Workbook_KUKA_Sim_Pro_V2.x(R00)_en

_________________________SEMINARARBEITSHEFTVONKUKA.SIMPROVersion2.xCELLPLANNERS&DESIGNERSWorkbookKUKASimProV2.x01.06.00enCopyright2/118WorkbookKUKASimProV2.x01.06.00enCopyright©Copyright2006KUKARoboterGmbHZugspitzstraße140D-86165AugsburgThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofthepublishers.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimstothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,however,andnecessarycorrectionswillbeincorporatedinsubsequenteditions.Subjecttotechnicalalterationswithoutaneffectonthefunction.KUKARoboterGmbHacceptsnoliabilitywhatsoeverforanyerrorsintechnicalinformationcommunicatedorallyorinwritinginthetrainingcoursesorcontainedinthedocumentation.Norwillliabilitybeacceptedforanyresultantdamageorconsequentialdamage.Responsibleforthistrainingdocumentation:CollegeDevelopment(WSC-IC)ContentsWorkbookKUKASimProV2.x01.06.00en3/118Contents4.1.BASE/TOOL54.2.Signalexchange74.2.1.Exercise1–Signalexchange114.3.Creatingcomponents154.3.1.Exercise2a–Parametricconveyor204.3.2.Exercise2b–Parametricconveyor304.4.Creatingakinematicsystem334.4.1.Exercise3–Creatingakinematicsystem394.4.2.Exercise4–Creatingakinematicsystem[Signal/PythonScript]424.5.KUKA.OfficeLite474.5.1.Exercise5–KUKA.SimPro–KUKA.OfficeLite534.6.Robotonalinearunit554.6.1.Exercise6–Robotonalinearunit/componenttransfer604.7.Externalkinematicsystem634.7.1.Exercise7–Externalaxiswithabstractconnection654.8.Creatinglayerpatterns694.8.1.Exercise8–Generating/showingobjects734.9.Interfaces754.9.1.Exercise9–Gantrywithrobot824.10.RoboTeam874.10.1.Exercise10–RoboTeam904.11.Additionalfunctions954.11.1.Exercise11–Reducing/breakingdown/groupingdata1004.11.2.Exercise12–Insertingalogo1054.11.3.Exercise13–Importingaprogram1074.11.4.Exercise14–Materialflow1094.12.SummaryPro117Contents4/118WorkbookKUKASimProV2.x01.06.00enKUKA.SimProWorkbookKUKASimProV2.x01.06.00en5/1184.KUKA.SimPro4.1.BASE/TOOLKUKA.SimPro6/118WorkbookKUKASimProV2.x01.06.00en12/200511_Base_Tool_en.ppt©CopyrightbyKUKARoboterGmbHCollegeBASE_DATA[]canbedefinedintheprogramsection.Theoffsetvaluesarerelativetotheselectedbase.TheoffsetRelativeisrelativetothecurrentposition.IfyouareworkingwithKUKA.OfficeLite,abaseshouldalwaysbespecified.BASE&TOOLBASEoffset12/200521_Base_Tool_en.ppt©CopyrightbyKUKARoboterGmbHCollegeTOOL_DATA[]canbedefinedintheprogramsection.Theoffsetvaluesarerelativetotheselectedtool.TheoffsetRelativeisrelativetothecurrentposition.IfyouareworkingwithKUKA.OfficeLite,thetoolshouldalwaysbespecified.TOOLoffsetBASE&TOOLKUKA.SimProWorkbookKUKASimProV2.x01.06.00en7/1184.2.SignalexchangeKUKA.SimPro8/118WorkbookKUKASimProV2.x01.06.00en12/200512_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollege1.Markrobot2.ActivatePlug&Play3.Selectsignalconnection4.Entersignalconnection5.INandOUTaresortedbyclickingonIDa.MarkdesiredIN/OUTb.Entercomponent-Selectfromlist-Clickoncomponentc.Selectsignald.Connecte.CloseRobot–sensor/conveyorSignalexchange12/200522_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollegeTOOL_DATA[1]OUT[1]TOOL_DATA[9]OUT[9]TOOL_DATA[2]OUT[2]TOOL_DATA[10]OUT[10]TOOL_DATA[3]OUT[3]TOOL_DATA[11]OUT[11]TOOL_DATA[4]OUT[4]TOOL_DATA[12]OUT[12]TOOL_DATA[5]OUT[5]TOOL_DATA[13]OUT[13]TOOL_DATA[6]OUT[6]TOOL_DATA[14]OUT[14]TOOL_DATA[7]OUT[7]TOOL_DATA[15]OUT[15]TOOL_DATA[8]OUT[8]TOOL_DATA[16]OUT[16]GripperfunctionSignaldeclaration–GripperSignalexchangeGripperprinciple:DefaultsettingforgripperactionPartGripzoneGripperKUKA.SimProWorkbookKUKASimProV2.x01.06.00en9/11812/200532_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollegeChangingtheassignment:1.Markrobot2.OpenParamtab3.ClickonConfigureGraspReleasTraceAssignmentmenu:4.Selectdesiredsignal5.UnderUsing,selectTOOL_DATA[n]6.SetsensorrangeSignalexchange12/200542_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollegeMountTool(toolchanger)SignalexchangeAssignmentmenu:KUKA.SimPro10/118WorkbookKUKASimProV2.x01.06.00en12/200552_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollegeSignaldeclaration–MountToolDefaultsettingforMountToolTOOL_DATA[1]OUT[33]TOOL_DATA[9]OUT[41]TOOL_DATA[2]OUT[34]TOOL_DATA[10]OUT[42]TOOL_DATA[3]OUT[35]TOOL_DATA[11]OUT[43]TOOL_DATA[4]OUT[36]TOOL_DATA[12]OUT[44]TOOL_DATA[5]OUT[37]TOOL_DATA[13]OUT[45]TOOL_DATA[6]OUT[38]TOOL_DATA[14]OUT[46]TOOL_DATA[7]OUT[39]TOOL_DATA[15]OUT[47]TOOL_DATA[8]OUT[40]TOOL_DATA[16]OUT[48]WithMountToolsignals,theassociatedinterfacesarealsotakenintoaccount,i.e.theinterfaceconnectionsarealsoconnectedanddisconnectedduringmountingandunmounting.Signalexchange12/200562_Signal_exchange_en.ppt©CopyrightbyKUKARoboterGmbHCollegeSignaldeclaration–TraceDefaultsettingforthetraceTOOL_DATA[1]OUT[17]TOOL_DATA[9]OUT[25]TOOL_DATA[2]OUT[18]TOOL_DATA[10]OUT[