Operating and programming instruction
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA website
https://Kuka.com
Kuka official website
https://my.kuka.com
Register account, dashboard, news, product/service…
https://Xpert.kuka.com
Digital manual with instruction and document…
https://Compose.kuka.com
Selection and analysis load data
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Overview Robot System
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Robot
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Robot
Basic Data
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Robot
Working envelope
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
Payload
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Controller type
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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New Controller type
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KR C5 micro
Basic Data
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Controller
KRC5 micro
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Controller information
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Controller KR C5 Components
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Controller KR C5 Components
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Controller devices
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Installation
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Installation
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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XG12/XD12, 12.1 digital I/O interfaces
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Safety interface XG11.1
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Safety interface XG11.1
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Interface XG58, external enabling switch
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Safety Instruction
Mechanical Hazards:
 KUKA robot is always stronger than you
 The path of a robot is not foreseeable in all case
Electrical hazards:
 Robot is an electrical machine with hazardous voltage and currents
Safety Zone, Danger zone:
 Safeguards
 Stopping distance belong application( SI)
Trigger Stop: e.g release enable, panic mode
Operation mode : T1, T2, AUT,EXT
Emergency Button: SmartPad , External
…
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Safety Instruction
• Robot stop reaction
Có 6 cách dừng Robot với cấp độ tùy theo nhóm
Sắp xếp theo mức độ giảm dần
▪ Stop 0 >> Stop 1 >> Stop 2
▪ Safety Stop 0 >> Safety Stop 1 >> Safety Stop 2
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
Thuật ngữ
Safety Stop 0
Safety Stop 1
Safety Stop 2
Stop 0
Stop 1
Stop 2
Driver điều khiển
Off
Off
On
Off
Off delay 1s
On
Tác động
Nhả StartKey
Nhấn StopKey
Driver Off
“Motion enable” off
Ngắt nguồn Robot
Hỏng thiết bị trong robot
Đổi chế độ khi đang chạy
Cửa an toàn
Nhả “Enable switch”
Ấn quá “Enable switch”
E-STOP
Lỗi thiết bị an toàn
Phanh động cơ
Off
Off
Off
Off
Off
On
T1/T2
STOP 2
STOP 2
STOP 1
STOP 2
STOP 0
STOP 0 or STOP 1
Safety STOP 2
Safety STOP 2
Saftety STOP 1
Safety STOP 1
Safety STOP 0
Thời gian
Ngay tức thì
Gần như ngay
Ngay tức thì
AUT/EXT
STOP 2
STOP 1
STOP 2
STOP 0
STOP 0 or STOP 1
Safety STOP 2
Safety STOP 1
Safety STOP 1
Safety STOP 0
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KUKA smartPAD variants
Basic Data
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA.SmartPad 2
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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TN10
Option Cable real
https://www.youtube.com/watch?v=9PY4rRyaHCY
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Slide 30
TN10
SmartPad-2 (10,0.3m) Extendcable 5m, 10,15,25,40m
Tran, Ninh, 9/24/2021
KUKA.SmartPad 2
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA.SmartPad
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Operation mode
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Holding KUKA.SmartPad
1. The right hand grips the left dome
2. The left hand grips the right dome
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA.SmartPad
Move Enable
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA.SmartPad
Check message
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Moving Robot
. Jog only possible in T1 mode
. Change manual speed and run speed
. The enable switch must be held (Driver active on)
. Jog individual Axis/World cordinatate with Key and 6D mouse
. Incremental Jogging
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Moving Robot
Emergency Moving
. Only to be used in exceptional : robot arm accident or malfunction,
Driver without energy
. After used need check Brake function
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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User Group
. Robot key > Configuration > User Group
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Start-Up mode
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Coordinate
Coordinate (Origin and orientation)
. ROBROOT: Fixed in the robot base
. WORLD: Relative to ROBROOT coordinare system
Use for wall or ceiling mounted robot
. BASE: Freely definable
. FLANGE: Is fixed in the robot flange
. TOOL: Free definable, origin is called TCP
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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6D mouse
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Mastering Robot
Connection
When
Mechanical zero
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
Principle
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Load on Robot
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Tool Calibration
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Tool Calibration
. Origin (TCP): XYZ 4-point method
. Orientation: ABC World method
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Base calibration
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Working with robot program
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Working with robot program
Select program
. Teaching
. Run program
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Working with robot program
Creat module
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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KUKA Robot Language
KUKA InlineForm
KUKA KRL
.SRC
.DAT
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Backup-Restore program
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Robot motion
SPTP motion
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
CP motion (SLIN, SCIRC)
SPLINE motion
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Robot singunarity
Overhead Position
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
Extended Position
Wrist axis
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Inlineform SPTP
2.1
2.2
5
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Inlineform SLIN
5
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Inlineform SCIRC
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Display Robot variable
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Display robot position
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Display of Input,Output
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Display flag,counter,timer
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Configuration & Commissioning workspace
KUKA.WorkVisual
1
5
2
4
3
7
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
6
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KUKA.Workvisual
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
Progamming & Diagnose workspace
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Connection
Static IP
Dynamic IP
Fix IP
X43
Dynamic IP
KLI
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Higher-level controller
Communication
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Higher-level controller
Auto EXT interface
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Higher-level controller
Configuration
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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Troubleshooting
. Controll System Panel
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
. Diagnostic Monitor
. KRCDiag
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Thank you for your attention.
KUKA operating and programming Instruction | Viet-Ninh Tran| 2022.03.25 | www.kuka.com
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