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User Programming Motion Gripper Logic Comment Expert KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 1
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User Programming Motion Gripper Logic Comment Expert KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 2
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User Programming Motion Gripper Logic Comment Expert KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 3
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User Programming Motion Gripper Logic Comment Expert KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 4
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User Programming Motion Gripper Logic Comment Expert KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 5
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Types of motion Types of motions (types of interpolation) of a KUKA-robot PTP (Point To Point): LIN (LINear): The tool The tool is moved is guided at a defined CIRC (CIRCular): along the quickest path velocity along a straight The tool is guided with a to a destination point line (shortest way). defined velocity along a (fastest way). circular path (intermediate point necessary). P2 P2 P1 P2 P1 P1 KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 6
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Programming of motions Open the menu using the menu key “COMMANDS”. From this menu select “MOTION”. You can make your selection from the motion instructions (PTP, LIN or CIRC) offered. KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 7
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PTP motion with exact positioning PTP motion P2 without approximation exact position possible PTP paths P2 shortest distance P3 P1 KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 8
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Motion profile (synchronized) P1 single axis velocity v e.g. Axis 2: leading axis P2 V max e.g. Axis 3 adapted e.g. Axis 6 adapted P1 P2 time t acceleration constant deceleration KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 9
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PTP-motion with approximate positioning At a continuous path motion the destination position is not positioned exactly but approximated. Therefore the robot must not be decelerated to a stop. Advantages: • less wear out • better cycle time P1 Z P2 Y P3 X KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 10
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Improving the cycle time using continuous motion commands P1 P2 P3 P4 V ohne Überschleifen prog Geschwindigkeit Zeit (sec) 5 10 15 20 25 30 V mit Überschleifen prog Geschwindigkeit Zeit (sec) 5 10 15 20 25 30 P1 P2 P3 P4 KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 11
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PTP motion with approximate positioning PTP motion P2 with approximation approximation possible PTP CONT-paths P2 P3 P1 shortest distance KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 12
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Programming a PTP motion velocity motion type of motion parameters exact positioning approximation name of point KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 13
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Programming a PTP motion Tool select tool Tool_Data[1]..[16], Nullframe Base select base Base_Data[1]..[16], Nullframe External TCP Robot guiding tool: False Robot guiding workpiece : True KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 14
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Programming a PTP motion Acceleration To be used I the motion. Value: 1..100% Approximation Distance*) To be used I the motion. Value: 0..100% *) The parameter „Approximation Distance“ is only available if “CONT” has been switched on. KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 15
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LIN motion with exact positioning LIN motion P2 without approximation exact position P2 P3 P1 shortest distance KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 16
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Velocity profile path velocity v P1 V prog P2 P1 P2 time t acceleration constant deceleration KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 17
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LIN motion with approximate positioning LIN motion P2 with approximation approximation P2 P3 P1 Two parable branches (symmetric if velocity is constant) KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 18
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Programming a LIN motion velocity motion type of motion parameters exact approximation name of point KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 19
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Programming a LIN motion Tool select tool Tool_Data[1]..[16], Nullframe Base select base Base_Data[1]..[16], Nullframe External TCP Robot guiding tool: False Robot guiding workpiece : True KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 17.08.00 I College I ML I 20
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