RMR_DOKU_V20_E_l

Deckblatt

Application example for connection of a KUKA robot with KR C4 to a SINUMERIK 840D sl with NCU 7x0.3 SINUMERIK Integrate Run MyRobot Application Description March 2013

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SINUMERIK Integrate Run MyRobot 2.0, Article ID: 67701073

2

s

Copyright  Siemens AG 2013 All rights reserved

SINUMERIK Integrate Run MyRobot


Introduction

1

Fundamentals

2

Programming

3

Start-up

4

Lists

5

Messages

6

References

7

Contacts

8

History

9

3

Warranty and liability

Warranty and liability Note

The application examples in this document are not binding and do not claim to be complete regarding configuration, equipment, and any eventuality. These application examples do not represent specific customer solutions – but are only intended to provide support when it comes to typical applications. You are responsible for ensuring that the products described are used correctly. These application examples do not relieve you of your responsibility regarding the safe handling when using, installing, operating, and maintaining the equipment. By using these application examples, you agree that Siemens cannot be made liable for possible damage beyond the mentioned liability clause. We reserve the right to make changes and revisions to these application examples at any time without prior notice. If there are any differences between the suggestions made in these application examples and other Siemens publications such as catalogs, the contents of the other document(s) take priority.


Siemens shall not be held liable for the information provided in this document. We accept no liability for any damage or loss caused by the examples, information, programs, planning data or performance data described in this application example, irrespective of the legal basis for claims arising from such damage or loss, unless liability is mandatory. For example, according to the product liability law, in cases of malfeasance, gross negligence, due to endangerment of life, body or health, due to assumption of a guarantee for a product's characteristics of state, due to malicious concealment of a defect or due to violation of basic contractual obligations. However, claims for indemnification based on breach of contract shall be limited to liability for damages to the contract-specific, foreseeable damages, provided there is no mandatory liability for intent, acts of gross negligence, harm to the life, body and health of human beings. Any change to the burden of proof to your disadvantage is not covered hereby. Any form of duplication of these application examples or excerpts hereof is not permitted without the express consent of Siemens Industry Sector.

Sources: Several pictures and texts with courtesy of KUKA Roboter GmbH, Augsburg.


4

Preface

Preface The flexible automation of machine tools requires to load and unload the machine using robots. Modifications such as selecting a new part type shall be made by the user. This selection should either automatically act on the robots or should be carried out in the normal machine operation. Furthermore, all cell-related operator actions should include the robot in accordance with the principle of the "Single Point of Operation" using a single operator control unit. This includes interactions, such as normal operation, retraction, teaching and diagnostics.


KUKA Roboter and Siemens Drive Technologies have developed a simple and efficient solution environment. For this purpose, KUKA created the mxAutomation function block library with which the motion sequence of the robot can be programmed completely in SINUMERIK . This allows the robot program to be created completely without special knowledge using PLC programming tools with Siemens STEP7. This programming is enabled by the SINUMERIK Operate user interface as part of this application example. This allows the robot to be programmed within the SINUMERIK NC cycles programming. Additionally the robot can be traversed manually (jog). The sequence of the machine tool and robot program can be tracked and controlled in parallel channels on the SINUMERIK Operate user interface. The SINUMERIK hand-held terminal HT8 and the user interface can be used to "teach" not only machine tool-related setup actions, but in the same operating philosophy, also the path points and functions of the robot. All of this by using a single handheld terminals. The mxAutomation blocks in the PLC within SINUMERIK "command" the robot using a PROFINET interface. For example to send programmed commands such as a movement to a position in cartesian or axial positions. As usual, the execution of the robot motions and the robot safety functions as well as other robot-specific functions are handled by the KUKA KR C4 robot controller. Programmed block-end positions in the workpiece or machine coordinate system are transferred. Figure 0-1 Coupling of the robot based on programmed positions


5

Preface

Restriction This application example does not include a description 

About the basic STEP7 programming



About the technological structure and the operation of the robot



For the installation of the robot / KUKA controller

Required knowledge Basic knowledge of NC and PLC programming of the SINUMERIK 840D sl and PROFINET are assumed.

Key content of this application Copyright  Siemens AG 2013 All rights reserved

This application deals with the following key features: 

Programming and cycle description



Commissioning



Diagnostics


6

Table of Contents

Table of Contents Warranty and liability ................................................................................................... 4 Preface .......................................................................................................................... 5 Table of Contents ......................................................................................................... 7 1

Introduction ........................................................................................................ 9 1.1 1.2

2

Basic information ............................................................................................ 12 2.1 2.2 2.2.1 2.2.2 2.2.3 2.3

3


Terms used ........................................................................................ 12 Definition of a traversing contour ....................................................... 13 Elements of a traversing contour ....................................................... 13 Conventions for the definition of a traversing contour ........................ 14 Approach strategies ........................................................................... 15 Robot coordinate systems .................................................................. 16

Programming ................................................................................................... 18 3.1 3.1.1 3.1.2 3.1.3 3.1.4 3.2 3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.4 3.4.1 3.4.2 3.4.3 3.4.4 3.4.5 3.4.6 3.5 3.5.1 3.5.2

4

Objective and purpose ......................................................................... 9 Hardware components and structure ................................................. 10

Setup .................................................................................................. 19 Approximation parameters ................................................................. 19 Orientation control for linear motion ................................................... 22 Orientation control for circular motion ................................................ 24 Specification of the coordinate system ............................................... 25 Motions ............................................................................................... 27 Straight line block ............................................................................... 30 Straight line block with GUD positions ............................................... 33 Circular block ...................................................................................... 34 Circular block with GUD positions ...................................................... 37 Machine axes direct block .................................................................. 39 Read data ........................................................................................... 41 Read load data ................................................................................... 42 Read base data .................................................................................. 44 Read tool data .................................................................................... 45 Reading the software limit switch of the robot axes ........................... 46 Reading the software limit switch of the supplementary axes ........... 47 Read system variables ....................................................................... 48 Write data ........................................................................................... 49 Write load data ................................................................................... 50 Write base data .................................................................................. 52 Write tool data .................................................................................... 54 Writing the software limit switch of the robot axes ............................. 56 Writing the software limit switch of the supplementary axes .............. 58 Write system parameter ..................................................................... 60 Safety ................................................................................................. 62 Brake test ........................................................................................... 63 Mastering test ..................................................................................... 66

Start-up ............................................................................................................. 68 4.1 4.1.1 4.1.2 4.2 4.2.1 4.2.2 4.3 4.3.1

Prerequisites/versions ........................................................................ 68 Hardware ............................................................................................ 68 Software ............................................................................................. 68 Communication .................................................................................. 69 Industrial Ethernet .............................................................................. 69 PROFINET ......................................................................................... 69 NC ...................................................................................................... 70 Channel and axes .............................................................................. 70


7

Table of Contents

4.3.2 4.3.3 4.3.4 4.4 4.4.1 4.4.2 4.4.3 4.5 4.5.1 4.5.2 4.5.3 4.6 4.6.1 4.6.2 4.6.3 4.7 4.7.1 4.7.2 4.7.3 4.7.4 5

Lists................................................................................................................... 93


5.1 5.1.1 5.1.2 5.1.3 5.1.4 5.2 5.2.1 5.2.2 5.2.3 5.3 5.4 5.5 5.6 5.6.1 5.6.2 5.7 5.7.1 5.7.2 5.7.3 5.7.4 5.7.5 6

Interface-DB (DB700) ......................................................................... 93 Signals to the RMR ............................................................................ 93 Signals from the RMR ........................................................................ 95 RMR configuration .............................................................................. 98 KRC actual values .............................................................................. 98 DualPortRam .................................................................................... 100 Cyclically: Positions .......................................................................... 100 Acycl. basic functions: Motions and settings .................................... 101 Acycl. basic functions: Reading/writing data .................................... 104 Basic functions: JOB overview ......................................................... 107 Global user data (GUD9).................................................................. 108 Macros .............................................................................................. 108 KUKA Safe Operations..................................................................... 111 Safe inputs of the KRC ..................................................................... 111 Safe outputs of the KRC................................................................... 114 Resource requirement ...................................................................... 117 Dual Port RAM ................................................................................. 117 NC memory ...................................................................................... 117 Inputs/outputs ................................................................................... 117 PLC................................................................................................... 117 SPL (INSEP/OUTSEP) ..................................................................... 117

Messages ........................................................................................................ 118 6.1 6.2 6.2.1 6.2.2 6.2.3

7

RMCC/EXPD ...................................................................................... 71 GUDs and macros .............................................................................. 71 Cycles ................................................................................................. 72 PLC..................................................................................................... 73 Hardware configuration ...................................................................... 73 Reboot (OB100) ................................................................................. 76 Cyclically (OB1) .................................................................................. 76 Safety Integrated ................................................................................ 79 Machine data ...................................................................................... 79 NCK (SAFE.SPF) ............................................................................... 79 PLC (FC3000) .................................................................................... 81 Operate............................................................................................... 83 Robot diagnosis .................................................................................. 83 Cycle support ..................................................................................... 87 Messages/alarms ............................................................................... 87 Robots ................................................................................................ 88 Diagnosis support ............................................................................... 88 PROFIsafe .......................................................................................... 91 Delay time .......................................................................................... 91 Automatic external message acknowledgement ................................ 91

From Run MyRobot .......................................................................... 118 From KUKA mxAutomation .............................................................. 119 From the robot interpreter ................................................................ 119 From the Submit Interpreter ............................................................. 123 Error messages in the function block ............................................... 129

References ..................................................................................................... 132 7.1 7.2

References ....................................................................................... 132 Internet links ..................................................................................... 132

8

Contacts ......................................................................................................... 133

9

History............................................................................................................. 133


8

1 Introduction

1

Introduction

1.1

Objective and purpose

Overview of the automation system The SINUMERIK 840D sl CNC in conjunction with SINUMERIK Integrate: Run MyRobot allows robots to be deployed optimally for handling tasks at machine tools. The KUKA KR C4 connects the motion and safety control homogeneously. This ensures the optimum dynamics coupled with safety for man and machine. The system is characterized with its high flexibility and very dynamic kinematics. The connection between the SINUMERIK 840D sl high-end CNC from Siemens and KUKA's KR C4 controller is made using a command interface. KUKA.PLC mxAutomation S7 is a loadable technology package with which a robot can be programmed and controlled using an external PLC. It offers the following functionality: PLC library with function blocks for programming automation tasks in Step 7


Sending of messages generated on the smartHMI to an external system via UDP Figure 1-1 Robot integration in SINUMERIK 840D sl

Sinumerik Operate Option: Sinumerik Integrate Run MyRobot

S7 SPS

NC-Kernel

KRC FB-Lib (runtime)


9

1 Introduction

1.2

Hardware components and structure


Figure 1-2 SINUMERIK 840D sl components

Hardware components Table 1-1 Hardware components Component SINUMERIK NCU 7x0.3 PN

Qty.

Order number

Note

1

Standard software components Table 1-2 Standard software components (minimum requirements) Component

Qty.

Order number

NC-SW 4.5. SP1 HF3

1

Toolbox 4.5.14

1

Additional axes/spindles

6

Only simulation – no license necessary

Additional machining channels

1

6FC5800 - 0AC10 - 0YB0

RMCC/EXPD External Position Display

1

6FC5800 - 0AN64 - 0YB0

SINUMERIK INTEGRATE RUN MYHMI/3

1

6FC5800 - 0AP60 - 0YB0

SINUMERIK INTEGRATE RUN MYSCREENS

1

6FC5800 - 0AP64 - 0YB0

SI-Comfort including one axis and 64 SPL I/Os

1

6FC5800 - 0AM64 - 0YB0


Note

Because of the address range, 6 of the maximum 31 axes are required

10

1 Introduction

Sample files and projects The list below contains all the files and projects used in this example. Table 1-3 Sample files and projects Component

Note This packed file contains the STEP7 project and the complete application example.

RMR_DOKU_V20_D.pdf

This document.


RMR_V20.zip


11

2 Basic information

2

Basic information

2.1

Terms used Table 2-1 Terms used in this application


Term

Description

Axis group

Depending on the machine data configuration, an axis group contains the following axes: to A6 External axes E1 … E6 (synchronous or asynchronous)

FIFO

Procedure with which a data storage is processed First In First Out: Those elements that were saved first will be taken first from the memory.

KR C

KUKA Robot Controller

KRL

KUKA Robot Language

KUKA smartHMI

KUKA smart Human Machine Interface

KUKA smartPAD

Teach pendant of the KUKA controller

mxA interface

KUKA.PLC mxAutomation S7 technology package on the robot controller

Ethernet/IP

Ethernet/IP is a field bus based on Ethernet.

Robot interpreter

The robot interpreter is a synchronously running process in which the current robot program is executed.

BCO run

The robot is moved to the coordinates of the motion block in which the block pointer is located. This allows the robot position be brought to match the coordinates of the current point.

PLC

Programmable Logic Controller

Submit interpreter

The Submit interpreter is a cyclically running logic program that runs on the robot controller in parallel to the motion program.

WorkVisual

Engineering environment for KR C4-controlled robot cells

RMR

SINUMERIK Integrate Run MyRobot


12

2 Basic information

2.2

Definition of a traversing contour The so-called traversing contour forms the basis for the defined travel of the machine kinematics axes. The traversing contour specifies the path on a workpiece along which the axes of the machine kinematics should move in order that the machine can perform the required task.

2.2.1

Elements of a traversing contour

Simple contour elements, such as straight lines and arcs are normally used to define a traversing contour. Such contour elements usually also suffice to describe complex traversing contours.


Figure 2-1 Example contour


13

2 Basic information

2.2.2

Conventions for the definition of a traversing contour

A traversing contour is always a contiguous path along which the axes of the machine kinematics should move. This means, the following is true for the start of a contour element: • The current position of the machine axes always serves as start point of the first contour element of a traversing contour. • The target point of each preceding contour element of the traversing contour serves as start point of all further contour elements within the traversing contour. Because of these conventions for the definition of a traversing contour, it suffices for the programming of a traversing contour to specify only the type of the contour element, e.g. straight line or arc, and the desired target point of the contour element for each contour element.


Figure 2-2 Start and target point of a contour element


14

2 Basic information

2.2.3

Approach strategies

Because the current position of the machines axes is always used as start point for the first contour element of a traversing contour, it is desirable to also consider an exact approach strategy for the definition of a traversing contour. If the machining of a workpiece needs to be interrupted within a traversing contour, the machine axes are normally located at a position that is not suitable for restarting the traversing contour. For this reason, a straight line on the desired start point of the contour should always be specified as first contour element of a traversing contour. If, however, you require full assurance, the approach strategy should be extended to three straight lines: • The first straight line positions the axes of the machine kinematics at a safety level above the workpiece in which all axes can traverse without collision with the workpiece or machine. • The second straight line positions the axes in the safety level above the start point of the contour.


• The third straight line is then used to approach the actual start point of the contour of the workpiece.

This should permit safe approach to the start point of the contour from any position of the machine kinematic axes without danger to the machine and the workpiece.


15

2 Basic information

2.3

Robot coordinate systems


Figure 2-3 Coordinate systems

WORLD The WORLD coordinate system is a predefined Cartesian coordinate system. It is the base coordinate system for the ROBROOT and BASE coordinate systems. The WORLD coordinate system is defined as default setting in the robot foot.

ROBROOT The ROBROOT coordinate system is a Cartesian coordinate system that always lies in the robot foot. It describes the position of the robot in reference to the WORLD coordinate system. The ROBROOT coordinate system is identical as default setting with the WORLD coordinate system. $ROBROOT can be used to define an offset of the robot to the WORLD coordinate system.


16

2 Basic information

BASE The BASE coordinate system is a Cartesian coordinate system that describes the position of the workpiece. It refers to the WORLD coordinate system. The BASE coordinate system is identical as default setting with the WORLD coordinate system. It is moved by the user into the workpiece.

TOOL The TOOL coordinate system is a Cartesian coordinate system that lies in the working point of the tool. The origin of the TOOL coordinate system lies as default setting in the flange center. (It is then called the FLANGE coordinate system.)


The TOOL coordinate system is moved by the user to the working point of the tool.


17

3 Programming

3

Programming After selection of the desired program in the Program Manager, the program editor is started.


Figure 3-1 Program start page

The "Robot" softkey in the horizontal softkey bar is used to display further softkeys that can be used to perform various actions: Figure 3-2 Robot: Menu structure


18

3 Programming

The assignment of the horizontal and vertical softkey bar corresponds to the following layout: 

Horizontal softkeys (HSK) –



3.1

Current function group

Vertical softkeys (VSK) –

Function selection

–

Screen form softkey

Setup 3.1.1

Approximation parameters


Figure 3-3 Approximation parameters

Approximate positioning means: The programmed point is not approached exactly. Rather, approximate positioning is performed between the individual path sections at the block transitions. instruction that initiates an advance run stop follows. Approximate positioning is possible only when "0: Direct(Submit)" or "1: Accept" is set as stepping condition. Approximate positioning is possible only when after the motion instruction, a motion instruction that is transferred in the buffered mode follows.


19

3 Programming

Figure 3-4 Approximate positioning

Table 3-1 Approximation parameters


Element

Type

PTP_MODE

PTP_APO (ENUM)

CP_MODE

CP_APO (ENUM)

CPTP

INT

Description Specifies whether and how the target point of a PTP motion is approximated. Specifies whether and how the target point of a CP motion (LIN, CIRC) is approximated.

Approximation distance for PTP motions(= distance before the target point at which the approximate positioning begins at the earliest) 1 … 100% Maximum distance 100 %: Half the distance between the start point and the target point based on the contour of the PTP motion without approximate positioning

CDIS

REAL

Distance parameter (unit: mm) The approximate positioning begins at the earliest when the distance to the target point exceeds the value specified here.

CORI

REAL

Orientation parameter (unit: °) The approximate positioning begins at the earliest when the dominating orientation angle (turning or swiveling of the tool longitudinal axis) undershoots the angular distance to the target point specified here.

CVEL

INT

Velocity parameter 1 … 100% The approximation parameter specifies at which percentage value of the programmed velocity the approximate positioning in the braking phase to the target point begins at the earliest.


20

3 Programming

Table 3-2 PTP_APO (INT) Approximate positioning for PTP motions Value

Name

Description

0

-

Without approximate positioning

1

C_PTP

Causes approximate positioning to the target point The C_PTP value suffices for PTP-PTP approximate positioning. For the PTP-CP approximate positioning, i.e. when an LIN or CIRC block follows after the approximately positioned PTP block, another approximation parameter must be specified.

2

C_PTP, C_DIS

PTP-CP approximate positioning with distance parameter (default)

3

C_PTP, C_ORI

PTP-CP approximate positioning with orientation parameter

4

C_PTP, C_VEL

PTP-CP approximate positioning with velocity parameter

Table 3-3 CP_APO (INT) Approximate positioning for CP motions (LIN, CIRC)


Value

Name

Description

0

-

Without approximate positioning

1

C_DIS

Approximate positioning with distance parameter

2

C_ORI

Approximate positioning with orientation parameter

3

C_VEL

Approximate positioning with velocity parameter

RMR_SET_APO.SPF cycle parameters: N1000 PROC RMR_SET_APO(INT _PTP_MODE, INT _CP_MODE, INT _CPTP, REAL _CDIS, REAL _CORI, INT _CVEL) DISPLOF SBLOF

Table 3-4 RMR_SET_APO.SPF call parameters No.

Screen form parameters

Cycle parameters

1

Approximate positioning for PTP motion

_PTP_MODE

2

Approximate positioning for CP motion

_CP_MODE

3

Approximation distance

_CPTP

4

Approximation position

_CDIS

5

Angular distance

_CORI

6

Velocity

_CVEL


Meaning See Seite 20 Table 3-1 Approximation parameters

21

3 Programming

3.1.2

Orientation control for linear motion


Figure 3-5 Orientation control for linear motions

Table 3-5 OriType orientation control for the TCP Value

Name

Description

0

VAR

The orientation of the TCP changes continuously during the motion.

1

CONSTANT

The orientation of the TCP remains constant during the motion. The programmed orientation for the target point is ignored and that of the start point retained.

2

JOINT

The orientation of the TCP changes continuously during the motion but not uniformly. This is done with linear transfer (axisspecific procedure) of the hand-axis angle. Note: This orientation type is not suitable when a specific characteristic of the orientation must be maintained exactly.


22

3 Programming

Figure 3-6 Constant orientation control (1 = CONSTANT)


Figure 3-7 Standard (0 = VAR) or manual PTP (2 = JOINT)

RMR_SET_ORITYPE.SPF cycle parameters: N1000 PROC RMR_SET_ORITYPE(INT _ORI_TYPE) DISPLOF SBLOF

Table 3-6 RMR_SET_ORITYPE.SPF call parameters No. 1

Screen form parameters Orientation reference


Cycle parameters _ORITYPE

Meaning See Seite 22 Table 3-5 OriType orientation control for the TCP

23

3 Programming

3.1.3

Orientation control for circular motion


Figure 3-8 Orientation control for circular motion

Table 3-7 CircType orientation control for the circular motion Value

Name

Description

0

Base

Base-related orientation control during a circular motion

1

Path

Path-related orientation control during a circular motion

Figure 3-9 Orientation examples

1) Constant orientation, path-related


24

3 Programming

2) Variable orientation, path-related 3) Constant orientation, base-related 4) Variable orientation, base-related

RMR_SET_CIRCTYPE.SPF cycle parameters: N1000 PROC RMR_SET_CIRCTYPE(INT _CIRC_TYPE) DISPLOF SBLOF

Table 3-8 RMR_SET_ CIRCTYPE.SPF call parameters No.


1

Screen form parameters Orientation reference

3.1.4

Cycle parameters _CIRC_TYPE

Meaning See Seite 24 Table 3-7 CircType orientation control for the circular motion

Specification of the coordinate system

Figure 3-10 Coordinate system

Coordinate system on which the Cartesian coordinates of the target position for a KRC_Move or KRC_Jog motion are based.


25

3 Programming

Table 3-9 COORDSYS Element

Type

Description

Start condition

INT

See Seite 27 Table 3-11 Motions: General terms

Number of the TOOL coordinate system

INT

Number of the TOOL coordinate system -1: Coordinate system is not changed 0: NULLFRAME 1 … 16: TOOL_DATA[1 … 16]

Number of the BASE coordinate system

INT

Number of the BASE coordinate system -1: Coordinate system is not changed 0: ZEROFRAME 1 … 32: BASE_DATA[1 … 32]

Interpolation mode

ENUM

Interpolation mode (IPO_MODE) 0: The tool is a fixed tool (#BASE). 1: The tool is mounted on the mounting flange (#TOOL).


RMR_SET_COORDSYS cycle parameters:

N1000 PROC RMR_SET_COORDSYS(INT _START, INT _TOOL, INT _BASE, INT _IPO_MODE) DISPLOF SBLOF

Table 3-10 RMR_SET_ COORDSYS.SPF call parameters No.


Cycle parameters

1

Start condition

_START

2

Number of the TOOL coordinate system

_TOOL

3

Number of the BASE coordinate system

_BASE

4

Interpolation mode

_IPO_MODE


Meaning See oben Table 3-9 COORDSYS

26

3 Programming

3.2

Motions Table 3-11 Motions: General terms Name Start condition

Description Mode in which an instruction is performed on the robot controller 0 = direct/SUBMIT Instruction is performed directly by the Submit Interpreter (submit program). Note: This mode is not available for all function blocks..


1 = ABORTING Instruction is performed immediately by the Robot Interpreter (main program). All active motions and buffered instructions are aborted beforehand and the robot brought to a complete standstill. This instruction cannot be approximately positioned. 2 = BUFFERED Instruction is buffered. Buffered instructions are processed by the Robot Interpreter (main program) according to the FIFO principle. Position

What does the programmed position relate to? 0 = absolute The motion is performed relative to the set zero point. 1 = incremental The motion is performed relative to the current position.

Approach

How should the robot travel to the target point: 0 = direct (PTP=Point-to-Point) The robot performs the TCP along the fastest path to the target point. The fastest path is normally not the shortest path and so not a straight line. Because the robot axes rotate, arc-shaped paths can be traversed faster than straight paths. The exact motion path cannot be predicted. 1 = linear (CP = Continuous Path) The robot guides the TCP with the defined velocity along a straight line to the target point.

Stepping

When is stepping made to the next block: 0 = busy The action has been notified to the robot. 1 = active The planned action is performed. 2 = done The planned action has been performed successfully and has completed.

Velocity


Velocity 0 … 100%

27

3 Programming

Name

Description Refers to the maximum values specified in the robot machine data. The maximum value depends on the robot type and the set mode. 0% (= velocity is not changed)

Acceleration

Acceleration 0 … 100% Refers to the maximum values specified in the robot machine data. The maximum value depends on the robot type and the set mode. 0% (= velocity is not changed)

Comment

The comment serves to identify the parameter set.

Teaching


Teaching is defined as being the manual positioning of the axes and transfer of the axis positions to the part program. The teach screen forms can be used to define a part program for controlling the robot and so teach the robot points in its program (assigned positions). The motion type (absolute, incremental, direct/interpolated/curved) must always be selected. To now teach a position and use a code block in the part program, the axes must be traversed manually (jog mode) to the desired positions and then the "Accept position" softkey pressed. The data for X, Y, Z, A, B, C, STATE and TURN are accepted automatically. The remaining part program is described like a normal NC program with jumps, conditions, etc.


28

3 Programming

Note

The number of external axes (E1-E6) depends on the associated machine. The system hides any external axes that do not exist. This means only real axes are displayed.

Note

To approach a target position in the editor using softkeys, the coordinates must not contain any variables. If a variable exists at any location in the coordinates, the "Approach target position" softkey is grayed-out automatically and can no longer be activated.


Figure 3-11 PTP motion and LIN motion

PTP-Movement

LIN-Movement


29

3 Programming

3.2.1

Straight line block


Figure 3-12 Straight line block

Cartesian coordinates of the target position for motion commands. Table 3-12 E6POS Element

Type

Description

X

REAL

Target position X axis (unit: mm)

Y

REAL

Target position Y axis (unit: mm)

Z

REAL

Target position Z axis (unit: mm)

O

REAL

Rotation around the Z axis -180° … +180°

B

REAL

Rotation around the Y axis -180° … +180°

C

REAL

Rotation around the X axis -180° … +180°

STATE

INT

The state value prevents ambiguity for the axis position. -1 (= value marked as invalid)

TURN

INT

The turn value permits axis angles greater than +180° or less than 180° to be approached without requiring a special traversal strategy (e.g. between points). The individual bits determine for rotary axes the sign of the axis value as follows: Bit = 0: angle ≥ 0 ° Bit = 1: angle < 0 ° -1 (= value marked as invalid)

E1-E6

REAL

Target position for the external axes


30

3 Programming

CAUTION

The values for position (X, Y, Z) and orientation (A, B, C) of the TCP do not suffice to uniquely specify the position of a robot because different axis positions are possible for the same TCP. State and Turn are used to specify a unique position from several possible axis positions.


Figure 3-13 Identical TCP, different axis position

RMR_MOVE.SPF cycle parameters: N1000 PROC RMR_MOVE(INT _JobVar, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C, INT _S, INT _T, INT _velo, INT _accel, REAL _E1, REAL _E2, REAL _E3, REAL _E4, REAL _E5, REAL _E6) DISPLOF SBLOF

Table 3-13 RMR_MOVE.SPF call parameters No.


Cycle parameters

1

Start condition

_JobVar

2

Target pos. X

_X

3

Target pos. Y

_Y

4

Target pos. Z

_Z

5

Target pos. O

_A

6

Target pos. B

_B

7

Target pos. C

_C

8

STATE

_S

9

TURN

_T

10

Velocity

_velo


Meaning See Seite 30 Table 3-12 E6POS

31

3 Programming

No.


Cycle parameters

Acceleration

_accel

12

Target pos. E1…E6

_E1…_E6


11

Meaning


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3 Programming

3.2.2

Straight line block with GUD positions


Figure 3-14 Straight line with positions from GUDs

Note

An explanation of the coordinates and STATE / TURN can be found in Table 3-12 E6POS Seite 30

RMR_MOVE_P.SPF cycle parameters: N1000 PROC RMR_MOVE_P(INT _JobVar, INT _pNo, INT _velo, INT _accel) DISPLOF SBLOF

Table 3-14 RMR_MOVE.SPF call parameters No.


Cycle parameters

Meaning

1

Start condition

_JobVar

See Seite 30 Table 3-12 E6POS

2

Target position

_pNo

Data set number of the GUD (global user data)

3

Velocity

_velo

4

Acceleration

_accel



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3 Programming

3.2.3

Circular block


Figure 3-15 Circular block

Table 3-15 Circle: Functions Name

Note

Meaning

Target position

This specifies the diameter of the circular path based on the start position.

Auxiliary position

The arc is drawn from the start point to the target position via this point. This specifies the radius of the circular path.

Total angle

Total or circle angle This determines the actual target point by specifying the number of degrees to be retracted from the specific circle (360°).



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3 Programming

Figure 3-16 Programmed circle action

SP = Start point AuxP = Auxiliary position


TP = Programmed target position TP_CA = Actual target position. Results from the total angle.

Note

If the total angle is 0, then: TP_CA = TP.

RMR_MOVE_CIRC.SPF cycle parameters: N1000 PROC RMR_MOVE_CIRC(INT _JobVar, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C, INT _S, INT _T, REAL _XH, REAL _YH, REAL _ZH, REAL _AH, REAL _BH, REAL _CH, INT _SH, INT _TH, REAL _angel, INT _velo, INT _accel, REAL _E1, REAL _E2, REAL _E3, REAL _E4, REAL _E5, REAL _E6, REAL _E1H, REAL _E2H, REAL _E3H, REAL _E4H, REAL _E5H, REAL _E6H) DISPLOF SBLOF

Table 3-16 RMR_MOVE_CIRC.SPF call parameters No.


Cycle parameters

1

Start condition

_JobVar

2

Target pos. X

_X

3

Target pos. Y

_Y

4

Target pos. Z

_Z

5

Target pos. O

_A

6

Target pos. B

_B

7

Target pos. C

_C

8

STATE

_S

9

TURN

_T


Meaning See Seite 30 Table 3-12 E6POS

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3 Programming


No.


Cycle parameters

10

Auxiliary pos. X

_XH

11

Auxiliary pos. Y

_YH

12

Auxiliary pos. Z

_ZH

13

Auxiliary pos. O

_AH

14

Auxiliary pos. B

_BH

15

Auxiliary pos. C

_CH

15

STATE

_SH

17

TURN

_TH

18

Total angle

_angel

19

Velocity

_velo

20

Acceleration

_accel

21

Target pos. External axis 1

_E1

22


_E2

23


_E3

24


_E4

25


_E5

26


_E6

27

Auxiliary pos. External axis 1

_E1H

28


_E2H

29


_E3H

30


_E4H

31


_E5H

32


_E6H

Meaning

The positions of the supplementary axes (_E1 … _E6H) are optional.


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3 Programming

3.2.4

Circular block with GUD positions


Figure 3-17 Circular block with positions from GUDs

Note

An explanation of the coordinates and STATE / TURN can be found in Table 3-12 E6POS Seite 30 An explanation of the terms target/auxiliary position and total angle can be found in the Table 3-15 Circle: Seite 34.

RMR_MOVE_CIRC_P.SPF cycle parameters: N1000 PROC RMR_MOVE_CIRC_P(INT _JobVar, INT _pNo, INT _pNoH, REAL _angel, INT _velo, INT _accel) DISPLOF SBLOF

Table 3-17 RMR_MOVE_CIRC_P.SPF call parameters No.


Cycle parameters

Meaning

1

Start condition

_JobVar


2

Target position

_pNo

Data set number of the GUD (global user data)

3

Auxiliary position

_pNoH

Auxiliary position data set number of the GUD

4

Total angle

_angel

5

Velocity

_velo


6

Acceleration

_accel


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3 Programming


38

3 Programming

3.2.5

Machine axes direct block


Figure 3-18 Machine axes direct

Table 3-18 E6AXIS Element

Type

Description

A1

REAL

Position of the robot axis A1 (unit: mm or °)

A2

REAL


A3

REAL


A4

REAL


A5

REAL


A6

REAL


E1-E6

REAL

Position of the robot axes E1-E6 (unit: mm or °)

Angle or translation values of the axes of an axis group for a KRC_MoveAxis motion command.

RMR_MOVE_AXIS.SPF cycle parameters: N1000 PROC RMR_MOVE_AXIS(INT _JobVar, REAL _A1, REAL _A2, REAL _A3, REAL _A4, REAL _A5, REAL _A6, INT _velo, INT _accel, REAL _E1, REAL _E2, REAL _E3, REAL _E4, REAL _E5, REAL _E6) DISPLOF SBLOF


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3 Programming

Table 3-19 RMR_MOVE_AXIS.SPF call parameters


No.


Cycle parameters

Meaning

1

Start condition

_JobVar


2

Target pos. A1

_A1

3

Target pos. A2

_A2

See Seite 39 Table 3-18 E6AXIS

4

Target pos. A3

_A3

5

Target pos. A4

_A4

6

Target pos. A5

_A5

7

Target pos. A6

_A6

8

Velocity

_velo

9

Acceleration

_accel

10

Target pos. E1

_E1

11

Target pos. I2

_E2

12

Target pos. E3

_E3

13

Target pos. I4

_E4

14

Target pos. I5

_E5

15

Target pos. I6

_E6


See Seite 27 Table 3-11 Motions: General terms See Seite 39 Table 3-18 E6AXIS

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3 Programming

3.3

Read data "Read data" contains information about the payload / base and tool data, as well as information about the software limit switch and (predefined) system data that can be read from the robot. For activation of the screen form, a data set to be read must first be entered. The data currently stored in the NC is then displayed.


Clicking the softkey "RC: Read data" displays the data currently exported from the robot.


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3 Programming

3.3.1

Read load data


Figure 3-19 Read data: Load data

The load data is assigned to the tools (e.g. TOOL[1]).

Table 3-20 Read data: Parameters Parameters

Type

Description

Data set

INT

Data set number (TOOL/BASE)

M

REAL

Weight in kg

X, Y, Z

REAL

Position of the center of gravity relative to the flange

A, B, C

REAL

Orientation of the main inertia axes relative to the flange

JX, JY, JZ

REAL

Moment of inertia

RMR_RD_LOAD_DATA.SPF cycle parameters: N1000 PROC RMR_RD_LOAD_DATA(INT _DATASET) DISPLOF SBLOF


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3 Programming

Table 3-21 RMR_RD_LOAD_DATA.SPF call parameters No. 1

Screen form parameters Data set

Cycle parameters _DATASET

Meaning See Seite 42 Table 3-20 Read data: Parameters

Supplementary load data The supplementary load data can be exported from the robot controller. Reference systems of the X, Y, Z values per supplementary load:

Table 3-22 Read supplementary load data


Load

Reference system

Supplementary load A1

ROBROOT coordinate system A1 = 0°


ROBROOT coordinate system A2 = -90°


Flange coordinate system A4 = 0°, A5 = 0°, A6 = 0°


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3 Programming

3.3.2

Read base data


Figure 3-20 Read data: Base

Note

An explanation of the parameters can be found in the Table 3-20 Read data: Parameters Seite 42.

RMR_RD_BASE_DATA.SPF cycle parameters: N1000 PROC RMR_RD_BASE_DATA(INT _DATASET) DISPLOF SBLOF

Table 3-23 RMR_RD_ BASE _DATA.SPF call parameters No.


Cycle parameters

1

Data set

_DATASET



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3 Programming

3.3.3

Read tool data


Figure 3-21 Read data: Tool

Note

An explanation of the parameters can be found in the Table 3-20 Read data: Parameters Seite 42.

RMR_RD_TOOL_DATA.SPF cycle parameters: N1000 PROC RMR_RD_TOOL_DATA(INT _DATASET) DISPLOF SBLOF

Table 3-24 RMR_RD_TOOL_DATA.SPF call parameters No.


Cycle parameters

1

Data set

_DATASET



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3 Programming

3.3.4

Reading the software limit switch of the robot axes


Figure 3-22 Read data: Robot axes software limit switch

Table 3-25 Reading the robot axes software limit switch parameters Parameters

Type

Description

A1_Min … A6_Min

REAL

Negative software limit switch of axis A1 … A6

A1_Max … A6_Max

REAL

Positive software limit switch of axis A1 … A6

RMR_RD_SOFT_END.SPF cycle parameters: N1000 PROC RMR_RD_SOFT_END DISPLOF SBLOF

Table 3-26 RMR_RD_SOFT_END.SPF call parameters No.


Cycle parameters

Meaning None


46

3 Programming

3.3.5

Reading the software limit switch of the supplementary axes


Figure 3-23 Read data: Supplementary axes software limit switch

Table 3-27 Software limit switch parameters Parameters

Type

Description

E1_Min … E6_Min

REAL

Negative software limit switch of axis E1 … E6

E1_Max … E6_Max

REAL

Positive software limit switch of axis E1 … E6

RMR_RD_SOFT_END_EXT.SPF cycle parameters: N1000 PROC RMR_RD_SOFT_END_EX DISPLOF SBLOF

Table 3-28 RMR_RD_SOFT_END_EXT.SPF call parameters No.


Cycle parameters

Meaning None


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3 Programming

3.3.6

Read system variables


Figure 3-24 Read data: System variable

Table 3-29 System variable parameters Parameters

Type

Description

Index

INT

Index of the system variables 1: $ADVANCE Only the $ADVANCE system variable can be read. If required by the customer-specific application, KUKA can extend the list of the system variables that can be read.

Value 1… Value 10

REAL

Value of the system variables If the system variable is a structure type, you can read up to 10 components of the structure.

RMR_RD_SYS_VAR cycle parameters: N1000 PROC RMR_RD_SYS_VAR(INT _INDEX) DISPLOF SBLOF Table 3-30 Call parameters: RMR_RD_SYS_VAR.SPF No. 1

Screen form parameters Index


Cycle parameters _INDEX

Meaning See oben Table 3-29 System variable parameters

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3 Programming

3.4

Write data "Write data" contains information about the payload / base and tool data, as well as information about the software limit switch and (predefined) system data that can be written to the robot. For activation of the screen form, a data set to be read must first be entered. The "Read data from NC" softkey can then be used to display the data currently stored in the NC.


Clicking the softkey "RC: Write data" writes the data entered manually in the screen form to the robot. This is possible only when all fields have been completed, otherwise the softkey remains grayed-out.


49

3 Programming

3.4.1

Write load data


Figure 3-25 Write data: Load data

The payloads to be entered are each assigned to a tool (e.g. TOOL[1]). Table 3-31 Write data: Parameters parameters

Type

Description

Data set

INT

Data set number (TOOL/BASE)

M

REAL

Weight in kg

X, Y, Z

REAL

Position of the center of gravity relative to the flange

A, B, C

REAL

Orientation of the main inertia axes relative to the flange

JX, JY, JZ

REAL

Moment of inertia

RMR_WR_LOAD_DATA.SPF cycle parameters: N1000 PROC RMR_WR_LOAD_DATA(INT _JobVar, INT _DATASET, REAL _M, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C, REAL _JX, REAL _JY, REAL _JZ) DISPLOF SBLOF


50

3 Programming

Table 3-32 RMR_WR_LOAD_DATA.SPF call parameters


No.


Cycle parameters

Meaning

1

Start condition

_JobVar


2

Data set

_DATASET

3

Mass

_M

See Seite 50 Table 3-31 Write data: Parameters

4

X center of gravity

_X

5

Y center of gravity

_Y

6

Z center of gravity

_Z

7

A orientation

_A

8

B orientation

_B

9

C orientation

_C

10

X moment of inertia

_JX

11

Y moment of inertia

_JY

12

Z moment of inertia

_JZ

Supplementary load data The supplementary load data must be entered in the robot controller. Reference systems of the X, Y, Z values per supplementary load: Table 3-33 Write supplementary load data Load

Reference system


ROBROOT coordinate system A1 = 0°


ROBROOT coordinate system A2 = -90°


Flange coordinate system A4 = 0°, A5 = 0°, A6 = 0°

Procedure: 1. In the main menu, select Start-up > Measuring > Supplementary load data. 2. Enter the number of the axis to which the supplementary load is attached. Confirm with Next. 3. Enter the load data. Confirm with Next. 4. Press Save.


51

3 Programming

3.4.2

Write base data


Figure 3-26 Write data: BASE data

Note

An explanation of the parameters can be found in the Table 3-31 Write data: Parameters Seite 50.

RMR_WR_BASE_DATA.SPF cycle parameters: N1000 PROC RMR_WR_BASE_DATA(INT _JobVar, INT _DATASET, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C) DISPLOF SBLOF


52

3 Programming

Table 3-34 RMR_WR_BASE_DATA.SPF call parameters No.


Cycle parameters

Meaning

Start condition

_JobVar


2

Data set

_DATASET

3

Offset X

_X


4

Offset Y

_Y

5

Offset Z

_Z

6

A orientation

_A

7

B orientation

_B

8

C orientation

_C


1


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3 Programming

3.4.3

Write tool data


Figure 3-27 Write data: Tool data

Note

An explanation of the parameters can be found in the Table 3-31 Write data: Parameters Seite 50.

RMR_WR_TOOL_DATA.SPF cycle parameters: N1000 PROC RMR_WR_TOOL_DATA(INT _JobVar, INT _DATASET, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C) DISPLOF SBLOF


54

3 Programming

Table 3-35 RMR_WR_TOOL_DATA.SPF call parameters No.


Cycle parameters

Meaning

Start condition

_JobVar


2

Data set

_DATASET

3

Offset X

_X


4

Offset Y

_Y

5

Offset Z

_Z

6

A orientation

_A

7

B orientation

_B

8

C orientation

_C


1


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3 Programming

3.4.4

Writing the software limit switch of the robot axes


Figure 3-28 Write data: Software limit switch

Table 3-36 Software limit switch parameters Parameters

Type

Description

A1_Min … A6_Min

REAL

Negative software limit switch of axis A1 … A6

A1_Max … A6_Max

REAL

Positive software limit switch of axis A1 … A6

RMR_WR_SOFT_END.SPF cycle parameters: N1000 PROC RMR_WR_SOFT_END(INT _JobVar, REAL _A1MIN, REAL _A1MAX, REAL _A2MIN, REAL _A2MAX, REAL _A3MIN, REAL _A3MAX, REAL _A4MIN, REAL _A4MAX, REAL _A5MIN, REAL _A5MAX, REAL _A6MIN, REAL _A6MAX) DISPLOF SBLOF


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3 Programming

Table 3-37 RMR_WR_SOFT_END.SPF call parameters No.


Cycle parameters

Meaning

Start condition

_JobVar


2

MINUS A1 limit switch

_A1MIN

3

PLUS A1 limit switch

_A1MAX

4


_A2MIN

See Seite 56 Table 3-36 Software limit switch parameters

5


_A2MAX

6


_A3MIN

7


_A3MAX

8


_A4MIN

9


_A4MAX

10


_A5MIN

11


_A5MAX

12


_A6MIN

13


_A6MAX


1


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3 Programming

3.4.5

Writing the software limit switch of the supplementary axes


Figure 3-29 Write data: Supplementary axes software limit switch

Table 3-38 Supplementary axes software limit switch parameters Parameters

Type

Description

E1_Min … E6_Min

REAL

Negative software limit switch of axis E1 … E6

E1_Max … E6_Max

REAL

Positive software limit switch of axis E1 … E6

RMR_WR_SOFT_END_EXT.SPF cycle parameters: N1000 PROC RMR_WR_SOFT_END_EXT(INT _JobVar, REAL _E1MIN, REAL _E1MAX, REAL _E2MIN, REAL _E2MAX, REAL _E3MIN, REAL _E3MAX, REAL _E4MIN, REAL _E4MAX, REAL _E5MIN, REAL _E5MAX, REAL _E6MIN, REAL _E6MAX) DISPLOF SBLOF


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3 Programming

Table 3-39 RMR_RD_SOFT_END_EXT.SPF call parameters No.


Cycle parameters

Meaning

Start condition

_JobVar


2


_E1MIN

3


_E1MAX

4


_E2MIN

See Seite 47 Table 3-27 Software limit switch parameters

5


_E2MAX

6


_E3MIN

7


_E3MAX

8


_E4MIN

9


_E4MAX

10


_E5MIN

11


_E5MAX

12


_E6MIN

13


_E6MAX


1


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3 Programming

3.4.6

Write system parameter


Figure 3-30 Write data: System parameter

Table 3-40 System variable parameters Parameters

Type

Index

INT

Value 1… Value 10

REAL

Advance run stop (bContinue)

BOOL

Description See Seite 48 Table 3-29 System variable parameters TRUE = write system variable without advance run stop Note: Only possible for certain system variables.

RMR_WR_SYS_VAR cycle parameters: N1000 PROC RMR_WR_SYS_VAR(INT _JobVar, INT _INDEX, INT _CONT, REAL _V1, REAL _V2, REAL _V3, REAL _V4, REAL _V5, REAL _V6, REAL _V7, REAL _V8, REAL _V9, REAL _V10) DISPLOF SBLOF


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3 Programming

Table 3-41 Call parameters: RMR_WR_SYS_VAR.SPF


No.


Cycle parameters

Meaning

1

Start condition

_JobVAR


2

Index

_INDEX

See Seite 48 Table 3-29 System variable parameters

3

Advance run stop

_CONT


4

Value 1

_V1

5

Value 2

_V2


6

Value 3

_V3

7

Value 4

_V4

8

Value 5

_V5

9

Value 6

_V6

10

Value 7

_V7

11

Value 8

_V8

12

Value 9

_V9

13

Value 10

_V10


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3 Programming

3.5

Safety Table 3-42 Safety: General terms Name Start condition

Description Mode in which an instruction is executed on the robot controller. 0 = direct/SUBMIT Instruction is executed directly by the Submit interpreter (Submit program). Note: This mode is not available for all function blocks.


1 = ABORTING Instruction is executed immediately by the robot interpreter (main program). All active motions and buffered instructions are aborted beforehand and the robot brought to a complete standstill. 2 = BUFFERED Instruction is buffered. Buffered instructions are processed by the robot interpreter (main program) according to the FIFO principle. Tool Coordinate system

Interpolation reference


A number is assigned to each tool. Coordinate system on which the Cartesian coordinates of the parking position apply (Table 3-9 COORDSYS p. 26) Interpolation mode 0: The tool is a fixed tool (#BASE). 1: The tool is mounted on the mounting flange (#TOOL). (Table 3-9 COORDSYS p. 26)

62

3 Programming

3.5.1

Brake test


Figure 3-31 Brake test

Table 3-42 Brake test: General terms Name

Note

Description

Parking position

Coordinates of the Cartesian parking position (Table 3-12 E6POS p.30) The E6POS data structure contains all components of the parking position (= position of the TCP based on the origin of the selected coordinate system). The parking position is approached only in error situations.

Parking velocity

Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value depends on the robot type and the set mode. 0 % (= velocity is not changed)

Parking acceleration

Acceleration 0 … 100% Applies to the specified parking velocity.



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3 Programming

The KRC_BrakeTest function block calls the program for the brake test. The brake test is started at the position where the robot is located at the program call.

CAUTION

During the brake test, an automatic switch is made to 100% override! The return travel is made to the start position after the successful brake test again with the set override!

During the brake test, all brakes are tested whether they have reached the wear limit. To do this, the robot accelerates to a defined velocity limit. Once the robot has reached the velocity, the brake acts and the result of this braking action is displayed. After a successful brake test, the robot is located again in the start position at the end of the measurement.


If the brake test fails, i.e. a brake was detected as being defective, the robot travels directly to a parking position. The coordinates of the parking position are specified.

RMR_BRAKE_TEST.SPF cycle parameters:

N1000 PROC RMR_BRAKE_TEST(INT _buffering, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C, INT _S, INT _T, INT _velo, INT _accel, INT _tool, INT _base, INT _ipo, REAL _E1, REAL _E2, REAL _E3, REAL _E4, REAL _E5, REAL _E6) DISPLOF SBLOF

Table 3-44 RMR_BRAKE_TEST.SPF call parameters No.


Cycle parameters

Meaning

1

Start condition

_buffering

See Seite 62 Table 3-42 Safety: General terms

2

X parking position

_X

3

Y parking position

_Y


4

Z parking position

_Z

5

A parking position

_A

6

B parking position

_B

7

C parking position

_C

8

STATE parking position

_S

9

TURN parking position

_T

10

Velocity

_velo

11

Acceleration

_accel

12

Tool

_tool

13

Coordinate system

_base

14

Interpolation mode

_ipo

15

E1 parking position

_E1

16

E2 parking position

_E2




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3 Programming

No.


Cycle parameters

E3 parking position

_E3

18

E4 parking position

_E4

19

E5 parking position

_E5

20

E6 parking position

_E6


17

Meaning


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3 Programming

3.5.2

Mastering test


Figure 3-32 Mastering test

Note

An explanation of the coordinates and STATE / TURN can be found in Table 3-12 E6POS Seite 30.

The KRC_MasRef function block calls the program for the mastering test. The mastering test is started at the position where the robot is located at the program call. The robot then travels to a Cartesian reference position.

CAUTION

The Cartesian reference position is defined in the function block with the Position input parameter and corresponds to the reference position defined with KUKA.SafeOperation

The axis values of the approached position are compared with the values stored in SafeOperation on the KRC4. If the deviation between the current position and the reference position is too large, the mastering test has failed. The robot then returns to the start position.

CAUTION

For a mastering test, all axes of a reference group must be located in the reference position in order to dampen the reference button. If not all axes of a reference group are involved to dampen the reference button, the position of the axes cannot be checked.

RMR_MAS_REF.SPF cycle parameters:


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3 Programming

N1000 PROC RMR_MAS_REF(INT _buffering, REAL _X, REAL _Y, REAL _Z, REAL _A, REAL _B, REAL _C, INT _S, INT _T, INT _velo, INT _accel, INT _tool, INT _base, INT _ipo, REAL _E1, REAL _E2, REAL _E3, REAL _E4, REAL _E5, REAL _E6) DISPLOF SBLOF

Table 3-43 RMR_ MAS_REF.SPF call parameters


No.


Cycle parameters

Meaning

1

Start condition

_buffering


2

X parking position

_X

3

Y parking position

_Y


4

Z parking position

_Z

5

A parking position

_A

6

B parking position

_B

7

C parking position

_C

8

STATE parking position

_S

9

TURN parking position

_T

10

Velocity

_velo

11

Acceleration

_accel

12

Tool

_tool

13

Coordinate system

_base

14

Interpolation mode

_ipo

15

E1 parking position

_E1

16

E2 parking position

_E2

17

E3 parking position

_E3

18

E4 parking position

_E4

19

E5 parking position

_E5

20

E6 parking position

_E6




67

4 Start-up

4

Start-up

4.1

Prerequisites/versions 4.1.1 

NCU –



SINUMERIK 7x0.3 PN

Robots –

KUKA KRC4

–

KUKA KRC4 compact

4.1.2






or

Software

SINUMERIK –

CNC software 4.5 SP1 HF3

–

Toolbox 4.5.14.00

–

SINUMERIK Integrate Run MyRobot V2.0

mxAutomation (KUKA) –



Hardware

KUKA PLC mxAutomation S7 V01.00

STEP7 –

V5.5


68

4 Start-up

4.2

Communication

KRC and RobDiag To establish the communication between KRC4 and the RobDiag diagnostic application integrated in SINUMERIK Operate, a network connection between PN and SINUMERIK Operate (NCU or PCU) must be possible. In the example application, IE and PN were placed in the same Ethernet subnet (192.168.214.0 / mask 255.255.255.0) and connected with a switch.

4.2.1

Industrial Ethernet

Table 4-1 Nodes in the Industrial Ethernet


IP

Nodes

192.168.214.1

System network (X120)

192.168.214.241

PCU 50

192.168.214.11

HT8

192.168.214.12

TCU

192.168.214.13

MCP

4.2.2

PROFINET

Table 4-2 Nodes in the PROFINET IP

Nodes

192.168.214.100

PN connection of the PLC (X150)

192.168.214.120

KRC4 – robot 1

192.168.214.121

Header module ET200S IM151-3PN HF with 4/8 F-DIs


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4 Start-up

4.3

NC

Maximum configuration A single SINUMERIK can control a maximum of five robots.

4.3.1

Channel and axes

Initial settings Table 4-3 General machine data


MD

Value

Comment

10010[]

$MN_ASSIGN_CHAN_TO_MODE_GROUP

1

Robot channel

18118

$MN_MM_NUM_GUD_MODULES

9

Number of GUD modules

18130

$MN_MM_NUM_GUD_NAMES_CHAN

+20

Number of channel variables

18150

$MN_MM_GUD_VALUES_MEM

+200

+ approx. 100 KB per channel

18160

$MN_MM_NUM_USER_MACROS

+150

Number of macros

18170

$MN_MM_NUM_MAX_FUNC_NAMES

+30

Number of cycles

18170

$MN_MM_NUM_MAX_FUNC_PARAM

+250

Number of cycle parameters

19200

$ON_NUM_CHANNELS

+1

Number of channels

Position display Table 4-4 General machine data MD 10000[]

Value $MN_AXCONF_MACHAX_NAME_TAB

Comment Robot axis A1 .. A6

Table 4-5 Channel machine data MD

Value 0

Comment

20050[]

$MC_AXCONF_GEOAX_ASSIGN_TAB

20060[]

$MC_AXCONF_GEOAX_NAME_TAB

20070[]

$MN_AXCONF_MACHAX_USED

Robot axes

20080[]

$MN_AXCONF_CHANAX_NAME_TAB

Channel axis names

X..Z

No geoaxes active Geoaxis names

Table 4-6 Axis machine data MD

Value

Comment

30300

$MA_IS_ROT_AX

1

Rotary axis

30310

$MA_ROT_IS_MODULO

0

Not a modulo axis

30320

$MA_DISPLAY_IS_MODULO

0

Not a modulo display


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4 Start-up

4.3.2

RMCC/EXPD

The WCS and MCS positions of the robot that Operate displays in the machine main screen of the "Robot channel" are not created by the path interpolator and the transformation of the SINUMERIK , but written by the PLC in the $A_DBR and $A_DBD communications buffer variables. The compile cycle "RMCC/EXPD EXternal Position Display" brings these positions into the expected display format: 

WCS: Three Cartesian (X-Y-Z) and three orientation coordinates (A-B-C) and possibly supplementary axes of the robot (E1 …E6)



MCS: Six rotary axes and possibly supplementary axes

To activate this display, an OEM transformation with 6 axes (plus maximum 6 available supplementary axes) must be configured in the "robot channel". Table 4-7 General machine data


MD

Value

19410

$ON_TRAFO_TYPE_MASK

19610[3] 60996[0]

Comment

Bit 4

OEM transformation

$ON_TECHNO_EXTENSION_MASK

Bit 25

RMCC/EXPD

$MN_CC_ACTIVE_IN_CHAN_EXPD

Bit.x-1

Active in channel x

Table 4-8 Channel machine data MD

Value

Comment

1

EXPD active after Reset

20140

$MC_TRAFO_RESET_VALUE

24100

$MC_TRAFO_TYPE_1

4097

EXPD

24110[]

$MC_TRAFO_AXES_IN_1

1..6

Transformation axes

24120[]

$MC_TRAFO_GEOAX_ASSIGN_TAB_1

1..3

Geoaxes with transformation

62540

$MC_CC_EXPD_A_DBR_START_INDEX

2048

DBR start address

$MC_CC_EXPD_A_DBR_START_INDEX must contain the same address as that entered in the OB100 on the FC700/FcRmrInit under DprStartCCEXPD.

4.3.3

GUDs and macros

The definitions (GUD9 and MMAC) used in the sample project are located under ..\nc\def.dir and can be transferred directly to the NC. The necessary machine data settings are listed in Section 4.3.1, Channel and axes.

The following settings must be made in the GUDs of the robot channel(s): RMR_DPR: Start address for the job interface (occupies 512 bytes); in the sample project 3072, deactivate in all other channels with -1.


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4 Start-up

RMR_NUM_EX_AXES: Number of supplementary axes; evaluated in the cycles support. RMR_ROB_DB: Associated Interface-DB for saving the software limit switches in the PLC.

4.3.4

Cycles


The RMR cycles must be copied from the sample project ..\nc\cma.dir into a cycles directory of the NC.


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4 Start-up

4.4

PLC 4.4.1

Hardware configuration

To implement a safe communication between the NC-PLC and the KRC4 or KRC4 compact, the NCU-OM (Object Manager) from Toolbox 04.05.14 or later must be used.

CAUTION

This OM can be identified by the presence of three NCUs of type NCU 7x0.3 PN (V3.2+) in the SIMATIC 300 / SINUMERIK / 840D sl hardware catalog. The HW Config must be compiled and loaded with this NCU-OM. If this is not the case, no safe communication can occur!!!

Install GSDML


Install the GSDML file GSDML-V2.1-KUKA-Roboter-GmbH-KRC-next-Device-V1.020101203.xml (or later) located below ..\plc\gsdml in HW Config. Alternatively, the GSDML file is imported automatically when the hardware of the PLC sample application ..\plc\RmrSample is opened.

KUKA-KRC4 Add 'KRC next Device V8.2' from: PROFINET IO – further field devices – I/O KUKAto the PN bus of the NCU and complete with '2032 digital inputs/outputs'. Then set the device name (e.g. KUKA-krc4), IP, I/O addresses and F_Dest_Add of the safe inputs/outputs.


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4 Start-up


Figure 4-1 Safe I/Os configuration

Figure 4-2 NCU – PN-IO interface


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4 Start-up


Figure 4-3 NCU – CP 840D sl interface


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4 Start-up

4.4.2

Reboot (OB100)

RMR initialization and configuration FC700 / FcRmrInit. 

Checks the block version of the Interface-DB



Deletes bytes 0 to 719 in the Interface-DB



Initializes KUKA mxAutomation (FC922 / KRC_S7PLC_START)

CALL "FcRmrInit" DbRmrRobot ActRobot DprStartJob DprStartCCEXPD AlNoArea0 MsgNoArea0 UserAreaAlMsg

:= := := := := := :=

700 1 3072 2048 31 63 31

// // // // // // //

Interface-DB Robot number NC job interface (DPR) Interface RMCC/EXPD (DPR) Alarm number (7000xx) Message number (7000xx) Area for RMR messages/alarms


// 70xx00 to 70xx63

4.4.3

Cyclically (OB1)

Fetch data from NC and robot FC710 / FcRmrRdData 

Reads job data of the NC from DPR



Reads status data of RMCC/EXPD from DPR

FB953 / KRC_ReadAxisGroup 

Reads data and status from the robot out of the input area

CALL "FcRmrRdData" DbRmrRobot

:=

700

// Interface-DB

CALL "KRC_ReadAxisGroup" , "DbInstKrcReadAxisGroup1" AxisGroupIdx := 1 // Robot number InputStartByte := 1024 // Address KUKA-krc4 (NOT SAFE-Addr.) Error := ErrorID :=

Cyclical job processing FB710 / FbRmrCommon 

Communication with mxAutomation and supply of the Interface-DB – – – –

KrcAutExternal: FB 900 KrcReadActPos: FB 901 KrcReadActAxisPos: FB 902 KrcReadActVel: FB 903


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4 Start-up

– – – – – – – – – – – – –

KrcReadActAxisVel: FB 904 KrcReadActAcc: FB 905 KrcReadMxaStatus: FB 906 KrcReadSafeOpStatus: FB 907 KrcReadMxaError: FB 908 KrcMessageReset: FB 909 KrcReadKrcError: FB 910 KrcSetOverride: FB 911 KrcAbort: FB 915 KrcInterrupt: FB 916 KrcContinue: FB 917 KrcInitialize: FB 930 KrcDiag: FB 950

FB711 / FbRmrJog




Control of manual traversal motion – – – –

KrcMoveAxisAbsolute: FB 923 KrcJogLinearRelative: FB 926 KrcJogToolRelative: FB 927 (V2.1) KrcAbort: FB 915

FB712 / FbRmrAutBasic 

Control of general automatic functions – – – – – – – – – – – – – – – –

CALL

KrcSetCoordSys: FB 952 RmrMove: FB 720 KrcReadLoadData: FB 940 KrcWriteLoadData: FB 941 KrcReadSoftEnd: FB 942 KrcWriteSoftEnd: FB 943 KrcReadSoftEndExt: FB 944 KrcWriteSoftEndExt: FB 945 KrcReadToolData: FB 946 KrcWriteToolData: FB 947 KrcReadBaseData: FB 948 KrcWriteBaseData: FB 949 KrcReadSysVar: FB 928 KrcWriteSysVar: FB 929 KrcBrakeTest: FB 958 KrcMasRef: FB 959

"FbRmrCommon" , "DbInstRmrCommon"

DbRmrRobot

:=

700

CALL "FbRmrJog" , "DbInstRmrJog" DbRmrRobot := 700

// Interface-DB

// Interface-DB

CALL "FbRmrAutBasic" , "DbInstRmrAutBasic" DbRmrRobot := 700 // Interface-DB


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4 Start-up

Write data to NC and robot FC711 / FcRmrWrData 

Writes the position values for RMCC/EXPD to the DPR



Writes the data for NC cycles to the DPR



Sets RMR and mxAutomation alarms and messages in DB2

FB954 / KRC_WriteAxisGroup 

Collects the job data



Sends acyclically the jobs via PROFINET / WrRec to KRC



Sends cyclically jobs and status via the output area to KRC


CALL "FcRmrWrData" DbRmrRobot

:=

700

// Interface-DB

CALL "KRC_WriteAxisGroup" , "DbInstKrcReadAxisGroup1" AxisGroupIdx := 1 // Robot number PROFINETID :=DW#16#1FF6 // 1FF6=8182 (diagnosis address KRC4) OutputStartByte := 1024 // KUKA-krc4 address (NOT SAFE address) Error := ErrorID :=


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4 Start-up

4.5

Safety Integrated 4.5.1

Machine data

Table 4-9 General machine data


MD

Value

Comment

10385[]

$MN_PROFISAFE_MASTER_ADDRESS

50007D0H

PLC-CPU 317F, PROFISafe base address

10386[]

$MN_PROFISAFE_IN_ADDRESS

500012CH

Input 1 to 32 from KRC, SAFE-ID 300

10386[]

$MN_PROFISAFE_IN_ADDRESS

501012CH

Input 33 to 64 from KRC, SAFE-ID 300

10387[]

$MN_PROFISAFE_OUT_ADDRESS

500012CH

Output 1 to 32 to KRC, SAFE-ID 300

10387[]

$MN_PROFISAFE_OUT_ADDRESS

501012CH

Output 33 to 64 to KRC, SAFE-ID 300

10388[]

$MN_PROFISAFE_IN_ASSIGN

33056

INSEs assignment

10388[]

$MN_PROFISAFE_IN_ASSIGN

57064

INSEs assignment

10388[]

$MN_PROFISAFE_OUT_ASSIGN.

33056

OUTSEs assignment

10388[]

$MN_PROFISAFE_OUT_ASSIGN.

57056

OUTSEs assignment

13300[]

$MN_PROFISAFE_IN_FILTER

13300[]

$MN_PROFISAFE_IN_FILTER

13300[]

$MN_PROFISAFE_OUT_FILTER

33FFFFFH

User data filter OUT

13300[]

$MN_PROFISAFE_OUT_FILTER

F000FH

User data filter OUT

4.5.2

FFFFFFH

User data filter IN

FF00H

User data filter IN

NCK (SAFE.SPF)

NCK-SPL in the minimum variant ;VERSION: 02.00.00.00 ;DATE: 2013-03-01 ;CHANGE: 02.00.00.00 ;DATE: 2013-03-01 ;Run MyRobot: SAFE ;Changes: ; 02.00.00.00 Mar 01, 2013 - RunMyRobot/koe ; - initial N1000 N1010 N1020 N1030

define define define define

INSE_NOTAUS_MCP_IO INSE_NOTAUS_HT8_IO INSE_TUERE_IO INSE_ZUSTIMMUNG

N2000 define INSE_KRC1_NHL N2010 define INSE_KRC1_AF N2020 define INSE_KRC1_FF


as as as as

$A_INSE[1] $A_INSE[2] $A_INSE[3] $A_INSE[4]

as $A_INSE[33] as $A_INSE[34] as $A_INSE[35]

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4 Start-up

N2030 N2040 N2050 N2060 N2070 N2080 N2090 N2100 N2110 N2120 N2130 N2140 N2150 N2160 N2170 N2180 N2190 N2200 N2210 N2220 N2230 N2240 N2250 N2260 N2270 N2280 N2290 N2300 N2310

define define define define define define define define define define define define define define define define define define define define define define define define define define define define define

INSE_KRC1_ZS INSE_KRC1_PE INSE_KRC1_AUT INSE_KRC1_T1 INSE_KRC1_T2 INSE_KRC1_NHE INSE_KRC1_BS INSE_KRC1_SHS1 INSE_KRC1_SHS2 INSE_KRC1_RES13 INSE_KRC1_RES14 INSE_KRC1_PSA INSE_KRC1_SP INSE_KRC1_SO_SO INSE_KRC1_SO_RR INSE_KRC1_SO_JF INSE_KRC1_SO_VRED INSE_KRC1_SO_SBH1 INSE_KRC1_SO_SBH2 INSE_KRC1_SO_RES23 INSE_KRC1_SO_RES24 INSE_KRC1_SO_MR1 INSE_KRC1_SO_MR2 INSE_KRC1_SO_MR3 INSE_KRC1_SO_MR4 INSE_KRC1_SO_MR5 INSE_KRC1_SO_MR6 INSE_KRC1_SO_MR7 INSE_KRC1_SO_MR8

as as as as as as as as as as as as as as as as as as as as as as as as as as as as as

$A_INSE[36] $A_INSE[37] $A_INSE[38] $A_INSE[39] $A_INSE[40] $A_INSE[41] $A_INSE[42] $A_INSE[43] $A_INSE[44] $A_INSE[45] $A_INSE[46] $A_INSE[47] $A_INSE[48] $A_INSE[49] $A_INSE[50] $A_INSE[51] $A_INSE[52] $A_INSE[53] $A_INSE[54] $A_INSE[55] $A_INSE[56] $A_INSE[57] $A_INSE[58] $A_INSE[59] $A_INSE[60] $A_INSE[61] $A_INSE[62] $A_INSE[63] $A_INSE[64]

N2000 N2010 N2020 N2030 N2040 N2050 N2060 N2070 N2080 N2090 N2100 N2110 N2120 N2130 N2140 N2150 N2160 N2170 N2180 N2190 N2200 N2210 N2220 N2230 N2240 N2250 N2260 N2270 N2280 N2290 N2300 N2310

define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define

OUTSE_KRC1_RES1 OUTSE_KRC1_NHE OUTSE_KRC1_BS OUTSE_KRC1_QBS OUTSE_KRC1_SHS1 OUTSE_KRC1_SHS2 OUTSE_KRC1_E2 OUTSE_KRC1_E7 OUTSE_KRC1_US2 OUTSE_KRC1_SBH OUTSE_KRC1_RES11 OUTSE_KRC1_RES12 OUTSE_KRC1_RES13 OUTSE_KRC1_RES14 OUTSE_KRC1_RES15 OUTSE_KRC1_SPA OUTSE_KRC1_SO_JR OUTSE_KRC1_SO_VRED OUTSE_KRC1_SO_SBH1 OUTSE_KRC1_SO_SBH2 OUTSE_KRC1_SO_SBH3 OUTSE_KRC1_SO_SBH4 OUTSE_KRC1_SO_RES25 OUTSE_KRC1_SO_RES26 OUTSE_KRC1_SO_UER1 OUTSE_KRC1_SO_UER2 OUTSE_KRC1_SO_UER3 OUTSE_KRC1_SO_UER4 OUTSE_KRC1_SO_WZ1 OUTSE_KRC1_SO_WZ2 OUTSE_KRC1_SO_WZ3 OUTSE_KRC1_SO_WZ4

as as as as as as as as as as as as as as as as as as as as as as as as as as as as as as as as

$A_OUTSE[33] $A_OUTSE[34] $A_OUTSE[35] $A_OUTSE[36] $A_OUTSE[37] $A_OUTSE[38] $A_OUTSE[39] $A_OUTSE[40] $A_OUTSE[41] $A_OUTSE[42] $A_OUTSE[43] $A_OUTSE[44] $A_OUTSE[45] $A_OUTSE[46] $A_OUTSE[47] $A_OUTSE[48] $A_OUTSE[49] $A_OUTSE[50] $A_OUTSE[51] $A_OUTSE[52] $A_OUTSE[53] $A_OUTSE[54] $A_OUTSE[55] $A_OUTSE[56] $A_OUTSE[57] $A_OUTSE[58] $A_OUTSE[59] $A_OUTSE[60] $A_OUTSE[61] $A_OUTSE[62] $A_OUTSE[63] $A_OUTSE[64]

N2800 define PLCSIIN_EXT_MOVE_ENABLE N2800 define PLCSIIN_DELAY_DRIVES_ON N3000 ids=200 do OUTSE_KRC1_NHE INSE_NOTAUS_HT8_IO) N3010 ids=201 do OUTSE_KRC1_BS N3020 ids=202 do OUTSE_KRC1_QBS N3030 ids=203 do OUTSE_KRC1_SHS1


as $A_PLCSIIN[1] as $A_PLCSIIN[2] = (INSE_NOTAUS_MCP_IO and

= true = true = (PLCSIIN_EXT_MOVE_ENABLE and

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4 Start-up

PLCSIIN_DELAY_DRIVES_ON and (INSE_TUERE_IO or INSE_KRC1_T1 or NOT INSE_KRC1_T1 and INSE_ZUSTIMMUNG))) N3040 ids=204 do OUTSE_KRC1_SHS2 = true N3050 ids=205 do OUTSE_KRC1_E2 = true N3060 ids=206 do OUTSE_KRC1_E7 = true N3070 ids=207 do OUTSE_KRC1_US2 = true N3080 ids=208 do OUTSE_KRC1_SBH = true N3090 ids=209 do OUTSE_KRC1_SPA = false N3100 ids=210 do OUTSE_KRC1_RES1 = true OUTSE_KRC1_RES11=true OUTSE_KRC1_RES12=true OUTSE_KRC1_RES13=true OUTSE_KRC1_RES14=true OUTSE_KRC1_RES15=true N3110 ids=211 do OUTSE_KRC1_SO_VRED = INSE_TUERE_IO N3120 ids=212 do OUTSE_KRC1_SO_WZ1 = true N9999 M30

4.5.3

PLC (FC3000)


PLC-SPL in the minimum variant FUNCTION "FcRmrSampleSafety" : VOID TITLE =Safety VERSION : 2.0 BEGIN NETWORK TITLE =200: A A =

NHE "DbBpSpl".SPL_DATA.INSEP.NOT_AUS_MCP_IO; "DbBpSpl".SPL_DATA.INSEP.NOT_AUS_HT8_IO; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_NHE;

NETWORK TITLE =201: Operator protection A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_BS; NETWORK TITLE =202: QBS A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_QBS; NETWORK TITLE =203: A( O O AN A O O ) A = A A = A L SE A =

SHS1 ; "DbBpSpl".SPL_DATA.INSEP.TUEREN_IO; ; "DbBpSpl".SPL_DATA.INSEP.KRC1_T1; "DbBpSpl".SPL_DATA.INSEP.ZUSTIMMUNG; "DbBpSpl".SPL_DATA.INSEP.KRC1_T1; "DbBpSpl".SPL_DATA.INSEP.KRC1_T2; ; "DbBpSpl".PLCSIIN.EXT_MOVE_ENABLE; L 0.0; L 0.0; "DbBpSpl".PLCSIIN.DELAY_DRIVES_ON; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_SHS1; L 0.0; S5T#500MS; "TDelayDrivesOn"; "TDelayDrivesOn"; "DbBpSpl".PLCSIIN.DELAY_DRIVES_ON;

NETWORK TITLE =204: SHS2 A "one";


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4 Start-up

=

"DbBpSpl".SPL_DATA.OUTSEP.KRC1_SHS2;

NETWORK TITLE =205: I2 A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_E2; NETWORK TITLE =206: O7 A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_E7; NETWORK TITLE =207: US2 A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_US2; NETWORK TITLE =208: SBH A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_SBH; NETWORK TITLE =209: SPA A "zero"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_SPA;


NETWORK TITLE =210:RES... A = = = = = =

"one"; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES1; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES11; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES12; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES13; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES14; "DbBpSpl".SPL_DATA.OUTSEP.KRC1_RES15;

NETWORK TITLE =211: VRED A "DbBpSpl".SPL_DATA.INSEP.TUEREN_IO; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_SO_VRED; NETWORK TITLE =212: WZ 1 A "one"; = "DbBpSpl".SPL_DATA.OUTSEP.KRC1_SO_WZ1; END_FUNCTION


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4 Start-up

4.6

Operate 4.6.1

Robot diagnosis

Configuration The OEM directory RMR_ROBDIAG is provided for the robot diagnosis of RMR. It must be copied to ..\oem\SINUMERIK \hmi\ and activated in ..\oem\SINUMERIK \hmi\cfg\systemconfiguration.ini [oem_dirs] OEM_1=RMR_ROBDIAG … The port for the UDP communication is entered in the ..\oem\SINUMERIK \hmi\RMR_ROBDIAG\cfg\ XMLConverter.xml file and possibly released in the firewall.


… …


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4 Start-up

Message display


Figure 4-4 Display of the messages (diagnosis / Robo.Diag / messages)


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4 Start-up

Alarm list


Figure 4-5 Display of the alarms (diagnosis / alarm list)

Status display Figure 4-6 Display of the robot status (diagnosis / Robo.Diag / status)


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4 Start-up

The number of displayed rows corresponds to the number of entries in the "..\oem\SINUMERIK \hmi\RMR_ROBDIAG\cfg\XMLConverter.xml" file.

Note

The PLC addresses (here DB600, starting at byte 0) are also predefined there. Display: 0=green, 1=yellow, 2=red

Texts The display texts are specified in the "\oem\SINUMERIK \hmi\RMR_ROBDIAG\lng\status_xxx.ts" file.

Robot status


It is taken directly from the robot.


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4 Start-up

4.6.2

Cycle support

Configuration The OEM directory RMR_EDIT is provided for the cycle support of RMR. It must be copied to ..\oem\SINUMERIK \hmi\ and activated in ..\oem\SINUMERIK \hmi\cfg\systemconfiguration.ini [oem_dirs] … OEM_3=RMR_EDIT

4.6.3

Messages/alarms

Configuration


The OEM directory RMR_MESSAGES is provided for the message output of RMR. It must be copied to ..\oem\SINUMERIK \hmi\ and activated in ..\oem\SINUMERIK \hmi\cfg\systemconfiguration.ini [oem_dirs] … OEM_2=RMR_MESSAGES …

Run MyRobot The alarm texts for RMR are located in ..\AlMsgRmr\source\RMRPLC_xx.COM. If changed, they must be compiled with the Alarmtextconverter and then copied to oem\SINUMERIK \hmi\RMR_MESSAGES\ cfg or lng Although the message area is freely configurable, it must be modified in the alarm text files and in the OB100/FC700 (FcRmrInit) for deviations from the sample project! FC700 … AlNoArea0

:=31

// Alarm area (7000xx)

MsgNoArea0

:=63

// Message area (7000xx)

UserAreaAlMsg

:=31

// Area for RMR messages/alarms (70xx..)

mxAutomation The messages for KUKA (mxAutomation) are output in the sample project with the alarm numbers 700031 (AlNoArea0) or 700063 (MsgNoArea0) via %1.


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4 Start-up

4.7

Robots 4.7.1

CAUTION

A KUKA SmartPad is required to setup the server.

CAUTION

To ensure the correct function of the KRmsgNET option, only those changes/settings mentioned in this section may be made. All other entries must not be changed!

Note


Diagnosis support

The clock times and system times must be identical on all involved systems (within a certain tolerance); observe the daylight saving setting!

Figure 4-7 KUKA SmartPad

The messages output on the smartHMI can be transferred via the UDP/IP protocol to as many as five external systems, e.g. to a cell visualization. The message text and the associated message elements are sent in the language set on the smartHMI.


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4 Start-up

Configuration of the channels


Figure 4-8 KUKA SmartPad user interfaces

The "KRmsgNET" menu call located below the Start-up/Service is used to configure the individual channels. The channel can be assigned a name, a target address and a port.

The specified Port ID must match the specified port in the ..\hmi\oem\SINUMERIK \hmi\RMR_ROBDIAG\cfg\XMLConverter.xml file.

Note

The address of the Operate System (NCU or PCU) must always be specified as IP address.

Up to five channels can be configured. The touch screen on the SmartPad is used for the navigation. The "Save" softkey is used to initiate the saving of the configuration. An accessibility test is also made. The result is displayed in the configuration window.

Figure 4-9 Configuration window

The accessibility test can have two results: -

The recipient is accessible and can receive data (e.g. ping successful 15 ms).


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4 Start-up

-

The recipient is not accessible and cannot receive data (e.g. ping failed 477 ms).

It is also possible to give the channels a configuration. The message type to be sent is compared with the filter and the sending of a specific message type suppressed. This makes it possible to transfer only relevant information to the external system. The "Save" softkey also saves the filter setting.

Note

During running operation, a heartbeat signal is sent in an interval of 5 minutes over all configured channels. This is filtered out in the RobDiag Operate application.


Messages Table 4-10 The following message types can be transferred: Name

Description

Info

Notice message

State

Status message

Ack

Acknowledge message

Wait

Wait message

Dialog

Dialog message

Event

System message

Table 4-11 The output messages comprise the following elements: Element

Example

Network name of the robot

PCRC7190.ROBOTER.KUKA.DE

Name of the robot

ROB1

Time of the message (date, time)

---

Originator of the message

KCP

Message text

Value cannot be changed by the selected program

Message number

1172

Message type

Info

Message status


Add: Message displayed Removed: Message removed

90

4 Start-up

4.7.2

PROFIsafe

Adaptation of the SAFE-ID The SAFE-ID in the PROFINET device of the KRC4 must match the F_DEST_ADDR of the safe inputs/outputs in the hardware configuration.


Figure 4-12 Safety configuration

4.7.3

Delay time

After receiving a job, mxAutomation waits a set time for a second block to allow the path to be approximately positioned. This time is stored as "mxa_apo_waittime" variable in the /R1/mxA_CommandDispatcher.SRC module and is initialized with the value 0.35 seconds.

4.7.4

Automatic external message acknowledgement

To extend the automatic external message acknowledgement on the KRC, the c:\KRC\ROBOTER\Config\User\Common\ KrcExtConfMsg.xml file must be modified:


91

4 Start-up

This file allows to change the configured default --> behavior for external confirmation for specified --> messages --> ============================================================= --> Example: --> --> ==> allow confirmation in EXT --> --> ==> disable confirmation in EXT --> ============================================================= --> !!! only confirmation messages are allowed to configure !!! --> ============================================================= -->



92

5 Lists

5

Lists

5.1

Interface-DB (DB700) 5.1.1

Signals to the RMR

Table 5-1 DB700 signals to the RMR

DB700

Signals to the RMR

Byte 0

Bit 7

Bit 6

Reset

Message Reset

Bit 5

Bit 4

Bit 3

Bit 1

Restart

Bit 0 Run with OfficePc

KrcBrakeF (V2.1)

KrcCont

KrcBrake

AutExt DrivesOn

AutExt !DrivesOff

AutExt ConfMess

AutExt MoveEnable

AutExt EnableExt

AutExt EnableAut

AutExt EnableT2

AutExt EnableT1

5

ReadCartAccel (V2.1)

ReadAxisVelo (V2.1)

6

Start JogPosEditor

Enable JogPosEditor

1 AutExt Reset

2

AutExt ExtStart

3 4


Bit 2

Feed Override (INT)

7 8

JOG E2

JOG E1

9

JOG PLUS

JOG MINUS

10

JOG WCS

JOG A6/C

JOG TOOL (2.1)

JOG A5/B

INC 10000

JOG A4/A

JOG A3/Z

JOG A2/Y

JOG A1/X

JOG E6

JOG E5

JOG E4

JOG E3

INC 1000

INC 100

INC 10

INC 1

SafeOperations BrakeTestReq Ext

SafeOperations MasRefReq Ext

11 12 13-31

Table 5-2 Description of signals to the RMR Signal name

Type

Signal name (KRL)

Description

RunOfficePC

BOOL

Simulation operation with Office PC

Restart

BOOL

Restart of the PLC

MessageReset

BOOL

TRUE = acknowledge messages

Reset

BOOL

TRUE = abort motions, acknowlege messages, …

KrcBrake

BOOL

Stops the robot with BRAKE and prevents all motions while the signal is 1.

KrcCont

BOOL

Continue the motion for rising edge and reset KrcBrake / F

KrcBrakeF

BOOL

Stops the robot with BRAKE F and prevents all motions while the signal is 1. (V2.1)

AutExtMoveEnable

BOOL


$MOVE_ENABLE

Automatic external:

93

5 Lists

Signal name

Type

Signal name (KRL)

Description


TRUE = travel release for the robot Note: This system variable is monitored by the robot controller in all operating modes. AutExtConfMess

BOOL

$CONF_MESS

Automatic external: TRUE = acknowledge fault messages

AutExtDrivesOff

BOOL

$DRIVES_OFF

Automatic external: TRUE = switch-off the robot drives

AutExtDrivesOn

BOOL

$DRIVES_ON

Automatic external: TRUE = switch-on the robot drives

AutExtExtStart

BOOL

$EXT_START

Automatic external: TRUE = start or continue the robot program

AutExt Reset

BOOL

Automatic external: Selects the mxAutomation robot program for a rising edge of the signal and starts it. All buffer instructions are aborted beforehand.

AutExtEnableT1

BOOL

Automatic external: TRUE = release operating mode T1 The $MOVE_ENABLE signal is suppressed for missing release. The robot can no longer be moved.

AutExtEnableT2

BOOL

Automatic external: TRUE = release operating mode T2 The $MOVE_ENABLE signal is suppressed for missing release. The robot can no longer be moved.

AutExtEnableAut

BOOL

Automatic external: TRUE = release Automatic operating mode The $MOVE_ENABLE signal is suppressed for missing release. The robot can no longer be moved.

AutExtEnableExt

BOOL

Automatic external: TRUE = release AutomaticExternal operating mode The $MOVE_ENABLE signal is suppressed for missing release. The robot can no longer be moved.

Feed Override

INT

Feedrate override 0..100% (int)

ReadAxisVelo

BOOL

$VEL_AXIS_ACT

Read axis velocities (V2.1)

ReadCartAccel

BOOL

$ACC_CAR_ACT

Read Cartesian accelerations (V2.1)

Enable JogPosEditor

BOOL

Release 'Jog' softkey, etc.

Start JogPosEditor

BOOL

Perform motion

JOG A1/X

BOOL

Jog A1/X

JOG A2/Y

BOOL

Jog A2/Y

JOG A3/Z

BOOL

Jog A3/Z

JOG A4/A

BOOL

Jog A4/A

JOG A5/B

BOOL

Jog A5/B

JOG A6/C

BOOL

Jog A6/C


94

5 Lists


Signal name

Type

Signal name (KRL)

Description

JOG E1

BOOL

Jog E1

JOG E2

BOOL

Jog E2

JOG E3

BOOL

Jog E3

JOG E4

BOOL

Jog E4

JOG E5

BOOL

Jog E5

JOG E6

BOOL

Jog E6

JOG MINUS

BOOL

Jog Minus

JOG PLUS

BOOL

Jog Plus

INC 1

BOOL

Jog 0.001 mm or degrees

INC 10

BOOL


INC 100

BOOL


INC 1000

BOOL

Jog 1 mm or degrees

INC 10000

BOOL

Jog 10 mm or degrees

JOG WCS

BOOL

Jog WCS

JOG TOOL (V2.1)

BOOL

Jog TOOL (as of V2.1)

SafeOperations MasRefReq Ext

BOOL

Safe Operations Safe Operations:TRUE = mastering test requested by the PLC

SafeOperationsBrakeTestReqExt

BOOL

Safe Operations Safe Operations:TRUE = brake test requested by the PLC

5.1.2

Signals from the RMR

Table 5-3 DB700 signals from the RMR

DB700 Byte

Signals from the RMR Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

32 KrcBrakeActive (V2.1)

33 34

AutExt IntEStop

AutExt StopMess

35

AutExt IoActConf

AutExt RobCal

AutExt PeriRdy

AutExt UserSafe

AutExt AlarmStop

AutExt RcRdy

AutExt RobStopped

AutExt NearPosRet

AutExt OnPath

AutExt ProMove

AutExt ApplRun

AutExt ProAct

KrcMode Ext

KrcMode Aut

KrcMode T2

KrcMode T1

SafeOperations BrakeTest ReqInt

SafeOperations MasTest ReqInt

36 37-43 44

SafeOperations MasTest SwitchOk

SafeOperations BrakeTest Warn

SafeOperations BrakesOk

SafeOperations BrakeTest Work

SafeOperations BrakeTest MonTime

ErrorMoveJog Tool (V2.1)

ErrorMoveJog Wcs

ErrorMoveJog Mcs

ErrorMoveJog Abort

45-47 48 49-51 52 ErrNoKrc

53 54


MsgNoKrc

95

5 Lists

DB700

Signals from the RMR

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

55 56-63

Table 5-4 Description of the signals from the RMR


Signal name

Type

Signal name (KRL)

Description

KrcBrakeActive

BOOL

AutExtRcRdy

BOOL

$RC_RDY1

Automatic external: TRUE = robot controller ready for program start

AutExtAlarmStop

BOOL

$ALARM_STOP

Automatic external: FALSE = robot stop by EMERGENCYSTOP

AutExtUserSafe

BOOL

$USER_SAF

Automatic external: FALSE = operator protection violated

AutExtPeriRdy

BOOL

$PERI_RDY

Automatic external: TRUE = robot drives switched on

AutExtRobCal

BOOL

$ROB_CAL

Automatic external: TRUE = robot axes adjusted

AutExtIoActConf

BOOL

$IO_ACTCONF

Automatic external: TRUE = automatic external interface active

AutExtStopMess

BOOL

$STOPMESS

Automatic external: TRUE = safety circuit interrupted (robot error)

AutExtIntEStop

BOOL

Int. emergency off

Automatic external: TRUE = external EMERGENCY-OFF FALSE = EMERGENCY-OFF button pressed on the smartPAD

AutExtProAct

BOOL

$PRO_ACT

Automatic external: TRUE = process on the robot level active

AutExtApplRun

BOOL

APPL_RUN

Automatic external: TRUE = robot program running

AutExtProMove

BOOL

$PRO_MOVE

Automatic external: TRUE = synchronous robot motion active

AutExtOnPath

BOOL

$ON_PATH

Automatic external: TRUE = robot on programmed path

AutExtNearPosRet

BOOL

$NEAR_POSRET

Automatic external: TRUE = robot near the most-recently stored position on the programmed path (after leaving the path)

AutExtRobStopped

BOOL

$ROB_STOPPED

Automatic external: TRUE = robot stationary

KrcModeT1

BOOL

$T1

Automatic external: TRUE = T1 operating mode selected

KrcModeT2

BOOL

$T2

Automatic external: TRUE = T2 operating mode selected


BRAKE / BRAKE F active (V2.1)

96

5 Lists


Signal name

Type

Signal name (KRL)

Description

KrcModeAut

BOOL

$AUT

Automatic external: TRUE = Automatic operating mode selected

KrcModeExt

BOOL

$EXT

Automatic external: TRUE = Automatic External operating mode selected

SafeOperations MasTestReqInt

BOOL

Safe Operations Safe Operations:TRUE = mastering test requested by the PLC

SafeOperation sBrakeTestReqInt

BOOL

Safe Operations Safe Operations:TRUE = brake test requested by the PLC

SafeOperations BrakeTestMonTime

BOOL

Safe Operations Safe Operations:TRUE = robot has been stopped because the monitoring time for the brake test has expired

SafeOperations BrakeTestWork

BOOL

Safe Operations TRUE = brake test currently being performed

SafeOperations BrakesOk

BOOL

Safe Operations Edge TRUE --> FALSE: A brake has been detected as being defective

SafeOperations BrakeTestWarn

BOOL

Safe Operations Edge FALSE --> TRUE: It has been determined for at least one brake that the wear limit is reached.

SafeOperations MasTestSwitchOk

BOOL

TRUE = mastering test switch operational

ErrorMoveJog Abort

BOOL

Error during motion cancellation

ErrorMoveJog Mcs

BOOL

Error during axis traversal

ErrorMoveJog Wcs

BOOL

Error during the Cartesian travel

ErrorMoveJogTool

BOOL

Error during the Tool travel (V2.1)

ErrNoKrc

BOOL

Error number from KRC

MsgNoKrc

BOOL

Message number from KRC


97

5 Lists

5.1.3

RMR configuration

Table 5-5 DB700 RMR configuration

DB700

RMR configuration

WORD

Integer

64

ActRobot

66

DprStartJob

68

DprStartCCEXPD


70-86 88

AlNoArea0

90

MsgNoArea0

92

UserAreaAlMsg

94

DbVersion

5.1.4

KRC actual values

Table 5-6 DB700 DWORD KRC actual values

DB700

Velocities / accelerations

DWORD

REAL

720

TCP actual velocity

724

A1 actual velocity

728

A2 actual velocity

732

A3 actual velocity

736

A4 actual velocity

740

A5 actual velocity

744

A6 actual velocity

748

E1 actual velocity

752

E2 actual velocity

756

E3 actual velocity

760

E4 actual velocity

764

E5 actual velocity

768

E6 actual velocity

772

TCP actual acceleration

776

X actual acceleration

780

Y actual acceleration

784

Z actual acceleration

788

A actual acceleration

792

B actual acceleration

796

C actual acceleration

800-812


98

5 Lists

Table 5-7 DB700 DWORD KRC actual values

DB700

Currently: Tool / Base / IPO / OVR / …

WORD

INT

848

actual TOOL

850

actual BASE

852

actual IPO-MODE

854

actual OVERRIDE

856-860


Table 5-8 DB700 DWORD software limit switch

DB700

Software limit switch

DWORD

REAL

880

A1 min.

884

A1 max.

888

A2 min.

892

A2 max.

896

A3 min.

900

A3 max.

904

A4 min.

908

A4 max.

912

A5 min.

916

A5 max.

920

A6 min.

924

A6 max.

928

E1 min.

932

E1 max.

936

E2 min.

940

E2 max.

944

E3 min.

948

E3 max.

952

E4 min.

956

E4 max.

960

E5 min.

964

E5 max.

968

E6 min.

972

E6 max.


99

5 Lists

5.2

DualPortRam 5.2.1

Cyclically: Positions


Table 5-9 DPR cyclical: Positions MMAC

$A_

RmrDprC_POS_X

DBR n+ 256

352

RmrDprC_POS_Y

DBR n+ 260

356

RmrDprC_POS_Z

DBR n+ 264

360

RmrDprC_POS_A

DBR n+ 268

364

RmrDprC_POS_B

DBR n+ 272

368

RmrDprC_POS_C

DBR n+ 276

372

RmrDprC_POS_S

DBD n+ 280

376

RmrDprC_POS_T

DBD n+ 284

380

RmrDprC_POS_A1

DBR n+ 288

384

RmrDprC_POS_A2

DBR n+ 292

388

RmrDprC_POS_A3

DBR n+ 296

392

RmrDprC_POS_A4

DBR n+ 300

396

RmrDprC_POS_A5

DBR n+ 304

400

RmrDprC_POS_A6

DBR n+ 308

404

RmrDprC_POS_E1

DBR n+ 312

408

RmrDprC_POS_E2

DBR n+ 316

412

RmrDprC_POS_E3

DBR n+ 320

416

RmrDprC_POS_E4

DBR n+ 324

420

RmrDprC_POS_E5

DBR n+ 328

424

RmrDprC_POS_E6

DBR n+ 332

428

RmrDprC_21

DBR n+ 336

432

RmrDprC_22

DBR n+ 340

436

RmrDprC_23

DBR n+ 344

440

RmrDprC_24

DBR n+ 348

444

RmrDprC_25

DBR n+ 352

448

RmrDprC_26

DBR n+ 356

452

RmrDprC_27

DBR n+ 360

456

RmrDprC_28

DBR n+ 364

460

RmrDprC_29

DBR n+ 368

464

RmrDprC_30

DBR n+ 372

468

RmrDprC_31

DBR n+ 376

472

RmrDprC_32

DBR n+ 380

476


DB700

100

5 Lists

5.2.2

Acycl. basic functions: Motions and settings


RMR_SET_COORDSYS

RMR_MAS_REF 1901000

RMR_SET_CIRCTYPE

RMR_BRAKE_TEST 1900000

RMR_SET_ORITYPE

RMR_MOVE_CIRC RMR_MOVE_CIRC_P 13xx000

RMR_SET_APO

RMR_MOVE RMR_MOVE_P 13xx000

RMR_MOVE_AXIS

Table 5-10 DPR acyclical basic functions: Motions and settings

RmrDprO_JobVar

DBD n+

4

100

RmrDprO_D1

DBD n+

8

104

EP ST EP ST EP ST EP ST

PtpM

RmrDprO_D2

DBD n+ 12

108

EP TU EP TU EP TU EP TU

CpM

BASE

RmrDprO_D3

DBD n+ 16

112 Velo

Velo

CPtp

IpoM

RmrDprO_D4

DBD n+ 20

116 Accel Accel Accel Accel Accel

RmrDprO_D5

DBD n+ 24

120

AP ST Tool

Tool

RmrDprO_D6

DBD n+ 28

124

AP TU Base

Base

RmrDprO_D7

DBD n+ 32

128

IpoM

IpoM

RmrDprO_D8

DBD n+ 36

132

RmrDprO_D9

DBD n+ 40

136

RmrDprO_D10

DBD n+ 44

140

RmrDprO_D11

DBD n+ 48

144

RmrDprO_D12

DBD n+ 52

148

RmrDprO_D13

DBD n+ 56

152

RmrDprO_D14

DBD n+ 60

156

RmrDprO_D15

DBD n+ 64

160

RmrDprO_D16

DBD n+ 68

164

RmrDprO_D17

DBD n+ 72

168

RmrDprO_D18

DBD n+ 76

172

RmrDprO_D19

DBD n+ 80

176

RmrDprO_PosValid

DBD n+ 84

180 Valid Valid Valid

RmrDprO_R1

DBR n+ 88

184 EP A1 EP X

EP X

EP X

EP X

CDIS

RmrDprO_R2

DBR n+ 92

188 EP A2 EP Y

EP Y

EP Y

EP Y

CORI

RmrDprO_R3

DBR n+ 96

192 EP A3 EP Z

EP Z

EP Z

EP Z

RmrDprO_R4

DBR n+ 100

196 EP A4 EP A

EP A

EP A

EP A

RmrDprO_R5

DBR n+ 104

200 EP A5 EP B

EP B

EP B

EP B

RmrDprO_R6

DBR n+ 108

204 EP A6 EP C

EP C

EP C

EP C

Velo

Velo

Velo

OriT

1200000

96


DB700

1102000

0

1101000

DBD n+

1100000

$A_

RmrDprO_JobVarExt

13xx000

MMAC

CircT TOOL

CVel

101


MMAC

$A_

RmrDprO_R7

DBR n+ 112

208

EP E1 EP E1 EP E1 EP E1

RmrDprO_R8

DBR n+ 116

212


RmrDprO_R9

DBR n+ 120

216


RmrDprO_R10

DBR n+ 124

220


RmrDprO_R11

DBR n+ 128

224


RmrDprO_R12

DBR n+ 132

228


RmrDprO_R13

DBR n+ 136

232

AP X

RmrDprO_R14

DBR n+ 140

236

AP Y

RmrDprO_R15

DBR n+ 144

240

AP Z

RmrDprO_R16

DBR n+ 148

244

AP A

RmrDprO_R17

DBR n+ 152

248

AP B

RmrDprO_R18

DBR n+ 156

252

AP C

RmrDprO_R19

DBR n+ 160

256

AP E1

RmrDprO_R20

DBR n+ 164

260

AP E2

RmrDprO_R21

DBR n+ 168

264

AP E3

RmrDprO_R22

DBR n+ 172

268

AP E4

RmrDprO_R23

DBR n+ 176

272

AP E5

RmrDprO_R24

DBR n+ 180

276

AP E6

RmrDprO_R25

DBR n+ 184

280

Angle

RmrDprO_R26

DBR n+ 188

284

RmrDprO_R27

DBR n+ 192

288

RmrDprO_R28

DBR n+ 196

292

RmrDprO_R29

DBR n+ 200

296

RmrDprO_R30

DBR n+ 204

300

RmrDprO_R31

DBR n+ 208

304

RmrDprO_R32

DBR n+ 212

308

RmrDprO_R33

DBR n+ 216

312

RmrDprO_R34

DBR n+ 220

316

RmrDprO_R35

DBR n+ 224

320

RmrDprO_R36

DBR n+ 228

324

RmrDprO_R37

DBR n+ 232

328

RmrDprO_R38

DBR n+ 236

332

RmrDprO_R39

DBR n+ 240

336

RmrDprO_R40

DBR n+ 244

340

RmrDprO_R41

DBR n+ 248

344

RmrDprO_R42

DBR n+ 252

348

RmrDprR_Result

DBB n+ 384

480


DB700

102

RMR_SET_COORDSYS

RMR_SET_CIRCTYPE

RMR_SET_ORITYPE

RMR_SET_APO

RMR_MAS_REF

RMR_BRAKE_TEST

RMR_MOVE_CIRC RMR_MOVE_CIRC_P

RMR_MOVE RMR_MOVE_P

RMR_MOVE_AXIS

5 Lists


MMAC

$A_

RmrDprR_Result_2

DBB n+ 385

481 482

RmrDprR_Result_GUI DBB n+ 387

483

RmrDprR_ErrorId

DBD n+ 388

484

RmrDprR_D1

DBD n+ 392

488

RmrDprR_D2

DBD n+ 396

492

RmrDprR_D3

DBD n+ 400

496

RmrDprR_D4

DBD n+ 404

500

RmrDprR_D5

DBD n+ 408

504

RmrDprR_D6

DBD n+ 412

508

RmrDprR_D7

DBD n+ 416

512

RmrDprR_D8

DBD n+ 420

516

RmrDprR_D9

DBD n+ 424

520

RmrDprR_D10

DBD n+ 428

524

RmrDprR_R1

DBR n+ 432

528

RmrDprR_R2

DBR n+ 436

532

RmrDprR_R3

DBR n+ 440

536

RmrDprR_R4

DBR n+ 444

540

RmrDprR_R5

DBR n+ 448

544

RmrDprR_R6

DBR n+ 452

548

RmrDprR_R7

DBR n+ 456

552

RmrDprR_R8

DBR n+ 460

556

RmrDprR_R9

DBR n+ 464

560

RmrDprR_R10

DBR n+ 468

564

RmrDprR_R11

DBR n+ 472

568

RmrDprR_R12

DBR n+ 476

572

RmrDprR_R13

DBR n+ 480

576

RmrDprR_R14

DBR n+ 484

580

RmrDprR_R15

DBR n+ 488

584

RmrDprR_R16

DBR n+ 492

588

RmrDprR_R17

DBR n+ 496

592

RmrDprR_R18

DBR n+ 500

596

RmrDprR_R19

DBR n+ 504

600

RmrDprR_R20

DBR n+ 508

604

Result Result

103

RMR_SET_COORDSYS

RMR_SET_CIRCTYPE

RMR_SET_ORITYPE

RMR_SET_APO

RMR_MAS_REF

RMR_BRAKE_TEST

RMR_MOVE_CIRC RMR_MOVE_CIRC_P

DB700

RmrDprR_Result_SAFE DBB n+ 386


RMR_MOVE RMR_MOVE_P

RMR_MOVE_AXIS

5 Lists

5 Lists

5.2.3

Acycl. basic functions: Reading/writing data


RMR_RD_SYS_VAR 1410000

RMR_WR_SYS_VAR

RMR_WR_BASE_DATA 1409000

RMR_WR_SOFT_END_EXT 1405000

RMR_RD_BASE_DATA

RMR_RD_SOFT_END_EXT 1404000

1408000

RMR_WR_SOFT_END 1403000

RMR_WR_TOOL_DATA

RMR_RD_SOFT_END 1402000

1407000

RMR_WR_LOAD_DATA 1401000

RMR_RD_TOOL_DATA

RMR_RD_LOAD_DATA 1400000

Table 5-11 DPR acyclical basic functions: Reading/writing data

MMAC

$A_

RmrDprO_JobVarExt

DBD n+

0

RmrDprO_JobVar

DBD n+

4 100

RmrDprO_D1

DBD n+

8

RmrDprO_D2

DBD n+ 12

108

RmrDprO_D3

DBD n+ 16

112

RmrDprO_D4

DBD n+ 20

116

RmrDprO_D5

DBD n+ 24

120

RmrDprO_D6

DBD n+ 28

124

RmrDprO_D7

DBD n+ 32

128

RmrDprO_D8

DBD n+ 36

132

RmrDprO_D9

DBD n+ 40

136

RmrDprO_D10

DBD n+ 44

140

RmrDprO_D11

DBD n+ 48

144

RmrDprO_D12

DBD n+ 52

148

RmrDprO_D13

DBD n+ 56

152

RmrDprO_D14

DBD n+ 60

156

RmrDprO_D15

DBD n+ 64

160

RmrDprO_D16

DBD n+ 68

164

RmrDprO_D17

DBD n+ 72

168

RmrDprO_D18

DBD n+ 76

172

RmrDprO_D19

DBD n+ 80

176

RmrDprO_D20

DBD n+ 84

180

RmrDprO_R1

DBR n+ 88

184

L_X

A1-

E1-

T_X

B_X

V_1

RmrDprO_R2

DBR n+ 92

188

L_Y

A1+

E1+

T_Y

B_Y

V_2

RmrDprO_R3

DBR n+ 96

192

L_Z

A2-

E2-

T_Z

B_Z

V_3

RmrDprO_R4

DBR n+ 100

196

L_A

A2+

E2+

T_A

B_A

V_4

RmrDprO_R5

DBR n+ 104

200

L_B

A3-

E3-

T_B

B_B

V_5

RmrDprO_R6

DBR n+ 108

204

L_C

A3+

E3+

T_C

B_C

V_6

RmrDprO_R7

DBR n+ 112

208

L_JX

A4-

E4-


DB700

104 Tool Tool

1411000

1406000

96

Tool Tool Base Base Indx Indx

V_7

104


RMR_WR_SYS_VAR

RMR_RD_SYS_VAR

RMR_WR_BASE_DATA

RMR_RD_BASE_DATA

RMR_WR_TOOL_DATA

RMR_RD_TOOL_DATA

RMR_WR_SOFT_END_EXT

RMR_RD_SOFT_END_EXT

RMR_WR_SOFT_END

RMR_RD_SOFT_END

RMR_WR_LOAD_DATA

RMR_RD_LOAD_DATA

5 Lists

MMAC

$A_

RmrDprO_R8

DBR n+ 116

212

L_JY

A4+

E4+

V_8

RmrDprO_R9

DBR n+ 120

216

L_JZ

A5-

E5-

V_9

RmrDprO_R10

DBR n+ 124

220

L_M

A5+

E5+

V_10

RmrDprO_R11

DBR n+ 128

224

A6-

E6-

RmrDprO_R12

DBR n+ 132

228

A6+

E6+

RmrDprO_R13

DBR n+ 136

232

RmrDprO_R14

DBR n+ 140

236

RmrDprO_R15

DBR n+ 144

240

RmrDprO_R16

DBR n+ 148

244

RmrDprO_R17

DBR n+ 152

248

RmrDprO_R18

DBR n+ 156

252

RmrDprO_R19

DBR n+ 160

256

RmrDprO_R20

DBR n+ 164

260

RmrDprO_R21

DBR n+ 168

264

RmrDprO_R22

DBR n+ 172

268

RmrDprO_R23

DBR n+ 176

272

RmrDprO_R24

DBR n+ 180

276

RmrDprO_R25

DBR n+ 184

280

RmrDprO_R26

DBR n+ 188

284

RmrDprO_R27

DBR n+ 192

288

RmrDprO_R28

DBR n+ 196

292

RmrDprO_R29

DBR n+ 200

296

RmrDprO_R30

DBR n+ 204

300

RmrDprO_R31

DBR n+ 208

304

RmrDprO_R32

DBR n+ 212

308

RmrDprO_R33

DBR n+ 216

312

RmrDprO_R34

DBR n+ 220

316

RmrDprO_R35

DBR n+ 224

320

RmrDprO_R36

DBR n+ 228

324

RmrDprO_R37

DBR n+ 232

328

RmrDprO_R38

DBR n+ 236

332

RmrDprO_R39

DBR n+ 240

336

RmrDprO_R40

DBR n+ 244

340

RmrDprO_R41

DBR n+ 248

344

RmrDprO_R42

DBR n+ 252

348

RmrDprR_Result

DBB n+ 384

480

RmrDprR_Result_2

DBB n+ 385

481


DB700

105


MMAC

$A_

DB700

RmrDprR_Result_SAFE DBB n+ 386

482

RmrDprR_Result_GUI DBB n+ 387

483

RmrDprR_ErrorId

DBD n+ 388

484

RmrDprR_D1

DBD n+ 392

488

RmrDprR_D2

DBD n+ 396

492

RmrDprR_D3

DBD n+ 400

496

RmrDprR_D4

DBD n+ 404

500

RmrDprR_D5

DBD n+ 408

504

RmrDprR_D6

DBD n+ 412

508

RmrDprR_D7

DBD n+ 416

512

RmrDprR_D8

DBD n+ 420

516

RmrDprR_D9

DBD n+ 424

520

RmrDprR_D10

DBD n+ 428

524

RmrDprR_R1

DBR n+ 432

528 L_X

A1-

E1-

T_X

B_X

V_1

RmrDprR_R2

DBR n+ 436

532 L_Y

A1+

E1+

T_Y

B_Y

V_2

RmrDprR_R3

DBR n+ 440

536 L_Z

A2-

E2-

T_Z

B_Z

V_3

RmrDprR_R4

DBR n+ 444

540 L_A

A2+

E2+

T_A

B_A

V_4

RmrDprR_R5

DBR n+ 448

544 L_B

A3-

E3-

T_B

B_B

V_5

RmrDprR_R6

DBR n+ 452

548 L_C

A3+

E3+

T_C

B_C

V_6

RmrDprR_R7

DBR n+ 456

552 L_JX

A4-

E4-

V_7

RmrDprR_R8

DBR n+ 460

556 L_JY

A4+

E4+

V_8

RmrDprR_R9

DBR n+ 464

560 L_JZ

A5-

E5-

V_9

RmrDprR_R10

DBR n+ 468

564 L_M

A5+

E5+

V_10

RmrDprR_R11

DBR n+ 472

568

A6-

E6-

RmrDprR_R12

DBR n+ 476

572

A6+

E6+

RmrDprR_R13

DBR n+ 480

576

RmrDprR_R14

DBR n+ 484

580

RmrDprR_R15

DBR n+ 488

584

RmrDprR_R16

DBR n+ 492

588

RmrDprR_R17

DBR n+ 496

592

RmrDprR_R18

DBR n+ 500

596

RmrDprR_R19

DBR n+ 504

600

RmrDprR_R20

DBR n+ 508

604


106

RMR_WR_SYS_VAR

RMR_RD_SYS_VAR

RMR_WR_BASE_DATA

RMR_RD_BASE_DATA

RMR_WR_TOOL_DATA

RMR_RD_TOOL_DATA

RMR_WR_SOFT_END_EXT

RMR_RD_SOFT_END_EXT

RMR_WR_SOFT_END

RMR_RD_SOFT_END

RMR_WR_LOAD_DATA

RMR_RD_LOAD_DATA

5 Lists

5 Lists

Basic functions: JOB overview

+ | | 1 1 0 0 0 1 1 0 1 0 1 1 0 2 0

+ | 0 0 0

+ 0 0 0

KrcSetCoordSys

FB 952 1 2 0 0 0 0

+

KrcMoveLinearAbsolute KrcMoveLinearRelative KrcMoveDirectAbsolute KrcMoveDirectRelative KrcMoveAxisAbsolute KrcMoveCircAbsolute KrcMoveCircRelative

FB FB FB FB FB FB FB

KrcMoveJogLinRelative KrcMoveJogToolRelative

FB 926 FB 927

KrcReadLoadData KrcWriteLoaddata KrcReadSoftEnd KrcWriteSoftEnd KrcReadSoftEndExt KrcWriteSoftEndExt KrcReadToolData KrcWriteToolData KrcReadBaseData KrcWriteBaseData KrcReadSysVar KrcWriteSysVar

FB FB FB FB FB FB FB FB FB FB FB FB

KrcSetApo KrcSetOriType KrcSetCircType Copyright  Siemens AG 2013 All rights reserved

Execution

KUKA mxAutomation FB

5.3

0 0 0 0 0 0 0

0 0 0 0 0 0 0

+ + + + + + +

0 0 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 0

0 + 0 + 0 + 0 + 0 + 0 +

KrcBrakeTest KrcMasRef

FB 958 1 9 0 0 0 0 FB 959 1 9 0 1 0 0

+ +

KrcAbort

FB 915


919 920 921 922 923 924 925

940 941 942 943 944 945 946 947 948 949 928 929

1 1 1 1 1 1 1

3 3 3 3 3 3 3

0 0 0 0 0 0 0

2 5 1 6 0 7 8

Unused Unused 0=Direct, 1=Aborting, 2=Buffered

0 3 0 4 1 1 1 1 1 1 1 1 1 1 1 1

4 4 4 4 4 4 4 4 4 4 4 4

0 0 0 0 0 0 0 0 0 0 1 1

0 1 2 3 4 5 6 7 8 9 0 1

107

5 Lists

5.4

Global user data (GUD9) ;VERSION: 02.00.00.00 ;DATE: 2013-03-01 ;CHANGE: 02.00.00.00 ;DATE: 2013-03-01 ;Run MyRobot: User Data ;Changes: ; 02.00.00.00 Mar 01, 2013 - RunMyRobot/koe ; - initial ;Parameter sets N1000 def chan real N1010 def chan string[32] N1020 def chan int

RMR_POS[512,16] RMR_NAME[512] RMR_POS_VALID[512]

;Corrections N1030 def chan real N1040 def chan real N1050 def chan real

RMR_LOAD[20,10] RMR_TOOL[16,6] RMR_BASE[32,6]

;Software limit switch N1060 def chan real N1070 def chan real

RMR_SW_LIMIT[6,2] RMR_SW_LIMIT_EX[6,2]


;most recently read system variables N1080 def chan int RMR_SYS_VAR_IDX N1090 def chan real RMR_SYS_VAR[10] ;History N8000 def chan int N8010 def chan real N8020 def chan string[16]

RMR_HIST_I[16] RMR_HIST_R[16] RMR_HIST_S[16]

;Channel configuration N9000 def chan int N9010 def chan int N9020 def chan int

RMR_DPR=-1 RMR_NUM_EX_AXES RMR_ROB_DB

N9999 M30

5.5

Macros ;VERSION: 02.00.00.00 ;DATE: 2013-03-01 ;CHANGE: 02.00.00.00 ;DATE: 2013-03-01 ;Run MyRobot: Macros ;Changes: ; 02.00.00.00 Mar 01, 2013 - RunMyRobot/koe ; - initial ;Outputs: Jobdatas N1000 DEFINE RmrDprO_JobVarExt N1010 DEFINE RmrDprO_JobVar

AS $A_DBD[RMR_DPR+0] AS $A_DBD[RMR_DPR+4]

N1020 N1030 N1040 N1050 N1060 N1070 N1080 N1090 N1100 N1110 N1120 N1130 N1140

AS AS AS AS AS AS AS AS AS AS AS AS AS

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprO_D1 RmrDprO_D2 RmrDprO_D3 RmrDprO_D4 RmrDprO_D5 RmrDprO_D6 RmrDprO_D7 RmrDprO_D8 RmrDprO_D9 RmrDprO_D10 RmrDprO_D11 RmrDprO_D12 RmrDprO_D13


$A_DBD[RMR_DPR+8] $A_DBD[RMR_DPR+12] $A_DBD[RMR_DPR+16] $A_DBD[RMR_DPR+20] $A_DBD[RMR_DPR+24] $A_DBD[RMR_DPR+28] $A_DBD[RMR_DPR+32] $A_DBD[RMR_DPR+36] $A_DBD[RMR_DPR+40] $A_DBD[RMR_DPR+44] $A_DBD[RMR_DPR+48] $A_DBD[RMR_DPR+52] $A_DBD[RMR_DPR+56]

108


5 Lists

N1150 N1160 N1170 N1180 N1190 N1200 N1210

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprO_D14 RmrDprO_D15 RmrDprO_D16 RmrDprO_D17 RmrDprO_D18 RmrDprO_D19 RmrDprO_PosValid

AS AS AS AS AS AS AS

$A_DBD[RMR_DPR+60] $A_DBD[RMR_DPR+64] $A_DBD[RMR_DPR+68] $A_DBD[RMR_DPR+72] $A_DBD[RMR_DPR+76] $A_DBD[RMR_DPR+80] $A_DBD[RMR_DPR+84]

N1320 N1330 N1340 N1350 N1360 N1370 N1380 N1390 N1400 N1410 N1420 N1430 N1440 N1450 N1460 N1470 N1480 N1490 N1500 N1510 N1520 N1530 N1540 N1550 N1560 N1570 N1580 N1590 N1600 N1610 N1620 N1630 N1640 N1650 N1660 N1670 N1680 N1690 N1700 N1710 N1720 N1730

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprO_R1 RmrDprO_R2 RmrDprO_R3 RmrDprO_R4 RmrDprO_R5 RmrDprO_R6 RmrDprO_R7 RmrDprO_R8 RmrDprO_R9 RmrDprO_R10 RmrDprO_R11 RmrDprO_R12 RmrDprO_R13 RmrDprO_R14 RmrDprO_R15 RmrDprO_R16 RmrDprO_R17 RmrDprO_R18 RmrDprO_R19 RmrDprO_R20 RmrDprO_R21 RmrDprO_R22 RmrDprO_R23 RmrDprO_R24 RmrDprO_R25 RmrDprO_R26 RmrDprO_R27 RmrDprO_R28 RmrDprO_R29 RmrDprO_R30 RmrDprO_R31 RmrDprO_R32 RmrDprO_R33 RmrDprO_R34 RmrDprO_R35 RmrDprO_R36 RmrDprO_R37 RmrDprO_R38 RmrDprO_R39 RmrDprO_R40 RmrDprO_R41 RmrDprO_R42

AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS

$A_DBR[RMR_DPR+88] $A_DBR[RMR_DPR+92] $A_DBR[RMR_DPR+96] $A_DBR[RMR_DPR+100] $A_DBR[RMR_DPR+104] $A_DBR[RMR_DPR+108] $A_DBR[RMR_DPR+112] $A_DBR[RMR_DPR+116] $A_DBR[RMR_DPR+120] $A_DBR[RMR_DPR+124] $A_DBR[RMR_DPR+128] $A_DBR[RMR_DPR+132] $A_DBR[RMR_DPR+136] $A_DBR[RMR_DPR+140] $A_DBR[RMR_DPR+144] $A_DBR[RMR_DPR+148] $A_DBR[RMR_DPR+152] $A_DBR[RMR_DPR+156] $A_DBR[RMR_DPR+160] $A_DBR[RMR_DPR+164] $A_DBR[RMR_DPR+168] $A_DBR[RMR_DPR+172] $A_DBR[RMR_DPR+176] $A_DBR[RMR_DPR+180] $A_DBR[RMR_DPR+184] $A_DBR[RMR_DPR+188] $A_DBR[RMR_DPR+192] $A_DBR[RMR_DPR+196] $A_DBR[RMR_DPR+200] $A_DBR[RMR_DPR+204] $A_DBR[RMR_DPR+208] $A_DBR[RMR_DPR+212] $A_DBR[RMR_DPR+216] $A_DBR[RMR_DPR+220] $A_DBR[RMR_DPR+224] $A_DBR[RMR_DPR+228] $A_DBR[RMR_DPR+232] $A_DBR[RMR_DPR+236] $A_DBR[RMR_DPR+240] $A_DBR[RMR_DPR+244] $A_DBR[RMR_DPR+248] $A_DBR[RMR_DPR+252]

AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS

$A_DBR[RMR_DPR+256] $A_DBR[RMR_DPR+260] $A_DBR[RMR_DPR+264] $A_DBR[RMR_DPR+268] $A_DBR[RMR_DPR+272] $A_DBR[RMR_DPR+276] $A_DBD[RMR_DPR+280] $A_DBD[RMR_DPR+284] $A_DBR[RMR_DPR+288] $A_DBR[RMR_DPR+292] $A_DBR[RMR_DPR+296] $A_DBR[RMR_DPR+300] $A_DBR[RMR_DPR+304] $A_DBR[RMR_DPR+308] $A_DBR[RMR_DPR+312] $A_DBR[RMR_DPR+316] $A_DBR[RMR_DPR+320] $A_DBR[RMR_DPR+324] $A_DBR[RMR_DPR+328] $A_DBR[RMR_DPR+332]

;Inputs: Cyclic N2000 DEFINE RmrDprC_POS_X N2010 DEFINE RmrDprC_POS_Y N2020 DEFINE RmrDprC_POS_Z N2030 DEFINE RmrDprC_POS_A N2040 DEFINE RmrDprC_POS_B N2050 DEFINE RmrDprC_POS_C N2060 DEFINE RmrDprC_POS_S N2070 DEFINE RmrDprC_POS_T N2080 DEFINE RmrDprC_AXIS_A1 N2090 DEFINE RmrDprC_AXIS_A2 N2100 DEFINE RmrDprC_AXIS_A3 N2110 DEFINE RmrDprC_AXIS_A4 N2120 DEFINE RmrDprC_AXIS_A5 N2130 DEFINE RmrDprC_AXIS_A6 N2140 DEFINE RmrDprC_AXIS_E1 N2150 DEFINE RmrDprC_AXIS_E2 N2160 DEFINE RmrDprC_AXIS_E3 N2170 DEFINE RmrDprC_AXIS_E4 N2180 DEFINE RmrDprC_AXIS_E5 N2190 DEFINE RmrDprC_AXIS_E6


109

5 Lists


N2190 N2190 N2190 N2190 N2190 N2190 N2190 N2190 N2190 N2190 N2190 N2190

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprC_21 RmrDprC_22 RmrDprC_23 RmrDprC_24 RmrDprC_25 RmrDprC_26 RmrDprC_27 RmrDprC_28 RmrDprC_29 RmrDprC_30 RmrDprC_31 RmrDprC_32

AS AS AS AS AS AS AS AS AS AS AS AS

$A_DBR[RMR_DPR+336] $A_DBR[RMR_DPR+340] $A_DBR[RMR_DPR+344] $A_DBR[RMR_DPR+348] $A_DBR[RMR_DPR+352] $A_DBR[RMR_DPR+356] $A_DBR[RMR_DPR+360] $A_DBR[RMR_DPR+364] $A_DBR[RMR_DPR+368] $A_DBR[RMR_DPR+372] $A_DBR[RMR_DPR+376] $A_DBR[RMR_DPR+380]

;Inputs: JobResults N3000 DEFINE RmrDprR_Result N3010 DEFINE RmrDprR_Result_BUSY N3020 DEFINE RmrDprR_Result_ACTIVE N3030 DEFINE RmrDprR_Result_DONE N3040 DEFINE RmrDprR_Result_ABORTED N3050 DEFINE RmrDprR_Result_ERROR

AS AS AS AS AS AS

$A_DBB[RMR_DPR+384] ($A_DBB[RMR_DPR+384] ($A_DBB[RMR_DPR+384] ($A_DBB[RMR_DPR+384] ($A_DBB[RMR_DPR+384] ($A_DBB[RMR_DPR+384]

N3060 DEFINE RmrDprR_Result_2 N3070 DEFINE RmrDprR_Result_SAFE N3080 DEFINE RmrDprR_Result_GUI

AS $A_DBB[RMR_DPR+385] AS $A_DBB[RMR_DPR+386] AS $A_DBB[RMR_DPR+387]

N3100 DEFINE RmrDprR_ErrorId

AS $A_DBD[RMR_DPR+388]

N3200 N3210 N3220 N3230 N3240 N3250 N3260 N3270 N3280 N3290

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprR_D1 RmrDprR_D2 RmrDprR_D3 RmrDprR_D4 RmrDprR_D5 RmrDprR_D6 RmrDprR_D7 RmrDprR_D8 RmrDprR_D9 RmrDprR_D10

AS AS AS AS AS AS AS AS AS AS

$A_DBD[RMR_DPR+392] $A_DBD[RMR_DPR+396] $A_DBD[RMR_DPR+400] $A_DBD[RMR_DPR+404] $A_DBD[RMR_DPR+408] $A_DBD[RMR_DPR+412] $A_DBD[RMR_DPR+416] $A_DBD[RMR_DPR+420] $A_DBD[RMR_DPR+424] $A_DBD[RMR_DPR+428]

N3300 N3310 N3320 N3330 N3340 N3350 N3360 N3370 N3380 N3390 N3400 N3410 N3420 N3430 N3440 N3450 N3460 N3470 N3480 N3490

DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE DEFINE

RmrDprR_R1 RmrDprR_R2 RmrDprR_R3 RmrDprR_R4 RmrDprR_R5 RmrDprR_R6 RmrDprR_R7 RmrDprR_R8 RmrDprR_R9 RmrDprR_R10 RmrDprR_R11 RmrDprR_R12 RmrDprR_R13 RmrDprR_R14 RmrDprR_R15 RmrDprR_R16 RmrDprR_R17 RmrDprR_R18 RmrDprR_R19 RmrDprR_R20

AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS

$A_DBR[RMR_DPR+432] $A_DBR[RMR_DPR+436] $A_DBR[RMR_DPR+440] $A_DBR[RMR_DPR+444] $A_DBR[RMR_DPR+448] $A_DBR[RMR_DPR+452] $A_DBR[RMR_DPR+456] $A_DBR[RMR_DPR+460] $A_DBR[RMR_DPR+464] $A_DBR[RMR_DPR+468] $A_DBR[RMR_DPR+472] $A_DBR[RMR_DPR+476] $A_DBR[RMR_DPR+480] $A_DBR[RMR_DPR+484] $A_DBR[RMR_DPR+488] $A_DBR[RMR_DPR+492] $A_DBR[RMR_DPR+496] $A_DBR[RMR_DPR+500] $A_DBR[RMR_DPR+504] $A_DBR[RMR_DPR+508]

;CHECK RESULT N4000 DEFINE RMR_BUSY N4010 DEFINE RMR_ACTIVE N4020 DEFINE RMR_DONE

b_and b_and b_and b_and b_and

1) 2) 4) 8) 16)

AS 0 AS 1 AS 2

N9999 M17


110

5 Lists

5.6

KUKA Safe Operations

Description The exchange of safety-relevant signals between the controller and the system is made via PROFIsafe. The assignment of the input and output states in the protocol of the PROFIsafe are listed below.

Reserved bits Reserved safe inputs can be preassigned by a PLC with 0 or 1. The robot travels in both cases. If a safety function is assigned to a reserved input (e.g. for a software update) and this input is preassigned with 0, the robot would not travel or brought unexpectedly to standstill.

Note

KUKA recommends a preassignment of the reserve inputs with 1.


If a reserved input is assigned with a new safety function and not yet used by the PLC of the customer, the safety function will not be activated. This prevents an unexpected standstill of the robot by the safety controller. In the sample project, 32 inputs (E) and outputs (A) are each assigned. This assignment can be changed at any time by the OEM.

5.6.1

Safe inputs of the KRC

Table 5-12 Krc Safe Input Byte 0 Bit

Signal

Description

0

Res.

Reserved 1 The input must be assigned with 1

1

NHE

Input for external EMERGENCY STOP 0 = external EMERGENCY STOP is active 1 = external EMERGENCY STOP is not active

2

BS

Operator protection 0 = operator protection is not active, e.g. protective door open 1= operator protection is active

3

QBS

Acknowledgement of the operator protection Prerequisite for an acknowledgement of the operator protection is the "Operator protection guaranteed" signaling in the BS bit. Note: If the BS signal is acknowledged by the system, this must be specified under Hardware options in the safety configuration. Information is contained in the Operating and Programming Instructions for system integrators. 0= operator protection is not acknowledged Edge 0 ->1 = operator protection is acknowledged

4

SHS1

STOP 1 safety stop (all axes) 0 US2 voltage is switched off 0 after 1.5 seconds The revocation of this function does not need to be acknowledged.


111

5 Lists

Bit

Signal

Description This signal is not permitted for the EMERGENCY STOP function. 0 = safety stop is active 1 = safety stop is not active

5

SHS2

STOP 2 safety stop (all axes) FF (travel release) is set to 0 The revocation of this function does not need to be acknowledged. This signal is not permitted for the EMERGENCY STOP function. 0 = safety stop is active 1 = safety stop is not active

6

Res.

-

7

Res.

-

Table 5-13 Krc Safe Input Byte 1


Bit

Signal

Description

0

US2

US2 supply voltage (signal for switching the second unbuffered US2 supply voltage) If this input is not used, it should be assigned with 0. 0 = switch off US2 1 = switch on US2 Note: Whether and how the US2 input is used must be specified under Hardware options in the safety configuration. Information is contained in the Operating and Programming Instructions for system integrators.

1

SBH

Safe operating stop (all axes) Precondition: All axes stationary The revocation of this function does not need to be acknowledged. This signal is not permitted for the EMERGENCY STOP function. 0 = safe operating stop is active 1 = safe operating stop is not active

2

RES


3

RES


4

RES


5

RES


6

RES


7

SPA

Shutdown PROFIsafe Acknowledge The system confirms that it has received the Shutdown signal. One second after setting the "SP" signal (Shutdown PROFIsafe) by the controller, the requested action is performed without confirmation by the PLC and the controller is shutdown. 0 = confirmation is not active 1 = confirmation is active


112

5 Lists

Table 5-14 Krc Safe Operation Input Byte 2 Bit

Signal

Description

0

JR

Mastering test (input for mastering test switch of the mastering test) 0 = mastering test switch is active (dampened) 1 = mastering test switch is not active (not dampened)

1

VRED

Reduced axis-specific and Cartesian velocity (activation of the reduced velocity monitoring) 0 = reduced velocity monitoring is active 1 = reduced velocity monitoring is not active

2…7

SBH1...6

Safe operating stop for axis group 1 … 6 Assignment: Bit 2 = axis group 1 … bit 7 = axis group 6 Signal for the safe operating stop. The function does not initiate any stop but activates only the safe standstill monitoring. The revocation of this function does not need to be acknowledged. 0 = safe operating stop is active 1 = safe operating stop is not active

Table 5-15 Krc Safe Operation Input Byte 3 Copyright  Siemens AG 2013 All rights reserved

Bit 0…7

Signal RES

Description Reserved 25 … 32 The inputs must be assigned with 1

Table 5-16 Krc Operation Input Byte 4 Bit

Signal

0…7

UER1…8

Description Monitoring spaces 1 … 8 Assignment: Bit 0 = monitoring space 1 … bit 7 = monitoring space 8 0 = monitoring space is active 1 = monitoring space is not active

Table 5-17 Krc Operation Input Byte 5 Bit 0…7

Signal UER9 …16

Description Monitoring spaces 9 … 16 Assignment: Bit 0 = monitoring space 9 … bit 7 = monitoring space 16 0 = monitoring space is active 1 = monitoring space is not active

Table 5-18 Krc Operation Input Byte 6 Bit 0…7

Signal

Description

WZ1…8

Tool selection 1… 8 Assignment: Bit 0 = tool 1… bit 7 = tool 8 0 = tool is not active 1 = tool is active One tool must always be selected


113

5 Lists

Table 5-19 Krc Operation Input Byte 7 Bit

Signal

0…7

WZ9…16

Description Tool selection 9… 16 Assignment: Bit 0 = tool 9… bit 7 = tool 16 0 = tool is not active 1 = tool is active One tool must always be selected

5.6.2

Safe outputs of the KRC

Table 5-20 Krc Safe Output Byte 0


Bit

Signal

Description

0

NHL

Local EMERGENCY STOP (local EMERGENCY STOP has been initiated) 0 = local EMERGENCY STOP is active 1 = local EMERGENCY STOP is not active

1

AF

Drive release (the KRC-internal safety controller has released the drives for switch-on) 0 = drive release is not active (the robot controller must switch off the drives) 1 = drive release is active (the robot controller may switch the drives to closed-loop control)

2

FF

Travel release (the KRC-internal safety controller has released robot motions) 0 = travel release is not active (the robot controller must stop the current motion) 1 = travel release is active (the robot controller may initiate a motion)

3

ZS

One of the enabling switches is in the center position (enable in test operation is granted) 0 = enabling is not active 1 = enabling is active

4

PE

The Peri enabled signal is switched to 1 (active) when the following conditions have been met: Drives are switched on. Travel release of the safety controller is available. The "Operator protection open" message must not be pending.

5

AUT

The manipulator is in the AUT or AUT EXT operating mode 0 = AUT or AUT EXT operating mode is not active 1 = AUT or AUT EXT operating mode is active

6

T1

The manipulator is in the Manually Reduced Velocity operating mode 0 = T1 operating mode is not active 1 = T1 operating mode is active

7

D2

The manipulator is in the Manually High Velocity operating mode 0 = T2 operating mode is not active 1 = T2 operating mode is active


114

5 Lists

Table 5-21 Krc Safe Output Byte 1


Bit

Signal

Description

0

NHE

External EMERGENCY STOP has been initiated 0 = external EMERGENCY STOP is active 1 = external EMERGENCY STOP is not active

1

BS

Operator protection 0 = operator protection is not guaranteed 1 = operator protection is guaranteed (BS input = 1 and, if configured, QBS input acknowledged)

2

SHS1

STOP 1 safety stop (all axes) 0 = STOP 1 safety stop is not active 1 = STOP 1 safety stop is active (safe state reached)

3

SHS2

STOP 2 safety stop (all axes) 0 = STOP 2 safety stop is not active 1 = STOP 2 safety stop is active (safe state reached)

4

RES

Reserved 13

5

RES

Reserved 14

6

PSA

PROFIsafe active (indicator of the robot controller state as PROFIsafe device bus node) Precondition: PROFINET must be installed on the controller 0 = robot controller on the PROFIsafe bus is not active 1 = robot controller on the PROFIsafe bus is active

7

SP

Shutdown PROFIsafe (the robot controller announces the completion of the PROFIsafe connection) If after receiving the SP signal, the PLC sends the SPA signal as confirmation, PSA is set to 0, and the controller shuts down. One second after setting the SP signal, the robot controller resets the PSA output without confirmation of the PLC, and the controller shuts down. 0 = announcement that the connection completion is not active 1 = announcement that the connection completion is active

Table 5-22 Krc Safe Operation Output Byte 2 Bit

Signal

Description

0

SO

SafeOperation active Activation state of SafeOperation 0 = SafeOperation is not active 1 = SafeOperation is active

1

RR

Robot referenced Indicator of the mastering test 0 = mastering test is required 1 = mastering test performed successfully

2

JF

Adjustment error The space monitoring is deactivated because at least one axis is not adjusted 0 = adjustment error, the space monitoring has been deactivated 1 = no error

3

VRED

Reduced axis-specific and Cartesian velocity (activation state of the reduced velocity monitoring) 0 = reduced velocity monitoring is not active 1 = reduced velocity monitoring is active


115

5 Lists

Bit

Signal

Description

4…5

SBH1…2

Activation state of the safe operating stop for axis group 1 … 2 Assignment: Bit 4 = axis group 1 … bit 5 = axis group 2 0 = safe operating stop is not active 1 = safe operating stop is active

6…7

RES

Reserved 23 … 24

Table 5-23 Krc Safe Operation Output Byte 3 Bit 0…7

Signal RES

Description Reserved 25 … 32



0…7

Signal MR1…8

Description Message space 1 … 8 Assignment: Bit 0 = message space 1 (based monitoring space 1) … bit 7 = message space 8 (based monitoring space 8) 0 = space is violated 1 = space is not violated


Signal

0…7

MR9…16

Description Message space 9 … 16 Assignment: Bit 0 = message space 9 (based monitoring space 9) … bit 7 = message space 16 (based monitoring space 16) 0 = space is violated 1 = space is not violated


Signal RES



Signal RES



116

5 Lists

5.7

Resource requirement 5.7.1 

112 bytes

RMCC/EXPD

(each robot)



512 bytes

Cycles

(each robot)

5.7.2

NC memory



39,656 bytes RMR cycles



16

NUM_GUD_NAMES_CHAN



90 KB

GUD_VALUES_MEM



140

NUM_USER_MACROS

5.7.3 Copyright  Siemens AG 2013 All rights reserved

Dual Port RAM

(each channel)

Inputs/outputs



12 bytes

Safe inputs (64)

(each robot)



12 bytes

Safe outputs (64)

(each robot)



254 bytes

Inputs (2032)

(each robot)



254 bytes

Outputs (2032)

(each robot)

5.7.4 



PLC

Run MyRobot –

FBs

15,656 bytes

–

FCs

2,814 bytes

–

DBs

4,384 bytes

(each robot)

mxAutomation –

FBs

61,316 bytes

–

FCs

14,144 bytes

–

DBs

12,296 bytes

–

DBs

200 bytes

5.7.5

(each robot)

SPL (INSEP/OUTSEP)



32

Inputs (INSEP)

(each robot)



32

Outputs (OUTSEP)

(each robot)


117

6 Messages

6

Messages

6.1

From Run MyRobot


700031 0 0 "Run MyRobot: %1" 700063 0 0 "Run MyRobot: %1" ; Alarms 703100 0 703101 0 703102 0 703103 0 703104 0 703105 0 703106 0 703107 0

0 0 0 0 0 0 0 0

"Run "Run "Run "Run "Run "Run "Run "Run

MyRobot: MyRobot: MyRobot: MyRobot: MyRobot: MyRobot: MyRobot: MyRobot:

" " " " " " " "

703108 703109 703110 703111 703112 703113 703114 703115

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0



" " " " " Brake not OK" Wear limit for at least one brake reached" Mastering test switch defective"

703116 703117 703118 703119 703120 703121 703122 703123

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0



" " JOG JOG JOG JOG " "

703124 703125 703126 703127 703128 703129 703130 703131

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0



" " " " " " " "

;Messages 703132 0 0 703133 0 0 703134 0 0 703135 0 0 703136 0 0 703137 0 0 703138 0 0 703139 0 0



KRC in T1 operating mode" KRC in T2 operating mode" KRC in AUT operating mode" " " " " "

703140 703141 703142 703143 703144 703145 703146 703147

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0



Perform with NC Start" Mastering test requested" Brake test requested" Brake test monitoring time expired" Brake test active" " " "

703148 703149 703150 703151 703152 703153 703154

0 0 0 0 0 0 0

0 0 0 0 0 0 0

"Run "Run "Run "Run "Run "Run "Run

MyRobot: MyRobot: MyRobot: MyRobot: MyRobot: MyRobot: MyRobot:

" " " " " " "


-

Error: Error: Error: Error:

Abort motion" MCS travel" WCS travel" TOOL travel"

118

6 Messages

703155 0 0 "Run MyRobot: " 703156 703157 703158 703159 703160 703161 703162 703163

6.2

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0



" " " " " " " "

From KUKA mxAutomation 6.2.1

From the robot interpreter

Table 6-1 Error messages of the mxA interface in the robot interpreter


No.

Message

Cause

Remedy

0

-

-

-

1

INTERNAL ERROR

Internal exceptional error

2

ASSERT FAILED


Contact KUKA Roboter GmbH. (see "KST PLC mxAutomation S7" PDF)

3

OVERFLOW STATUS RETURN QUEUE (MAIN)

4

OVERFLOW STATUS RETURN QUEUE (TRIGGER)

More than 100 checkbacks for status changes must be transferred from the robot controller to the PLC. The transmission rate is significantly lower than the processing speed.

Reduce the number of instructions to be buffered concurrently. If this is not possible, contact KUKA Roboter GmbH. (see "KST PLC mxAutomation S7" PDF)

5

INVALID COMMAND QUEUE INDEX



6

INVALID COMMAND STATE


7

INVALID COMMAND ID


8

INVALID MOVE TYPE


9

OVERFLOW TRIGGER FIFO


10

UNDERFLOW TRIGGER FIFO


11

INVALID TRIGGER FIFO INDEX


12

EXECUTION OF T_AFTER MISSING


13

EXECUTION OF T_START MISSING


14

INVALID ADVANCE_ACT


16

TIMEOUT

Connection to the PLC is


Re-establish the connection and

119

6 Messages

No.

Message


HEARTBEAT FROM PLC

Cause

Remedy

interrupted:

then acknowledge the error:

PLC program stopped

Reboot the PLC program.

Connection cable defective or not attached correctly

Replace the connection cable or attach it correctly. Program a correct value (Approximate parameter).

30

INVALID PTP APO

An invalid approximate positioning parameter has been specified for a PTP motion.

31

INVALID CP APO

An invalid approximation parameter has been specified for a CP motion (LIN, CIRC).

32

INVALID BASE NUMBER

An invalid number for the BASE coordinate system has been programmed in the KRC_ReadBaseData or KRC_WriteBaseData function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (BaseNo parameter). 1 … 32

An invalid number for the BASE coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (CoordinateSystem COORDSYS.Base parameter).

(see "KST PLC mxAutomation S7" PDF)

(see "KST PLC mxAutomation S7" PDF) 33

INVALID TOOL NUMBER

An invalid number for the TOOL coordinate system has been programmed in the KRC_ReadToolData or KRC_WriteToolData function block.

Specify the number of the TOOL coordinate system to be used currently in the robot controller (ToolNo parameter). 1 … 16

An invalid number for the TOOL coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (CoordinateSystem COORDSYS.Base parameter). (see "KST PLC mxAutomation S7" PDF)

34

INVALID VELOCITY

An invalid value for the velocity has been programmed in a function block.

Program a correct value (Velocity parameter): 0 … 100%

35

INVALID ACCELERATION

An invalid value for the acceleration has been programmed in a function block.

Program a correct value (Acceleration parameter): 0 … 100%

36

INVALID C_PTP

An invalid approximation distance has been specified for a PTP motion.

Program a correct value (Approximate parameter).

37

INVALID C_DIS

An invalid distance parameter has been specified for an approximated motion.


38

INVALID C_VEL

An invalid velocity


120

6 Messages

No.

Message

Cause

Remedy

parameter has been specified for an approximated motion. 39

INVALID C_ORI

An invalid orientation parameter has been specified for an approximated motion.

40

INVALID ORI_TYPE

An invalid value for the orientation control of the TCP has been programmed in a KRC_Move or KRC_Jog function block.

Program a correct value (OriType parameter).

No target position has been specified for the call of a KRC_Move function block.

Define at least one element of the target position (Position parameter).

41

POSITION DATA NOT INITIALIZED




42

AXISPOSITION DATA NOT INITIALIZED

No target position has been specified for the call of a KRC_MoveAxis function block.

Define at least one axis position (AxisPosition parameter). (see "KST PLC mxAutomation S7" PDF)

43

INVALID TRIGGER DISTANCE

An invalid value for the switching point of the trigger has been programmed in a KRC_SetDistanceTrigger function block.

Program a correct value (Distance parameter): 0: Switching action in the start point 1: Switching action in the target point

44

INVALID TRIGGER IO

An invalid output has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.

Program a correct value (Output parameter): 1 … 2 048

45

INVALID TRIGGER PULSE

An invalid value for the length of the pulse has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.

Program a correct value (Pulse parameter): 0.1 … 3.0 s 0.0 s (no pulse active)

46

INVALID CIRC_HP

No auxiliary position has been specified for the call of a KRC_MoveCirc function block.

Define at least one element of the auxiliary position (CircHP parameter). (see "KST PLC mxAutomation S7" PDF)

47

INVALID INTERRUPT IO

The number of the digital input on which an interrupt is declared is invalid (KRC_DeclareInterrupt function block).

Program a correct value (Input parameter): 1 … 2 048

48

INVALID INTERRUPT PRIORITY

An invalid number has been specified for the call of a KRC_…Interrupt function block.

Program a correct value (Interrupt parameter): 1…8


121

6 Messages

No. 49

Message INTERRUPT NOT DECLARED

Cause Interrupt has not be declared.

Remedy Declare interrupt. (see "KST PLC mxAutomation S7" PDF)


50

INVALID INTERRUPT ACTION

The interrupt reaction programmed for the declaration of an interrupt is invalid.

Program a correct reaction (Reaction parameter): (see "KST PLC mxAutomation S7" PDF)

51

INVALID IO NUMBER



52

INVALID PULSE DURATION

An invalid value for the length of the pulse has been programmed in the KRC_WriteDigitalOutput function block.


53

INVALID BUFFER_MODE

An invalid Buffer mode has been programmed in a function block, e.g. the DIRECT mode is not available for some function blocks.

Program a correct BufferMode.

An invalid number for reading or writing the load data or the supplementary load data has been programmed in the KRC_ReadLoadData or KRC_WriteLoadData function block.

Program a correct value (Tool parameter).

54

INVALID TOOL NUMBER FOR LOAD_DATA



55

INVALID ANALOG IO NUMBER

An invalid number for the analog input or output has been programmed in a function block.

Program a correct value (Number parameter): 1 … 32

56

INVALID IPO_MODE

An invalid value for the Interpolation mode has been programmed in a function block, e.g. in a KRC_Move function block.

Program a correct value (CoordinateSystem COORDSYS. IPO_MODE parameter). (see "KST PLC mxAutomation S7" PDF)

57

58

59

INVALID CIRC_TYPE

INVALID FRAME DATA

INVALID LOAD


An invalid value for the orientation control during the circular motion has been programmed in a KRC_MoveCirc function block.

Program a valid value (CircType parameter).

Invalid TOOL or BASE data has been programmed in a KRC_WriteToolData or KRC_WriteBaseData function block.

Program valid data (ToolData or BaseData parameter).

Invalid load data has been

Program valid data.



122

6 Messages

No.

Message

Cause

DATA

Remedy (see "KST PLC mxAutomation S7" PDF)

60

INVALID SOFT_END (REVERSED)

Error while writing the software limit switches: Positive software limit switch < negative software limit switch (KRC_WriteSoftEnd or KRC_WriteSoftEndEx function block)

Program a smaller value for the negative software limit switch than for the positive software limit switch.

61

INVALID INTERRUPT STATE


Contact KUKA Roboter GmbH.

INVALID SYS VAR INDEX

An index has been specified in a KRC_ReadSysVar or KRC_WriteSysVar function block for which no system variable exists.

Program a correct value (Index parameter).

An invalid value for the system variable has been programmed in a KRC_WriteSysVar function block.

Program a correct value (Value1 …Value10 parameter).

62

63 Copyright  Siemens AG 2013 All rights reserved

programmed in a KRC_WriteLoadData function block.


INVALID SYS VAR VALUE



64

SYS VAR NOT WRITEABLE

An error occurred while a system variable was being written. The specified system variable does not exist or cannot be written in the current operating state.

65

INVALID REAL VALUE

The programmed real value is invalid.

Program a valid value: -2.147.483.500 … +2.147.483.500

66

ERROR SETTING OUTPUT

Error while writing a digital output. The output may possibly be already assigned by the system.

Use a different digital output (Number parameter): 1 … 2 048

67

ERROR SETTING SOFTEND

Error while writing the software limit switches: A possible error is, for example, that a rotary axis is written with a value outside +/-360°.

Program valid values for the software limit switch (see machine data).

6.2.2

From the Submit Interpreter

Table 6-2 Error messages of the mxA interface in the Submit interpreter No.

Message

Cause

Remedy Contact KUKA Roboter GmbH.

401

INTERNAL ERROR


402

ASSERT FAILED


403

INVALID COMMAND ID


404

INVALID COMMAND STATE




123

6 Messages

No.

Cause

Remedy

405

OVERFLOW COMMAND QUEUE


406

INVALID COMMAND QUEUE INDEX


407

INVALID COMMAND (PRE) QUEUE INDEX


408

INVALID WRITE_Q_IDX AND WRITE_PRE_Q_ID X


409

OVERFLOW STATUS RETURN QUEUE (SUBMIT)

More than 100 checkbacks for status changes are transferred from the robot controller to the PLC. The transmission rate is significantly lower than the processing speed.

Reduce the number of instructions to be buffered concurrently. If this is not possible, contact KUKA Roboter GmbH.



410


Message

INVALID PROFINET TELEGRAM LENGTH



413

INVALID CHECKSUM PLC - > KRC

INVALID MOVE TYPE

The checksum during the data transmission from the PLC to the robot controller is invalid. Error during the start-up: PROFINET configuration in WorkVisual or STEP7

WorkVisual and Step 7 and configure PROFINET correctly.

Error during operation:


transmission




414

TIMEOUT HEARTBEAT FROM PLC

Connection to the PLC is interrupted:

Re-establish the connection and then acknowledge the error:

PLC program stopped

Reboot the PLC program.

Submit interpreter deselected or stopped

Restart the Submit interpreter.


Replace the connection cable or attach it correctly.

416

SYS VAR NOT INITIALIZED

An error occurred while a system variable was being read. The specified system variable does not exist or cannot be read in the current operating state. Example: Access to $POS_ACT is possible only after an BCO run.

417

UNDERFLOW OF NIBBLE



418

OVERFLOW OF NIBBLE




124

6 Messages


No.

Message

Cause

Remedy

419

UNDERFLOW OF BYTE


420

OVERFLOW OF BYTE


421

UNDERFLOW OF INT16


422

OVERFLOW OF INT16


423

UNDERFLOW OF INT32


424

OVERFLOW OF INT32


425

UNDERFLOW OF REAL


426

OVERFLOW OF REAL


430

INVALID PTP APO

An invalid approximation parameter has been specified for a PTP motion.

431

INVALID CP APO

An invalid approximation parameter has been specified for a CP motion (LIN, CIRC).

432

INVALID BASE NUMBER

An invalid number for the BASE coordinate system has been programmed in the KRC_ReadBaseData or KRC_WriteBaseData function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (BaseNo parameter). 1 … 32

An invalid number for the BASE coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (CoordinateSystem - COORDSYS.Base parameter).

Program a correct value (Approximate parameter). (see "KST PLC mxAutomation S7" PDF)


INVALID TOOL NUMBER

An invalid number for the TOOL coordinate system has been programmed in the KRC_ReadToolData or KRC_WriteToolData function block.

Specify the number of the TOOL coordinate system to be used currently in the robot controller (ToolNo parameter). 1 … 16

An invalid number for the TOOL coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the BASE coordinate system to be used currently in the robot controller (CoordinateSystem - COORDSYS.Base parameter). (see "KST PLC mxAutomation S7" PDF)

434

INVALID VELOCITY


An invalid value for the

Program a correct value

125

6 Messages


No.

Message

Cause

Remedy

velocity has been programmed in a function block.

(Velocity parameter): 0 … 100 %

435

INVALID ACCELERATION

An invalid value for the acceleration has been programmed in a function block.

Program a correct value (Acceleration parameter): 0 … 100 %

436

INVALID C_PTP

An invalid approximation distance has been specified for a PTP motion.

Program a correct value (Approximate parameter).

437

INVALID C_DIS

An invalid distance parameter has been specified for an approximated motion.

438

INVALID C_VEL

An invalid velocity parameter has been specified for an approximated motion.

439

INVALID C_ORI

An invalid orientation parameter has been specified for an approximated motion.

440

INVALID ORI_TYPE

An invalid value for the orientation control of the TCP has been programmed in a KRC_Move or KRC_Jog function block.

Program a correct value (OriType parameter).

No target position has been specified for the call of a KRC_Move function block.

Define at least one element of the target position (Position parameter).

441

POSITION DATA NOT INITIALIZED




AXISPOSITION DATA NOT INITIALIZED

No axis position has been specified for the call of a KRC_MoveAxis function block.

Define at least one axis position (AxisPosition parameter). (see "KST PLC mxAutomation S7" PDF)

443

INVALID TRIGGER DISTANCE

An invalid value for the switching point of the trigger has been programmed in the KRC_SetDistanceTrigger function block.

Program a correct value (Distance parameter): 0: Switching action in the start point 1: Switching action in the target point

444

INVALID TRIGGER IO

An invalid output has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.

Program a correct value (Output parameter): 1 … 2 048

445

INVALID TRIGGER PULSE

An invalid value for the length of the pulse has been programmed in a KRC_SetDistanceTrigger



126

6 Messages

No.

Message

Cause

Remedy

or KRC_SetPathTrigger function block. 446

INVALID CIRC_HP

No auxiliary position has been specified for the call of a KRC_MoveCirc function block.

Define at least one element of the auxiliary position (CircHP parameter).



INVALID INTERRUPT IO



448

INVALID INTERRUPT NUMBER/ PRIORITY

An invalid number has been specified for the call of a KRC_…Interrupt function block.

Program a correct value (Interrupt parameter): 1…8

449

INTERRUPT NOT DECLARED

Interrupt has not be declared.

Declare interrupt. (see "KST PLC mxAutomation S7" PDF)

450

INVALID INTERRUPT ACTION

The interrupt reaction programmed for the declaration of an interrupt is invalid.

Program a correct reaction (Reaction parameter): (see "KST PLC mxAutomation S7" PDF)

451

INVALID IO NUMBER



452

INVALID PULSE DURATION

An invalid value for the length of the pulse has been programmed in the KRC_WriteDigitalOutput function block.

Program a correct value (Pulse parameter): 0.1 … 3.0 s 0.0 s (no pulse active) (see "KST PLC mxAutomation S7" PDF)

453

454

455

INVALID BUFFER_MODE

INVALID TOOL NUMBER FOR LOAD_DATA

INVALID ANALOG IO NUMBER


An invalid Buffer mode has been programmed in a function block, e.g. the DIRECT mode is not available for some function blocks.

Program a correct BufferMode.

An invalid number for reading or writing the load data or the supplementary load data has been programmed in the KRC_ReadLoadData or KRC_WriteLoadData function block.

Program a correct value (Tool parameter).

An invalid value for the velocity has been

Program a correct value (Number parameter):



127

6 Messages

No.

Message

Cause programmed in a function block.

456

457


458

459

INVALID IPO_MODE

INVALID CIRC_TYPE

INVALID FRAME DATA

INVALID LOAD DATA

Remedy 1 … 32

An invalid value for the Interpolation mode has been programmed in a function block, e.g. in a KRC_Move function block.

Program a correct value (CoordinateSystem COORDSYS. IPO_MODE parameter).

An invalid value for the orientation control during the circular motion has been programmed in a KRC_MoveCirc function block.

Program a correct value (CircType parameter).

Invalid TOOL or BASE data has been programmed in a KRC_WriteToolData or KRC_WriteBaseData function block.

Program valid data (ToolData or BaseData parameter).

Invalid load data has been programmed in a KRC_WriteLoadData function block.

Program valid data.





460

INVALID SOFT_END (REVERSED)

Error while writing the software limit switches: Positive software limit switch < negative software limit switch

Program a smaller value for the negative software limit switch than for the positive software limit switch.

461

INVALID INTERRUPT STATE



462

463

INVALID SYS VAR INDEX

INVALID SYS VAR VALUE

An index has been specified in a KRC_ReadSysVar or KRC_WriteSysVar function block for which no system variable exists.

Program a correct value (Index parameter).

An invalid value for the system variable has been programmed in a KRC_WriteSysVar function block.

Program a correct value (Value1 …Value10 parameter).



464

SYS VAR NOT WRITEABLE

An error occurred while a system variable was being written. The specified system variable does not exist or cannot be written in the current operating state.

465

INVALID REAL VALUE

The programmed real value is invalid.

Program a valid value: -2.147.483.500 … +2.147.483.500

466

ERROR SETTING

Error while writing an

Use a different digital output


128

6 Messages

No.

467

6.2.3

Message

Cause

Remedy

OUTPUT

output. The output may possibly be already assigned by the system.

(Number parameter): 1 … 2 048

ERROR SETTING SOFTEND

An error occurred while a software limit switch was being written. A possible error is, for example, that a rotary axis is written with a value outside +/360°.

Program valid values for the software limit switch (see machine data).

Error messages in the function block Table 6-3 Error messages in the function block No.


501

Message INTERNAL ERROR

Cause Internal exceptional error

Remedy Contact KUKA Roboter GmbH. (see "KST PLC mxAutomation S7" PDF)

502

INVALID BUFFER_MODE

BufferMode 0: DIRECT is not permitted for this function block.

Program the correct mode: 1: ABORTING 2: BUFFERED

503

INVALID MXA VERSION

The software versions for the mxA interface and the PLC library are not compatible.

Install compatible software versions on the robot controller and the PLC. (see "KST PLC mxAutomation S7" PDF)

504

INVALID OVERRIDE

Invalid override value in the KRC_SetOverride function block

Program a correct value (Override parameter). 0 … 100%

505

MAX GROUP REF IDX REACHED

The index of the axis group specified in the KRC_ReadAxisGroup function block is already assigned.

Instantiate the KRC_ReadAxisGro up function block just once in a program.

506

INVALID GROUPREFIDX

The index of the axis group specified in the function block is invalid.

Specify a valid index for the axis group (AxisGroupIdx parameter).

507

INVALID FB ORDER

The sequential order in which the function blocks are called is invalid.

Program the function blocks in the correct sequential order.

508

CONNECTION NOT INITIALIZED

No instructions can be transferred because the mxA interface has not

Initialize the mxA interface.


129

6 Messages

No.

Message

Cause

Remedy

been initialized. (see "KST PLC mxAutomation S7" PDF)


509 510

NO CONNECTION TO KRC TIMEOUT HEARTBEAT FROM KRC

Connection to the robot controller is interrupted:

Re-establish the connection and then acknowledge the error:

Robot controller is switched off

Reboot the robot controller.

Submit interpreter deselected or stopped

Restart the Submit interpreter.

Bus error or faulty I/O configuration

Validate the I/O configuration.


Replace the connection cable or attach it correctly.

The maximum cycle time of the Submit interpreter is too short (only for message number 510)

Increase the value for MaxSubmitCycle in the KRC_DIAG function block. Reset an ExecuteCmd input only after an activation when the function block confirms the processing of the instruction using the Busy signal or rejects with an error message.

511

TIMEOUT CMD INTERFACE BLOCKED

An active function block is no longer called or the ExecuteCmd input has been reset before the instruction could be transferred.

512

INVALID CHECKSUM KRC - > PLC

The checksum during the data transmission from the robot controller to the PLC is invalid. Error during the start-up: PROFINET configuration in WorkVisual or Step 7

Error during operation: ssion

configuration in WorkVisual and Step 7 and configure PROFINET correctly. Contact KUKA Roboter GmbH. (see "KST PLC mxAutomation S7" PDF)

513

INVALID POSITION INDEX

An invalid number for the position to be taught has been specified in the KRC_TouchUP function block.

Program a correct value (Index parameter). 1 … 100

514

POS_ACT INVALID

The current position cannot be taught because the position data is invalid (no BCO).

Establish BCO with a RESET on the KRC_AutomaticExt ernal function block.


130

6 Messages

No.

PROFINET ERR

Cause Error during the PROFINET transfer: PROFINET device PROFINET configuration in WorkVisual or Step 7 us error

Remedy Validate the configuration in WorkVisual and Step 7 and configure PROFINET correctly.


515

Message


131

7 References

7

References

7.1

References This list does not claim to be complete and only provides a selection of suitable references. Table 7-1


Topic

7.2

Title

/1/

STEP 7 SIMATIC S7-300/400

Automation with STEP 7 in STL and SCL Author: Hans Berger Publicis MCD Verlag ISBN: 978-3-89578-397-5

/2/

STEP 7 SIMATIC S7-300/400

Automation with STEP 7 in LAD and FDB Author: Hans Berger Publicis MCD Verlag ISBN: 978-3-89578-296-1

/3/

KUKA KRC4 mxAutomation

KST_PLC_mxAutomation_S7_10_de.pdf KUKA Roboter GmbH

/4/

KUKA KRC4 mxAutomation

Externes_Bediengeraet_de.pdf KUKA Roboter GmbH

/5/

KUKA KRC4 Safe Operations

KST_SafeOperation_31_de.pdf KUKA Roboter GmbH

/6/

KUKA KRC4 Operating and programming

KSS_82_SI_de.pdf KUKA Roboter GmbH

/7/

KUKA KRC4 PROFINET

KR_C4_PROFINET_22_de.pdf KUKA Roboter GmbH

Internet links This list does not claim to be complete and only provides a selection of suitable information. Table 7-2 Topic

Title

\1\

Reference to the article

http://support.automation.siemens.com/WW/view/de/67701073

\2\

Siemens Industry Online Support

http://support.automation.siemens.com


132

8 Contacts

8

Contacts Siemens AG Industry Sector I DT MC MTS APC Frauenauracher Strasse 80 D - 91056 Erlangen, Germany E-mail: [email protected]

9

History Table 9-1 Date

V2.0

18.06.2013

Modification This version


Version


133

RMR_DOKU_V20_E_l

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