KUKA

KR C4 Basics for Integrators KSS 8.x (KR C4)

Target Group
Robotprogrammer or Systemintegrators.
Objective
As part of this seminar, the participants are taught the basics of commissioning, operating and programming the KUKA robot system.
Prerequisites
  • Vocational training in a technical job
Remarks
  • In comparison to the "Robot programming 1" seminar, there is a greater focus on commissioning the robot system and configuring fieldbuses using the KUKA "WorkVisual" software.
  • In this course topics like robot programming, project management via WorkVisual, robot safety configuration, installation of additional software, disk image creation, bus configuration, I/O mapping, and further skills to successfully integrate the robotic system into production lines are trained.
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 and setting the operating mode
    • Moving individual robot axes
    • 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
  • Starting up steps at the robot
    • Mastering principle
    • Mastering the robot
    • 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 by means of the logfile
  • Creating and modifying programmed motions
    • Creating new motion commands
    • Creating cycle-time optimized motion (axis motion)
    • Creating path motion
    • 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 loops
    • Programming wait functions
    • Time- dependent wait functions
    • Signal- dependent wait functions
  • Working with a PLC
    • Preparation for program start from PLC
    • Adapting the PLC interface (Cell.src)
  • KRC4 fieldbuses overview
    • Internal fieldbuses KCB, KSB
    • User fieldbuses – KLI, KEB, KONI
    • Profinet, EtherCat, Ethernet-Ip, Ethernet overview
  • Backup strategy, Recovery USB, installation of Tech Packages – Options
    • Backup manager, Backup / Parallel backup client
    • Recovery USB stick - creation / restoration of a bit image
    • Installation / uninstallation of option packages in KR C4
  • Intro to WorkVisual
    • Import GSD files
    • Option packages installation via WV, profile management
    • Project handling, Download / Deploy of a WV project
    • Partial project management – partial Import / export
    • Functional project comparison / merge
    • Machine dat configuration, Robot mounting position, Linear track
  • Profinet, EtherCat configuration
    • Profinet Controller / Device configuration
    • Profinet device identification and naming
    • EtherCat Device configuration
    • I/O mapping digital
    • I/O mapping analog
    • Symbol table editor – long text
  • Basic safety configuration
    • User level
    • Parallel safety X11 vs Fieldbus Safety (ProfiSafe /FSOE / CIP-Safety) overview
Completion
  • The course ends with an achievement test
  • A certificate is issued on successful completion of the course
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