i, j], i=1,...,6 , j=1,...,10
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2.1.4 $TECHPAR_C[i, j], i = 1,...,6 , j=1,...,10
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2.1.5 $TECHVAL[i], i = 1,...,6
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2.1.7 $TECHSYS_C
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2.1.9 $TECHANGLE_C
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2.1.11 $DISTANCE
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2.2 Analog sensors
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2.2.2 Parameterization
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2.2.3 Correction direction
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2.2.4 Changing technology mode, correction variable
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2.3 Conveyor synchronization
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2.4 Complex sensors
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3 Application examples
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3.2 Analog sensor
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3.3 Conveyor synchronization
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1.2.1 Basic principle
1.2.3 Correction direction
2.1 Structure variables
2.1.2 $TECHIN[i], i = 1,...,6
2.1.6 $TECHSYS
2.1.8 $TECHANGLE
2.1.10 $TSYS
2.2.1 Interface
3.1 Weaving
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Function Generator
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1 Characteristics, functional description
1 Characteristics, functional description
1.1 Characteristics
The function generator included in the KRC software is easy to use and allows the user to
implement the following functions:
G Mechanical weaving
G Thermal weaving
The function values can be used at KRC analog outputs to modulate the weld current
and the wire feed rate.
G Analog sensors
G
Conveyor synchronization
G
Coupling of intelligent sensors (META, SCOUT, ...).
The following diagram illustrates mechanical and thermal weaving using the function
generator.
Mechanical weaving
Taking the example of a weld
application
Thermal weaving
Weave amplitude
Weld voltage
Length
(1 period)
(volts)
Max. voltage
To r ch
Min. voltage
Component
plane
Weave plane
Weld direction
Wire feed
Max. feed
Min. feed
Weld direction
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