Kuka KUKA.PLC mxAutomation Logix 1.0 Manuals

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Kuka KUKA.PLC mxAutomation Logix 1.0 Manual (123 pages)

Brand: Kuka | Category: Industrial Equipment | Size: 3 MB

Table of Contents
3
Introduction
7
Target Group
7
Industrial Robot Documentation
7
Representation of Warnings and Notes
7
Terms Used
8
Trademarks
8
Product Description
9
KUKA.PLC Mxautomation Logix - Overview
9
Intended Use
9
Safety
11
Installation
13
System Requirements
13
Installing or Updating KUKA.PLC Mxautomation Logix
13
Uninstalling KUKA.PLC Mxautomation Logix
14
Operation
15
Menus
15
Status Keys
15
Start-Up and Configuration
17
Start-Up and Configuration - Overview
17
Configuring Message Generation on an External System
17
Programming
21
Overview of Function Blocks
21
Frequently Used Input/Output Signals in the Function Blocks
23
Input/Output Signal Krc_Axisgrouprefarr (Memory)
23
Input Signals
23
Output Signals
23
Signal Sequence for Execution of Executecmd
24
Structures for Motion Programming (STRUCT)
25
Integer Variables
27
Programming Tips for KUKA.PLC Mxautomation
28
Programming Example (Template Mxa_Rockwell_Sample.acd)
29
Administrative Functions
30
Reading PLC-Specific Communication into a Non-PLC-Specific Structure
30
Writing a Non-PLC-Specific Structure into PLC-Specific Communication
31
Initializing the Mxa Interface
32
Setting the Program Override (POV)
33
Activating and Reading Automatic External Signals from the Robot Controller
34
Reading the Current Robot Position
36
Reading the Current Axis Position
37
Reading the Current Path Velocity
37
Reading the Current Axis Velocity
38
Reading the Current Robot Acceleration
39
Reading a Digital Input
40
Reading a Digital Output
40
Writing a Digital Output
41
Reading an Analog Input
42
Reading an Analog Output
43
Writing an Analog Output
44
Wait Statement (Read Digital Input)
45
Selecting the Tool, Base and Interpolation Mode
46
Reading TOOL Data
47
Writing TOOL Data
48
Reading BASE Data
49
Writing BASE Data
50
Reading the Load Data
51
Writing Load Data
52
Reading the Software Limit Switches of the Robot Axes
54
Reading the Software Limit Switches of the External Axes
55
Writing the Software Limit Switches of the Robot Axes
56
Writing the Software Limit Switches of the External Axes
57
Declaring Interrupts
58
Activating Interrupts
60
Deactivating Interrupts
61
Reading the State of an Interrupt
62
Activating a Path-Related Switching Action (TRIGGER WHEN DISTANCE)
63
Activating a Path-Related Switching Action (TRIGGER WHEN PATH)
65
Canceling a Program
67
Stopping the Robot
68
Continuing a Program
69
Functions for Activating Motions
69
Moving to a Cartesian Position with a LIN Motion
69
Moving to a Cartesian Position with a LIN_REL Motion
71
Moving to a Cartesian Position with a PTP Motion
73
Moving to a Cartesian Position with a PTP_REL Motion
75
Moving to an Axis-Specific Position with a PTP Motion
76
Moving to a Cartesian Position with a CIRC Motion
77
Moving to a Cartesian Position with a CIRC_REL Motion
80
Jogging to a Relative End Position
82
Jogging to a Relative End Position in the TOOL Coordinate System
84
Diagnostic Functions
86
Reading the Current State of the Mxa Interface
86
Reading Error Messages of the Mxa Interface
86
Resetting Error Messages of the Mxa Interface
87
Reading Error Messages of the Robot Controller
87
Reading Diagnostic Signals
88
Special Functions
90
Reading System Variables
90
Writing System Variables
91
Calling a Brake Test
92
Calling a Mastering Test
94
Reading the Safety Controller Signals
96
Reading the State of the Touchup Status Keys
97
Teaching Points
97
Messages
99
Error Messages of the Mxa Interface in the Robot Interpreter
99
Error Messages of the Mxa Interface in the Submit Interpreter
103
Error in the Function Block
108
KUKA Service
111
Requesting Support
111
KUKA Customer Support
111
Index
119

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Kuka KUKA.PLC mxAutomation Logix 1.0 Manuals

Kuka KUKA.PLC mxAutomation Logix 1.0 Manual (123 pages)

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