KUKA

KR C4/KR C5 Basics for Integrators KSS 8.x

Target Group

Programmers, start-up technicians

Objective

The participants in this seminar are trained in the fundamentals of the start-up, operation and programming of the KUKA robot system.

Prerequisites
  • Vocational training in a technical job
Remarks
  • Compared to the “Robot Programming 1” seminar, a greater focus is placed on start-up of the robot system and configuring field buses using “WorkVisual” KUKA software.
  • This course teaches topics such as robot programming, project management in WorkVisual, robot safety configuration, installing additional software, creating a hard drive image, field bus configuration, I/O mapping and other points of emphasis required for successfully integrating the robot into the cell.
Contents
  • Structure and function of a KUKA robot system
    • Overview: mechanics of a KUKA robot
    • Overview: KR C4 robot controller
    • Overview: KUKA smartPAD
    • Robot safety
  • Moving the robot
    • Reading and interpreting robot controller messages
    • Selecting the operating mode
    • Moving robot axes individually
    • Coordinate systems in conjunction with robots
    • Moving the robot in the world coordinate system
    • Moving the robot in the tool coordinate system
    • Moving the robot in the base coordinate system
  • Start-up tasks on the robot
    • Mastering principle
    • Performing robot mastering
    • Loads on the robot
    • Tool load data
    • Supplementary loads on the robot
    • Tool calibration
    • Base calibration (workpiece coordinate system)
    • Start-up mode
  • Executing robot programs
    • Performing an initialization run
    • Selecting and starting robot programs
  • Working with program files
    • Creating program modules
    • Editing program modules
    • Archiving and restoring robot programs
    • Tracking program modifications and changes of state using the logfile
  • Creating and modifying programmed motions
    • Creating new motion commands
    • Creating cycle-time optimized motions (axis motion)
    • Creating motion commands
    • Modifying motion commands
  • Using logic functions in the robot program
    • Introduction to logic programming
    • Programming wait functions
    • Programming simple switching functions
    • Programming time-distance functions
  • Using technology packages
    • Gripper operation with KUKA.GripperTech
    • Gripper programming with KUKA.GripperTech
    • KUKA.GripperTech configuration
  • Working with variables
    • Displaying and modifying variable values
    • Displaying robot states
  • Variables and declarations
    • Data management in KRL
    • Working with simple data types
  • Successful programming in KRL
    • Structure and organization of robot programs
    • Structuring robot programs
    • Linking robot programs
  • Using program execution control functions
    • Programming conditional statements or branches
    • Programming a switch statement
    • Programming a jump command
    • Programming loops
    • Time-dependent wait functions
    • Signal-dependent wait functions
  • Working with a higher-level controller
    • Preparation for program start from PLC
    • Adapting the PLC interface (Cell.src)
  • KRC4 field bus, overview
    • Internal field buses KCB, KSB
    • Customer field buses – KLI, KEB, KONI
    • Profinet, EtherCAT, Ethernet IP, Ethernet overview
  • Backup strategies, recovery USB stick, installation of technology packages
    • Backup Manager
    • Recovery USB stick – Creating/restoring images
    • Installing/uninstalling technology packages
  • Introduction to WorkVisual
    • Importing GSD files
    • Installing technology packages via WorkVisual, profile management
    • Project handling, downloading/deploying WorkVisual projects
    • Subproject management, subproject import/export
    • Merging projects, merging
    • Machine data configuration, robot fastening position, linear units
  • Profinet, EtherCAT configuration
    • ProfiNet controller/device configuration
    • Profinet device identification and naming
    • EtherCAT device configuration
    • Digital I/O mapping
    • Analog I/O mapping
    • Symbol Table Editor
  • Basics of the safety configuration
    • User levels
    • Hard-wired safety via X11, overview of safety via safe field bus (Profisafe/FSOE/CIP Safety)

Completion
  • The course ends with an achievement test
  • A certificate is issued on successful completion of the course
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