+ KR 9 R600 + Calibration + A Quick Introduction to Plotting + Running a Job on the Pendant + Results + Technical Appendix Table of Contents
[1] [3]
[2]
[4] [5] [6]
[6]
KR 9 R600
KR 9 R600
[1] Envelope Switch permits automatic operations when activated by closing plexiglass gates. Otherwise, jobs are run in manual mode with constant supervision.
[4] The workspace consists of 10 panels of a modular welding table with 5/8� holes spaced at 2� for clamps and holdfasts.
[5] The pendant has an enabling device using a three position [2] The envelope demarcates the switch which, when continuously safegaurded area, that seals the held in a detented position, workspace when operations are permits motion. Release of or compression past the midpoint run in automatic mode. detent of the device stops robot motion [3] The Kuka Robot sits on an aluminum plate. The world axis for jogging the machine assumes [6] Robot movement is arrested by dynamic braking systems the origin atop the aluminum rather than simple power cutplate at the center of joint 1. off when emergency stop is activated. KR 9 R600
SmartPAD Teach Pendant
Manipulator
Connecting Cable Data Cable
Robot Controller
Motor Cable
Power Cable
KR 9 R600
Above information are taken from the Kuka Manual KR 9 R600
+
156º 4
-1
11
-
º -
5 +
-
3 +
+
350º
º
20 +1
+ 120º
-
2
+
+
1
-
340º
KR 9 R600
6
-
Above information are taken from the Kuka Manual KR 9 R600
Figure A. XYZ 4 point calibration of tool
Calibration
Calibration
Home Screen. Press on the house icon to go back.
To start the calibration, press “start-up” from the Home Screen.
The stages of calibration of the tool and the base are a very important, although manual, step in the set-up.
point in space, i.e. the tip of the nail in figure A, approaching it in 4 different directions.The lower the error between the four, the better the calibration.
By calibrating the “tool” you let the robot know where the actual tip of the tool to be employed is, relative to itself. In the method discussed in this chapter, the tip of the tool must touch a fixed
By calibrating the “base” you specify the origin and XY plane, relative to which the job will be executed.
Calibration
Press “Calibrate”.
Press “Tool”, then XYZ 4-Point.
In this menu, you can specify the tool details if necessary.
Press “Caalibrate”.
Calibration
Now you can choose between different modes to jog the robot and achieve the 4 checks. The “Axis” mode let’s you rotate each joint of the robot clockwise or counter-clockwise, from A1 at the base to A6, at the tip. “World” mode let’s you move in X, Y, or Z in a fixed coordinate system with origin at the base of the robot. You can alternate between both by changing modes.
Once you achieve one of the checks, “apply current position”. Then press Calibrate.
By pressing the key at the top, right corner, you can change the increments of the jogging, or switch to “continuous” motion. The panel in the center lets you adjust your position relative to the robot so that the movements you try to achieve are more intuitive.
Continue this process for directions 1 to 4. Then press “save”.
Calibration
The second step is to calibrate the “Base”, a coordinate system whose origin you define, for example, in the Rhino 3D interface. The origin and XY plane orientation correspond to those of your toolpath.
Enter the details of the Base if necessary.
The first step is to locate the “origin” of the plane with the tip of the tool. Then press “Calibrate”.
Now locate a point along the X-Axis of the “Base” plane. Then press “Calibrate”.
Calibration
Now move the tip of the tool to a positive point in the XY plane. Press “Calibrate” and “Save”.
The information in the screen will be needed during the toolpath set-up in MasterCam.
Figure B. Example of base calibration. Point along X-Axis Positive point in XY Plane Origin
Calibration
Plotting
A Quick Introduction to Plotting The following portion will document the steps needed to set up the tool paths to plot with the robotic arm. The process walks through bringing in geometry from Rhinoceros, setting toolpaths in MasterCam, and simulating in RoboSIM.
Plotting
The first step is to open MasterCam and set the Machine type to RobotMaster_V6_Kuka. Next we use File Merge/Pattern to import our
geometry into MasterCam.
Plotting
Once we have geometry imported, we need to set up a toolpath, in this case we will set up a Contour. A menu will pop up to allow you to
select the contours to generate a toolpath for.
Plotting
Due to the fact that we are not using a defined tool, under the tool tab simply enter 1 for Tool #, Len. Offset, Head #, and Diameter Offset. We will
set the Feed Rate to 50 and select Rapid Retract. Under Cut Parameters, turn off Compensation Type because we want the pen directly on the path.
Plotting
Under Linking Parameters we want to set a Retract about .25� above the base surface, a feed plane slightly beneath that, and the top of stock
set to 0 because we are drawing on paper. Select Absolute for all of these parameters and click ok. Nex we click the generate path option to preview.
Plotting
Enter RoboSim by clicking the Robotic Arm symbol on the top right. This will bring up a new window. In the top Left, click Global settings to begin the
simulation. We select our Robot , KR6R900, and tool. In this instance, we are faking the tool since there is not a model built in.
Plotting
Under Frame Data we set information for the base and tool. Since, we stated we aren’t using premade settings, we need to enter this information
from KUKA Pendant under tool+base information.
Plotting
For plotting and simple toolpaths we can leave the defaults under Approach/Retract and Tool and configuration.In the Motion tab we set the positioning type. This is an important step as “Exact“ will make the robot attempt to hit every point in a line by decelerating into the position then reaccelerating which can add a tremendous amount of time to the job, while Continuous will
run it through points based on Criterion you select. If we use distance, under Positioning Criteria Values, we can set the tolerance that it can pass through points within. In most cases this will develop a slight fillet of the radius based on the distance you select. After we select this, click ok, and move on to setting Local settings.
Plotting
This first setting is Axis Configuration which shows how the machine will approach a surface from different orientations. In our case this isn’t important but on more complex geometry
needs to be adjusted to avoide collisions. Under Optimization we can check if there are any collisions detected.
Plotting
If there are, we can slide the points out of range by clicking the point and moving it up or down. This changes the angle on which the tool approaches
the surface, after adjustment, click Calculate and if the line is green, click okay. The screen will now show the predicted movement of the robot.
Plotting
Now using the play button in the bottom left corner we can run through the simulation of the toolpath. If the path is clear, click Generate Program, save to a flash drive, it will be time to
insert the flashdrive into the KUKA and start setting up on the pendent covered in the next portion.
Plotting
Pendant
Running a Job on the Pendant
Pendant
Switch on the device. Insert the USB with the G-Code into the back of the pendant. You will not be able to see the USB device until you log in. First we will log in.
Pendant
You may need to skip through a ‘cold start’ alerts by pressing OK
Pendant
Click Main menu (the roboic arm)
Pendant
Select ‘configuration’ and then ‘user groups’
Pendant
Select ‘log on’
Pendant
Scroll down to ‘Administrator’ Type the password. Then select ‘log on’.
Pendant
Return to the Navigation screen, and you will now be able to see USB sticks. Click on the USB stick
Pendant
Navigate to your file. Highlight it, and then click on edit
Pendant
Select Copy
Pendant
Navigate to the R1 folder
Pendant
Once you have opended the R1 file, click edit
Pendant
Paste your file into this folder
Pendant
With your file highlighted, click ‘Open’
Pendant
This will open the G code - verify, and then click the marker to edit it
Pendant
Use the editor to change the z height for a test.
Pendant
Pendant
Once you have completed your edits, press the marker again to remove the editor. Then, whilst holding down the grey safety switches, press and hold the green ‘play’ button
Pendant
Pendant
Results
Technical Appendix
Arm
In Line Wrist Link Arm
Rotating Column
Electrical Installations Base Frame
Appendix
Above information are taken from the Kuka Manual Appendix
Above information are taken from the Kuka Manual Appendix
Above information are taken from the Kuka Manual Appendix
Above information are taken from the Kuka Manual Appendix
Above information are taken from the Kuka Manual Appendix