Kuka .PLC mxAutomation Logix 1.0 Manual
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Kuka .PLC mxAutomation Logix 1.0 Manual

Kuka .PLC mxAutomation Logix 1.0 Manual

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KUKA Roboter GmbH
KUKA System Technology
KUKA.PLC mxAutomation Logix 1.0
For KUKA System Software 8.2
Issued: 13.08.2012
Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)

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Summary of Contents for Kuka KUKA.PLC mxAutomation Logix 1.0

  • Page 1 KUKA Roboter GmbH KUKA System Technology KUKA.PLC mxAutomation Logix 1.0 For KUKA System Software 8.2 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
  • Page 2 Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

  • Page 3: Table Of Contents

    Product description ..................KUKA.PLC mxAutomation Logix – overview ............. Intended use ......................Safety ......................Installation ....................System requirements ....................Installing or updating KUKA.PLC mxAutomation Logix ..........Uninstalling KUKA.PLC mxAutomation Logix ............Operation ...................... Menus ........................Status keys ........................ Start-up and configuration .................
  • Page 4 KUKA.PLC mxAutomation Logix 1.0 7.6.12 Reading a digital output ..................7.6.13 Writing a digital output ..................7.6.14 Reading an analog input ..................7.6.15 Reading an analog output ..................7.6.16 Writing an analog output ..................7.6.17 Wait statement (read digital input) ................
  • Page 5 Error messages of the mxA interface in the Submit interpreter ......... Error in the function block ..................KUKA Service ....................Requesting support ....................KUKA Customer Support ................... Index ......................Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 5 / 123...
  • Page 6 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 6 / 123...

  • Page 7: Introduction

     For optimal use of our products, we recommend that our customers take part in a course of training at KUKA College. Information about the training program can be found at www.kuka.com or can be ob- tained directly from our subsidiaries.

  • Page 8: Terms Used

     memory. KR C KUKA Robot Controller KUKA Robot Language KUKA smartHMI User interface of the KUKA robot controller (KUKA smart Human- Machine Interface) KUKA smartPAD Hand-held operating and programming device for the KUKA industrial robot mxA interface KUKA.PLC mxAutomation Logix technology package on the robot con-...

  • Page 9: Product Description

     eration technology package, but not with other technology packages, e.g. KUKA.GlueTech, KUKA.ConveyorTech, etc. Only a KUKA smartPAD may be used as teach pendant for the industrial  robot. External teach pendants are not permissible. Only one robot can be controlled via the PLC.
  • Page 10 KUKA.PLC mxAutomation Logix 1.0 Using it for any other or additional purpose is considered impermissible mis- use. The manufacturer cannot be held liable for any damage resulting from such use. The risk lies entirely with the user. Operation in accordance with the intended use also involves compliance with the start-up and configuration instructions in this documentation.

  • Page 11: Safety

    3 Safety Safety This documentation contains safety instructions which refer specifically to the software described here. The fundamental safety information for the industrial robot can be found in the “Safety” chapter of the Operating and Programming Instructions for System In- tegrators or the Operating and Programming Instructions for End Users.
  • Page 12 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 12 / 123...

  • Page 13: Installation

     Standard laptop/PC: WorkVisual 2.4 or higher  RSLogix 5000, version 20 or higher  Installing or updating KUKA.PLC mxAutomation Logix It is advisable to archive all relevant data before updating a software package. “Expert” user group Precondition  1. Connect the USB stick to the robot controller or smartPAD.

  • Page 14: Uninstalling Kuka.plc Mxautomation Logix

    KUKA.PLC mxAutomation Logix 1.0 A LOG file is created under C:\KRC\ROBOTER\LOG. LOG file Uninstalling KUKA.PLC mxAutomation Logix It is advisable to archive all relevant data before uninstalling a soft- ware package. “Expert” user group Precondition  1. In the main menu, select Start-up > Install additional software. All addi- Procedure tional programs installed are displayed.

  • Page 15: Operation

    5 Operation Operation Menus The following menus and commands are specific to this technology package: Main menu: Configuration > Status keys > mxAutomation  Configuration > mxAutomation > Messages  Status keys Displaying the status keys: Procedure In the main menu, select Configuration > Status keys > mxAutomation. ...
  • Page 16 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 16 / 123...

  • Page 17: Start-Up And Configuration

    6 Start-up and configuration Start-up and configuration Start-up and configuration – overview Step Description Transfer a project from the robot controller to WorkVisual. Configure EtherNet/IP in WorkVisual. Note: The MxA_Rockwell_Sample.wvs template supplied on the USB stick (Template folder) contains a sample WorkVisual project with the correct Ether- Net/IP settings.
  • Page 18 KUKA.PLC mxAutomation Logix 1.0 Description Fig. 6-1: Configuring message generation Item Description Name of the channel (up to 5 channels can be configured) Here you will find an indication of whether the ping sent during saving reached the external system.
  • Page 19 6 Start-up and configuration The generated messages consist of the following elements: Message elements Element Example Network name of robot PCRC7190.ROBOTER.KUKA.DE Name of robot ROB1 Time of message (date, time) Originator of the message Message text Value cannot be changed with pro-...
  • Page 20 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 20 / 123...

  • Page 21: Programming

    7 Programming Programming Information about programming RSLogix 5000 is contained in the documentation of this software. Only the function blocks contained in the scope of supply of KU- KA.PLC mxAutomation Logix may be used in an mxA robot program. The MxA_Rockwell_Sample.ACD template supplied on the USB stick (Template folder) contains all the function blocks and a pro- gramming example with the fundamental function blocks.
  • Page 22 KUKA.PLC mxAutomation Logix 1.0 Administrative functions KRC_WriteSoftEnd (>>> 7.6.27 "Writing the software limit switches of the robot axes" Page 56) KRC_WriteSoftEndEx (>>> 7.6.28 "Writing the software limit switches of the external axes" Page 57) Motion programming KRC_MoveLinearAbsolute (>>> 7.7.1 "Moving to a Cartesian position with a LIN motion"...

  • Page 23: Frequently Used Input/Output Signals In The Function Blocks

    7 Programming Diagnostic functions KRC_MessageReset (>>> 7.8.3 "Resetting error messages of the mxA interface" Page 87) KRC_Diag (>>> 7.8.5 "Reading diagnostic signals" Page 88) Special functions KRC_ReadSysVar (>>> 7.9.1 "Reading system variables" Page 90) KRC_WriteSysVar (>>> 7.9.2 "Writing system variables" Page 91) KRC_BrakeTest (>>>...

  • Page 24: Signal Sequence For Execution Of Executecmd

    KUKA.PLC mxAutomation Logix 1.0 The errors and error causes corresponding to the error number are described here: (>>> 8 "Messages" Page 99) This signal output is set either when the function block KRC_Abort is executed Aborted or when a statement is executed in the ABORTING mode. It is reset when the ExecuteCmd input is reset.

  • Page 25: Structures For Motion Programming (Struct)

    7 Programming Structures for motion programming (STRUCT) The data structures used for motion programming are described below. Approximation parameters for a KRC_Move motion command Element Type Description PTP_MODE PTP_APO (INT) Specifies whether and how the end point of a PTP motion is approximated.
  • Page 26 KUKA.PLC mxAutomation Logix 1.0 Value Name Description – Without approximate positioning (default) C_DIS Approximate positioning with distance parameter C_ORI Approximate positioning with orientation parameter C_VEL Approximate positioning with velocity parameter Coordinate system to which the Cartesian coordinates of the end position refer...

  • Page 27: Integer Variables

    7 Programming Element Type Description REAL Rotation about the Z axis  -180° … +180° REAL Rotation about the Y axis  -180° … +180° REAL Rotation about the X axis  -180° … +180° Status The position (X, Y, Z) and orientation (A, B, C) values of the TCP are not sufficient to define Turn the robot position unambiguously, as different...

  • Page 28: Programming Tips For Kuka.plc Mxautomation

    KUKA.PLC mxAutomation Logix 1.0 Value Name Description ABORTING The statement is executed immediately by the robot inter- preter (main program). First, all active motions and buffered statements are aborted and the robot is braked to a stand- still. BUFFERED The statement is buffered. Buffered statements are executed by the robot interpreter (main program) according to the FIFO principle.

  • Page 29: Programming Example (Template Mxa_Rockwell_Sample.acd)

    7 Programming The following function blocks may only be instanced once per robot. In the Instancing case of multiple instancing, the signals of the most recently called function block are output. KRC_ReadAxisGroup  KRC_Intialize  KRC_SetOverride  KRC_AutomaticExternal  KRC_Diag ...

  • Page 30: Administrative Functions

    KUKA.PLC mxAutomation Logix 1.0 mxAutomation robot program is selected and started.  1. Insert the function block KRC_ReadAxisGroup. Procedure This function block may only be called once at the start of the program. 2. Link the FirstScanBit signal in the KRC_ReadAxisGroup block to the S:FS system signal of the PLC.

  • Page 31: Writing A Non-Plc-Specific Structure Into Plc-Specific Communication

    7 Programming This initialization must be carried out when the program is executed for the first time after a restart of the PLC. It is therefore advisable to link the FirstScanBit signal to the S:FS system signal of the PLC. The function block KRC_ReadAxisGroup must always be called at the start of the program.

  • Page 32: Initializing The Mxa Interface

    KUKA.PLC mxAutomation Logix 1.0 Fig. 7-3: Function block KRC_WriteAxisGroup Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR MsgCtrlWrite MESSAGE Rockwell-specific data type for EtherNet/IP omxA_OUT MXA_SYNC_IO Structure map of the digital Boolean outputs...

  • Page 33: Setting The Program Override (Pov)

    7 Programming Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group Outputs Parameter Type Description ErrorID DINT Error number KRC_Serial DINT Serial number of the robot controller KRC_Major DINT Version identifier of the mxA interface (1st digit)

  • Page 34: Activating And Reading Automatic External Signals From The Robot Controller

    KUKA.PLC mxAutomation Logix 1.0 Inputs Parameter Type Description AxisGroupIdx Index of axis group Override Set program override.  0 … 100% Outputs Parameter Type Description ActualOver- Current override setting ride  0 … 100% ErrorID DINT Error number Valid BOOL...
  • Page 35 7 Programming Parameter Type Signal name (KRL) Description AxisGroupIdx — Index of axis group MOVE_ENABLE BOOL $MOVE_ENABLE TRUE = motion enable for the robot Note: This system variable is monitored by the robot controller in all operating modes. CONF_MESS BOOL $CONF_MESS TRUE = acknowledgement of error mes- sages...

  • Page 36: Reading The Current Robot Position

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Signal name (KRL) Description PRO_ACT BOOL $PRO_ACT TRUE = process active at robot level APPL_RUN BOOL APPL_RUN TRUE = robot program running PRO_MOVE BOOL $PRO_MOVE TRUE = synchronous robot motion active ON_PATH BOOL $ON_PATH...

  • Page 37: Reading The Current Axis Position

    7 Programming Parameter Type Description Status Status of the current actual position Turn Turn of the current actual position Tool Number of the currently used TOOL coordinate system $ACT_TOOL Base Number of the currently used BASE coordinate system $ACT_BASE IPOMode Current interpolation mode in the main run $IPO_MODE_C 7.6.7...

  • Page 38: Reading The Current Axis Velocity

    KUKA.PLC mxAutomation Logix 1.0 The current path velocity can only be read for CP motions in program mode. Fig. 7-9: Function block KRC_ReadActualVelocity Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR...

  • Page 39: Reading The Current Robot Acceleration

    7 Programming Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a ris- ing edge of the signal. Outputs Parameter Type Description ErrorID DINT Error number A1 … A6 Current velocity of robot axis A1 … A6 in the main run (unit: %) E1 …...

  • Page 40: Reading A Digital Input

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description A, B, C REAL Current Cartesian acceleration about angles A, B, C 0 m/s (not calculated) Done BOOL TRUE = statement has been executed Error BOOL TRUE = error in function block 7.6.11...

  • Page 41: Writing A Digital Output

    7 Programming Fig. 7-13: Function block KRC_ReadDigitalOutput Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a ris- ing edge of the signal.

  • Page 42: Reading An Analog Input

    KUKA.PLC mxAutomation Logix 1.0 Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal.

  • Page 43: Reading An Analog Output

    7 Programming Fig. 7-15: Function block KRC_ReadDigitalInput Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a ris- ing edge of the signal.

  • Page 44: Writing An Analog Output

    KUKA.PLC mxAutomation Logix 1.0 Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a ris- ing edge of the signal. Number Number of the analog output  1 … 32...

  • Page 45: Wait Statement (Read Digital Input)

    7 Programming Parameter Type Description Continue BOOL TRUE = output written in advance run BufferMode Mode in which the statement is executed 0: DIRECT  1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type Description ErrorID DINT Error number Busy...

  • Page 46: Selecting The Tool, Base And Interpolation Mode

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Continue BOOL TRUE = poll input in advance run BufferMode Mode in which the statement is executed 1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type Description ErrorID DINT...

  • Page 47: Reading Tool Data

    7 Programming Parameter Type Description ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal. BufferMode Mode in which the statement is executed 1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type Description...

  • Page 48: Writing Tool Data

    KUKA.PLC mxAutomation Logix 1.0 Outputs Parameter Type Description ToolData FRAME The data structure FRAME contains the follow- ing TOOL data: X, Y, Z: Origin of the TOOL coordinate sys-  tem relative to the FLANGE coordinate sys- A, B, C: Orientation of the TOOL coordinate ...

  • Page 49: Reading Base Data

    7 Programming Parameter Type Description ToolNo Number of the TOOL coordinate system 1 … 16: TOOL_DATA[1 … 16]  BufferMode Mode in which the statement is executed 0: DIRECT  1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type...

  • Page 50: Writing Base Data

    KUKA.PLC mxAutomation Logix 1.0 Outputs Parameter Type Description BaseData FRAME The data structure FRAME contains the follow- ing BASE data: X, Y, Z: Origin of the BASE coordinate sys-  tem relative to the WORLD coordinate sys- A, B, C: Orientation of the BASE coordinate ...

  • Page 51: Reading The Load Data

    7 Programming Parameter Type Description BaseNo Number of the BASE coordinate system 1 … 32: BASE_DATA[1 … 32]  BufferMode Mode in which the statement is executed 0: DIRECT  1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type...

  • Page 52: Writing Load Data

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description ExecuteCmd BOOL The statement is executed in the case of a ris- ing edge of the signal. Tool Number of the TOOL coordinate system for reading the payload data or number for reading the supplementary load data 1 …...
  • Page 53 7 Programming Fig. 7-25: Function block KRC_WriteLoadData Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal.

  • Page 54: Reading The Software Limit Switches Of The Robot Axes

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description JX, JY, JZ REAL Mass moments of inertia BufferMode Mode in which the statement is executed 0: DIRECT  1: ABORTING  2: BUFFERED  (>>> "BufferMode" Page 27) Outputs Parameter Type Description...

  • Page 55: Reading The Software Limit Switches Of The External Axes

    7 Programming Parameter Type Description A1_Min … REAL Negative software limit switch of axis A1 … A6 A6_Min A1_Max … REAL Positive software limit switch of axis A1 … A6 A6_Max ErrorID DINT Error number Done BOOL TRUE = statement has been executed Error BOOL TRUE = error in function block...

  • Page 56: Writing The Software Limit Switches Of The Robot Axes

    KUKA.PLC mxAutomation Logix 1.0 7.6.27 Writing the software limit switches of the robot axes The function block KRC_WriteSoftEnd writes the software limit switches of the Description robot axes. Fig. 7-28: Function block KRC_WriteSoftEnd Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group...

  • Page 57: Writing The Software Limit Switches Of The External Axes

    7 Programming Parameter Type Description A1_Max … REAL Positive software limit switch of axis A1 … A6 A6_Max (Unit: mm or °) BufferMode Mode in which the statement is executed 0: DIRECT  1: ABORTING  2: BUFFERED  (>>> "BufferMode"...

  • Page 58: Declaring Interrupts

    KUKA.PLC mxAutomation Logix 1.0 Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal.
  • Page 59 7 Programming Fig. 7-30: Function block KRC_DeclareInterrupt Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal.

  • Page 60: Activating Interrupts

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Reaction Reaction to the interrupt 0: BRAKE F + HALT  1: BRAKE + HALT  2: BRAKE F + WAIT FOR $IN[ ]<>  Input InputValue 3: BRAKE + WAIT FOR $IN[ ]<>...

  • Page 61: Deactivating Interrupts

    7 Programming Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal.

  • Page 62: Reading The State Of An Interrupt

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal.

  • Page 63: Activating A Path-Related Switching Action (Trigger When Distance)

    7 Programming Inputs Parameter Type Description AxisGroupIdx Index of axis group Interrupt Number of the interrupt  1 … 8 Outputs Parameter Type Description ErrorID DINT Error number Value State of specified interrupt 0: Interrupt has not been declared.  1: Interrupt has been declared, but not activated.
  • Page 64 KUKA.PLC mxAutomation Logix 1.0 Fig. 7-34: Function block KRC_SetDistanceTrigger Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal.

  • Page 65: Activating A Path-Related Switching Action (Trigger When Path)

    7 Programming Parameter Type Description Pulse REAL Length of the pulse  0.0 s No pulse active  0.1 … 3.0 s Pulse interval = 0.1 s; pulse durations outside this range of values trigger a program stop. BufferMode Mode in which the statement is executed 1: ABORTING ...
  • Page 66 KUKA.PLC mxAutomation Logix 1.0 Fig. 7-35: Function block KRC_SetPathTrigger Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal.

  • Page 67: Canceling A Program

    7 Programming Parameter Type Description Value BOOL TRUE = activate output FALSE = deactivate output Pulse REAL Length of the pulse  0.0 s No pulse active  0.1 … 3.0 s Pulse interval = 0.1 s; pulse durations outside this range of values trigger a program stop.

  • Page 68: Stopping The Robot

    KUKA.PLC mxAutomation Logix 1.0 Outputs Parameter Type Description ErrorID DINT Error number Busy BOOL TRUE = statement is currently being trans- ferred or has already been transferred Done BOOL TRUE = statement has been executed Error BOOL TRUE = error in function block 7.6.36...

  • Page 69: Continuing A Program

    BUFFERED mode. Further information about the basics of motion programming – motion types, orientation control, and approximate positioning – is contained in the operating and programming instructions for the KUKA System Software. 7.7.1 Moving to a Cartesian position with a LIN motion...
  • Page 70 KUKA.PLC mxAutomation Logix 1.0 Fig. 7-39: Function block KRC_MoveLinearAbsolute Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26)

  • Page 71: Moving To A Cartesian Position With A Lin_Rel Motion

    7 Programming Parameter Type Description Acceleration Acceleration  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= acceleration is not changed) OriType Orientation control of the TCP 0: VAR...
  • Page 72 KUKA.PLC mxAutomation Logix 1.0 Fig. 7-40: Function block KRC_MoveLinearRelative Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26)

  • Page 73: Moving To A Cartesian Position With A Ptp Motion

    7 Programming Parameter Type Description Acceleration Acceleration  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= acceleration is not changed) OriType Orientation control of the TCP 0: VAR...
  • Page 74 KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26) The data structure E6POS contains all components of the end position (= position of the TCP relative to the ori- gin of the BASE coordinate system).

  • Page 75: Moving To A Cartesian Position With A Ptp_Rel Motion

    7 Programming 7.7.4 Moving to a Cartesian position with a PTP_REL motion The function block KRC_MoveDirectRelative executes a point-to-point motion Description to a Cartesian end position. The coordinates of the end position are relative to the current position. A REL statement always refers to the current position of the robot. For this reason, if a REL motion is interrupted, the robot executes the en- tire REL motion again, starting from the position at which it was inter- rupted.

  • Page 76: Moving To An Axis-Specific Position With A Ptp Motion

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Velocity Velocity  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= velocity is not changed)

  • Page 77: Moving To A Cartesian Position With A Circ Motion

    7 Programming Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisPosition E6AXIS Axis-specific end position (>>> "E6AXIS" Page 26) The data structure E6Axis contains the angle values or trans- lation values for all axes of the axis group in the end position.
  • Page 78 KUKA.PLC mxAutomation Logix 1.0 The coordinates of the auxiliary position and end position are absolute. The auxiliary position cannot be approximated. The motion always stops exactly at this point. Fig. 7-44: Function block KRC_MoveCircAbsolute Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_...
  • Page 79 7 Programming Parameter Type Description ExecuteCmd BOOL Starts/buffers the motion in the case of a rising edge of the signal. Angle REAL Circular angle (= overall angle of the circular motion) The circular angle makes it possible to extend the motion beyond the programmed end point or to shorten it.

  • Page 80: Moving To A Cartesian Position With A Circ_Rel Motion

    KUKA.PLC mxAutomation Logix 1.0 Outputs Parameter Type Description ErrorID DINT Error number Busy BOOL TRUE = statement is currently being trans- ferred or has already been transferred Active BOOL TRUE = motion is currently being executed Done BOOL TRUE = motion has stopped...
  • Page 81 7 Programming Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26) The data structure E6POS contains all components of the end position (= position of the TCP relative to the ori- gin of the BASE coordinate system). CircHP E6POS Coordinates of the Cartesian auxiliary position...

  • Page 82: Jogging To A Relative End Position

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Acceleration Acceleration  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= acceleration is not changed)
  • Page 83 7 Programming Fig. 7-46: Function block KRC_JogLinearRelative Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26) The data structure E6POS contains all components of the end position (= position of the TCP relative to the ori- gin of the selected coordinate system).

  • Page 84: Jogging To A Relative End Position In The Tool Coordinate System

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Acceleration Acceleration  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= acceleration is not changed)
  • Page 85 7 Programming Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian end position (>>> "E6POS" Page 26) The data structure E6POS contains all components of the end position (= position of the TCP relative to the ori- gin of the selected coordinate system).

  • Page 86: Diagnostic Functions

    KUKA.PLC mxAutomation Logix 1.0 Diagnostic functions 7.8.1 Reading the current state of the mxA interface The function block KRC_ReadMXAStatus reads the current state of the mxA Description interface. Fig. 7-48: Function block KRC_ReadMXAStatus Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group...

  • Page 87: Resetting Error Messages Of The Mxa Interface

    7 Programming Outputs Parameter Type Description ErrorID DINT Error number Error BOOL TRUE = error in function block 7.8.3 Resetting error messages of the mxA interface The function block KRC_MessageReset resets the current error state of an Description axis group. Only error messages generated by the mxA interface are reset. Error messages from the robot controller are reset by means of the function block KRC_AutomaticExternal (input CONF_MESS).

  • Page 88: Reading Diagnostic Signals

    KUKA.PLC mxAutomation Logix 1.0 Fig. 7-51: Function block KRC_ReadKRCError Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description AxisGroupIdx Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal.
  • Page 89 KUKA smartHMI. FALSE = deactivate display of the active function blocks in the message window of the KUKA smartHMI. Note: Only activate the display for test and diagnostic pur- poses. If the display is active, approximate positioning is no longer possible and the cycle time of the Submit interpreter is adversely affected.

  • Page 90: Special Functions

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description Avg_Duration DINT Duration of the current calculation period for the mean value of the cycle time; unit: ms The calculation period is restarted after a break in the con- nection to the Submit interpreter or, at the latest, after 60 min- utes.

  • Page 91: Writing System Variables

    7 Programming So far, only the system variable $ADVANCE can be read. If required for the customer-specific application, the list of readable system vari- ables can be expanded by KUKA. Outputs Parameter Type Description Value1 … REAL Value of the system variable...

  • Page 92: Calling A Brake Test

    2: BUFFERED  (>>> "BufferMode" Page 27) So far, only the system variable $ADVANCE can be written. If re- quired for the customer-specific application, the list of writable system variables can be expanded by KUKA. Outputs Parameter Type Description ErrorID...
  • Page 93 7 Programming Detailed information about the brake test is contained in the Operat- ing and Programming Instructions for System Integrators. Fig. 7-55: Function block KRC_BrakeTest Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs...

  • Page 94: Calling A Mastering Test

    KUKA.PLC mxAutomation Logix 1.0 Parameter Type Description ParkAcceleration Acceleration  0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the selected operating mode. Default: 0% (= acceleration is not changed)
  • Page 95 7 Programming Fig. 7-56: Function block KRC_MasRef Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR Inputs Parameter Type Description Position E6POS Coordinates of the Cartesian reference position (>>> "E6POS" Page 26) The data structure E6POS contains all components of the reference position (= position of the TCP relative to the origin of the selected coordinate system).

  • Page 96: Reading The Safety Controller Signals

    TRUE = mastering test has been requested internally by the robot controller. 7.9.5 Reading the safety controller signals The function block KRC_ReadSafeOPStatus reads signals of the safety con- Description troller. (Only relevant if KUKA.SafeOperation is installed.) Fig. 7-57: Function block KRC_ReadSafeOPStatus Memory Parameter Type Description...

  • Page 97: Reading The State Of The Touchup Status Keys

    7 Programming Parameter Type Description BRAKETEST_WARN BOOL Edge FALSE --> TRUE: At least 1 brake has been detected as having reached the wear limit. MASTERINGTESTSWITCH_O BOOL TRUE = reference switch is OK. Error BOOL TRUE = error in function block 7.9.6 Reading the state of the TouchUp status keys The function block KRC_ReadTouchUPState reads the current state of the...
  • Page 98 KUKA.PLC mxAutomation Logix 1.0 Fig. 7-59: Function block KRC_TouchUP Memory Parameter Type Description KRC_AxisGroup AXIS_GROUP_ Reference to the internal structure of the axis group RefArr REF_ARR PositionArray Array[100] List of the taught positions Inputs Parameter Type Description AxisGroupIdx Index of axis group...

  • Page 99: Messages

    Error messages of the mxA interface in the robot interpreter Message text Cause Remedy — — — INTERNAL ERROR Internal exceptional error Contact KUKA Roboter GmbH. (>>> 9 "KUKA Service" ASSERT FAILED Internal exceptional error Page 111) OVERFLOW STA- There are more than 100 Reduce the number of state-...
  • Page 100 KUKA.PLC mxAutomation Logix 1.0 Message text Cause Remedy INVALID BASE An invalid number has been Specify the number of the NUMBER programmed in the function BASE coordinate system that is block KRC_ReadBaseData or currently being used in the KRC_WriteBaseData for the robot controller (parameter BASE coordinate system.
  • Page 101 8 Messages Message text Cause Remedy AXISPOSITION No axis position transferred Define at least 1 axis position DATA NOT INITIAL- when calling a KRC_MoveAxis (parameter AxisPosition). IZED function block. (>>> "E6AXIS" Page 26) INVALID TRIGGER An invalid value has been pro- Program a valid value (parame- DISTANCE grammed in a...
  • Page 102 KUKA.PLC mxAutomation Logix 1.0 Message text Cause Remedy INVALID TOOL An invalid number has been Program a valid value (parame- NUMBER FOR programmed in the function ter Tool). LOAD_DATA block KRC_ReadLoadData or (>>> 7.6.23 "Reading the load KRC_WriteLoadData for read- data"...

  • Page 103: Error Messages Of The Mxa Interface In The Submit Interpreter

    +/-360°. Error messages of the mxA interface in the Submit interpreter Message text Cause Remedy INTERNAL ERROR Internal exceptional error Contact KUKA Roboter GmbH. (>>> 9 "KUKA Service" ASSERT FAILED Internal exceptional error Page 111) INVALID COM- Internal exceptional error...
  • Page 104 KUKA.PLC mxAutomation Logix 1.0 Message text Cause Remedy INVALID CHECK- The checksum for data transmission from the PLC to the robot SUM PLC -> KRC controller is invalid: Error during start-up: Check configuration in WorkVi- sual and RSLogix 5000 and EtherNet/IP configuration in ...
  • Page 105 8 Messages Message text Cause Remedy INVALID BASE An invalid number has been Specify the number of the NUMBER programmed in the function BASE coordinate system that is block KRC_ReadBaseData or currently being used in the KRC_WriteBaseData for the robot controller (parameter BASE coordinate system.
  • Page 106 KUKA.PLC mxAutomation Logix 1.0 Message text Cause Remedy AXISPOSITION No axis position transferred Define at least 1 axis position DATA NOT INITIAL- when calling a KRC_MoveAxis (parameter AxisPosition). IZED function block. (>>> "E6AXIS" Page 26) INVALID TRIGGER An invalid value has been pro-...
  • Page 107 (REVERSED) switch < negative software limit than for the positive software switch limit switch. INVALID INTER- Internal exceptional error Contact KUKA Roboter GmbH. RUPT STATE (>>> 9 "KUKA Service" Page 111) INVALID SYS VAR An index for which no system...

  • Page 108: Error In The Function Block

    KUKA.PLC mxAutomation Logix 1.0 Message text Cause Remedy ERROR SETTING Error writing an output. The out- Use a different digital output OUTPUT put may already be assigned by (parameter Number): the system.  1 … 2,048 ERROR SETTING An error occurred when writing...
  • Page 109 RSLogix 5000 and EtherNet/IP configuration in  configure EtherNet/IP correctly. WorkVisual or RSLogix 5000 faulty Error during operation: Contact KUKA Roboter GmbH. (>>> 9 "KUKA Service" Bit error during data transfer  Page 111) INVALID POSI- An invalid number for the posi-...
  • Page 110 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 110 / 123...

  • Page 111: Kuka Service

    Description of the problem, duration and frequency of the fault  KUKA Customer Support KUKA Customer Support is available in many countries. Please do not hesi- Availability tate to contact us if you have any questions. Ruben Costantini S.A. (Agency)
  • Page 112 Chile Santiago de Chile Chile Tel. +56 2 331-5951 Fax +56 2 331-5952 robotec@robotec.cl www.robotec.cl KUKA Automation Equipment (Shanghai) Co., Ltd. China Songjiang Industrial Zone No. 388 Minshen Road 201612 Shanghai China Tel. +86 21 6787-1808 Fax +86 21 6787-1805 info@kuka-sha.com.cn...
  • Page 113 9 KUKA Service KUKA Automatisme + Robotique SAS France Techvallée 6, Avenue du Parc 91140 Villebon S/Yvette France Tel. +33 1 6931660-0 Fax +33 1 6931660-1 commercial@kuka.fr www.kuka.fr KUKA Robotics India Pvt. Ltd. India Office Number-7, German Centre, Level 12, Building No. - 9B...
  • Page 114 47100 Puchong Selangor Malaysia Tel. +60 3 8061-0613 or -0614 Fax +60 3 8061-7386 info@kuka.com.my KUKA de México S. de R.L. de C.V. Mexico Progreso #8 Col. Centro Industrial Puente de Vigas Tlalnepantla de Baz 54020 Estado de México Mexico Tel.
  • Page 115 Ul. Porcelanowa 10 40-246 Katowice Poland Tel. +48 327 30 32 13 or -14 Fax +48 327 30 32 26 ServicePL@kuka-roboter.de KUKA Sistemas de Automatización S.A. Portugal Rua do Alto da Guerra n° 50 Armazém 04 2910 011 Setúbal Portugal Tel.
  • Page 116 6000 Port Elizabeth South Africa Tel. +27 41 391 4700 Fax +27 41 373 3869 www.jendamark.co.za KUKA Robot Automation Taiwan Co., Ltd. Taiwan No. 249 Pujong Road Jungli City, Taoyuan County 320 Taiwan, R. O. C. Tel. +886 3 4331988 Fax +886 3 4331948 info@kuka.com.tw...
  • Page 117 9 KUKA Service KUKA Robotics Hungaria Kft. Hungary Fö út 140 2335 Taksony Hungary Tel. +36 24 501609 Fax +36 24 477031 info@kuka-robotics.hu KUKA Robotics Corporation 51870 Shelby Parkway Shelby Township 48315-1787 Michigan Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com...
  • Page 118 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 118 / 123...

  • Page 119: Index

    Index Index Ethernet/IP 8 Symbols $ACC_CAR_ACT 39 Example, programming 29 $ACT_BASE 37 ExecuteCmd, signal input 23, 29 $ACT_TOOL 37 $AXIS_ACT 37 $IPO_MODE_C 37 FIFO 8 $POS_ACT 36 FRAME (STRUCT) 27 $VEL_ACT 37, 38 Function blocks, overview 21 $VEL_AXIS_ACT 38 Functions 9 Aborted, signal output 24 Hardware 13 Active, signal output 23...
  • Page 120 KUKA.PLC mxAutomation Logix 1.0 KRC_ReadActualAxisPos 37 Orientation control, TCP 28 KRC_ReadActualAxisVelocity 38 OriType (variable) 28 KRC_ReadActualPosition 36 Output signals 23 KRC_ReadActualVelocity 37 Outputs 13 KRC_ReadAnalogInput 42 Outputs, analog 43, 44 KRC_ReadAnalogOutput 43 Outputs, digital 40, 41 KRC_ReadAxisGroup 30 Overview, function blocks 21...
  • Page 121 Index Target group 7 TCP, orientation control 28 Template, program 9, 21, 28, 29 Template, WorkVisual project 9 Terms used 8 Terms, used 8 TOOL data, reading 47 TOOL data, writing 48 Tool, selecting 46 TouchUp status keys 97 Trademarks 8 Training 7 TRIGGER 63, 65 Uninstalling, mxAutomation 14...
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  • Page 123 KUKA.PLC mxAutomation Logix 1.0 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF) 123 / 123...

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