• 座标系统

内容

• KUKA机器人产品

• 产品特点

• 技术数据及系统构成方法

• 操作面板

• 座标系统

• 零点校正

• 工具测量

• 菜单

• 运动编程

• SPS编程

KUKA机器人产品

发展

1985

• 首台PC界面

• 首台达7M直径的大范围工作机器人

• 首台350KG 重载机器人

1996 1998

• 首台INTERNET远程机器人

1999

IR 600 IR 100 IR 300 KR 6-350

IR 200 IR 400 IR 700

1980 1990 2000

KUKA robots are flexible

Application Automotive Industry

Application General Industry 点焊

搬运

搬运

重载

安装

搬运

装配

切割

产品特点

• 集中于上部运行

• 更大的运行空间 优越的动力学性能

基本结构

• 小而明朗的机械布置

• 拆装更简单

KUKA Robot 平行四边形 Robot

模块系统

更广泛的通用性KR 125, KR 150 or KR 200

• 易于规划

• 柔性化

• 更多相同的机件

KR 125 KR 150 KR 200

KUKA

Medium Payload

(V)KR 30/2

(V)KR 30 L15/2 (V)KR 45/2

High Payload

(V)KR 125/2 (V)KR 150/2 (V)KR 200/2

Heavy Payload

(V)KR 350/2

(V)KR 350L280/2 (V)KR 350L240/2

Special Series

(V)KR 60P/1 (V)KR 100P/1 (V)KR 100PA/1 (V)KR 160PA/1 Lower

Payload (V)KR 6/2 (V)KR 15/2

重载机器人

(V)KR 350/2

(V)KR 60 P/2, (V)KR 100 P/2

KR 180 PA

架上安装

robot (V)KR 125 K/1, (V)KR 150 K/1

架上安装

robot KR 30 K

墙上安装

robot (V)KR 125 W/2

MINI robot KR 3

柔性化的安装

Wall mounting:

 (V)KR 6/2

 (V)KR 15/2

 (V)KR 30/2

 (V)KR 30L15/2

 (V)KR 125 W/2

Ceiling mounting:

 (V)KR 6/2

 (V)KR 15/2

 (V)KR 15 L2/2

 (V)KR 30/2

 (V)KR 30 L15/2

 (V)KR 45/2

 (V)KR 125/2

 (V)KR 150/2, 200/2

 (V)KR 350/2

 KL 250, KL 1500 Floor mounting:

 (V)KR 6/2

 (V)KR 15/2

 (V)KR 15 L2/2

 (V)KR 30/2

 (V)KR 30 L15/2

 (V)KR 45/2

 (V)KR 125/2

 (V)KR 150/2, 200/2

 (V)KR 350/2

 KL 250, KL 1500

提高了自由度 行走单元

(KL)

KL 250 (max. weight 250kg) 适合于KR15及以下的机器人 KL 1500 (max. weight 1500kg ) 适合于KR30及以上机器人

KL Mounting positions

地面安装

天花板安装

技术数据系系统构成方法

控制柜

技术数据

- KR C1

• 类型: KR C1 – 最多6轴

• 环境 :

– 无冷却系统: max. 45°C

– 有冷却系统: max. 55°C

• 重量: 136kg

• 电源: 3x400V

• 处理器: Pentium

• RAM: 64MB

安装位置

KRC1

Single cabinet stackable

alineable

Ext. Cabinet of Single cabinet

控制柜冷却

内/外冷却系统前视 外冷却系统侧视

1 内部冷却

2 内部冷却风扇 3 风道

4 外部冷却通道 5 外部冷却风扇 6 风道

KR C1A

• 类型: KR C1 – 最多8轴

• 环境:

– 无冷却: max. 45°C – 有冷却: max. 55°C

• 重量: 323kg

• 电源: 3x400V

• 处理器: Pentium

• RAM: 64MB

KR C1A

PC

软驱

CD

安全电路 FE201

COM1

并口 电源指示

PC

X961 PC电源

总线 MFC 卡 KVGA 卡 键盘接口

INTER外部电源 COM2

KUKA

电源

FE201

安全电路 RDW

PC

(控制器)

CPU

总线选件

K-VGA MFC

DSEAT

• 看门狗

• CAN-Bus

• Ethernet

• 温度监视 KCP键盘

• 20个输入

• 20个输出

• 位置控制

• 速度控制

• 通讯

显示器 键盘

Ethernet 开关

控制电缆 (串行接口)

PM6-600

(并行接口）

电动机电缆

Pin

X01

X20 X7 X11 X12 X13 X19

X1 _X8

7.1 X21 7.2 7.3

X1: 供电电源 X11: 外围接口

X01: 维修电源 X12: 外围接口（选件）

X20: 电动机电缆 A1-A6 X13: 外围接口（选件）

X7.1: 电动机电缆 A7 (Option) X21: 反馈电缆 A1-A8 X7.2: 电动机电缆 A8 (Option) X8: 反馈电缆 A7-A12 X7.3: 电动机电缆 A9 (Option) X19: KCP 接口

控制柜系列号

Serial number

机器人系列号

Serial number

软件框架

RAM

Windows 95 VxWorks

手动/监视 基本系统

驱动

Robot 程序

控制器程序 CROSS

系统 通讯 KUKA 主控

操作面板

KUKA

(KCP)

基本操作条件

急停 驱动 OFF

驱动ON

模式选择

T T

T1 (手动 1) T2 (手动 2)

自动 外部自动

操作模式

Operation mode switch

T1 T2 AUTOMATIC AUTOMATIC

EXTERN

软键操作

鼠标操作

250 mm/s 250 mm/s 无效 无效

HOV

使能 (手动)

使能 (手动)

执行程序 250 mm/s

POV

编程速度 编程速度 编程速度

使能 (手动) 按起动键

使能

（手动）

按起动键

内部模拟 驱动ON

外部控制

操作模式

Esc key

窗口选择键

显示窗口

程序窗口 状态窗口

信息窗口

窗口选择键

程序窗口

光标

程序执行行提示

行号

状态窗口

状态窗口内容选择.

状态窗口关闭.

信息窗口

窗口信息.

信息应答

Marks of the messages

提示 - e.g. “请求起动“

指导 - e.g. “急停“

必须应答 - e.g. “应答 E.-Stop“

等待 - e.g. “等待 SRB “

提问 - e.g. “要备份示教点吗 ?“

停止键

程序起动向前

程序起动向后

数字/控制键切换

数字键

数字键

HOME

Jump to beginning of line

UNDO

Undo the last input

END

Jump to end of line

PGUP

Jump one page upwards

TAB

Tabulator jump

PGDN

Jump one page downwards

CTRL

Control functions

Arrow

Erase character left of cursor

LDEL Erase line, in which cursor actually is.

DEL

Erase character right of cursor

INS

Switch between insert and overwrite mode

ASCII

键

ASCII

SYM key

SHIFT key ALT key

NUM key

回车键

方向键

鼠标

鼠标

状态键

Status keys

软键

软键

状态行

被执行的程序

执行行

速度 数字状态 时间

操作模式

插入模式 机器人名

程序编辑 器

状态行

INTERBUS停止 INTERBUS运行

起动 OFF

驱动 ON

Status line

没有程序被选择 在首行

程序运行

程序停止

最后一行

座标系统

座标系统

• 关节座标

每轴单独操作，可正反两个方向运行.

• WORLD 座标

使用固定的，笛卡儿座标，原点在机器人底座.

• TOOL 座标

固定的，笛卡儿座标，原点在机器人6轴发兰盘中心点.

• BASE 座标

固定的，笛卡儿座标，原点在工件上.

关节座标

每个轴都可正反两个方向操作.

WORLD

• WORLD 座标

使用固定的，笛卡儿座标，原点在机器人底座.

TOOL

• TOOL 座标

固定的，笛卡儿座标，原点在机器人6轴发兰盘中心点.

BASE

• BASE 座标

固定的，笛卡儿座标，原点在工件上.

+X +Y

+Z 笛卡儿座标的旋转

X Y Z A B C

A

旋转

A

B 旋转

B 绕B轴旋转

C

旋转

C

+Z +X

+Y

右手法

+X, +Y or +Z

+C, +B or +A

选择座标系统

• 旋转操作方式

鼠标操作/或软键操作

• 选择座标系统 关节座标

WORLD 座标 TOOL 座标 BASE 座标

用鼠标操作关节座标

用鼠标操作笛卡儿座标

零点校正

机器人在零点位置时，各轴视值如下:

A1 = 0°, A2 = - 90°, A3 = 90°

A4 = 0°, A5 = 0°, A6 = 0°

旋转位置编码器:

旋转位置编码器安装在电动机尾端.

=> 其机械角度是电角度的1/3.

⇒旋转位置编码器输出模拟量信号，在RDW中转换成 数字量。

为什么要进行零点调整 ?

零点

在下述情况发生时，需进行零点设定 … 零点丢失原因…

… 维修后 …在引导期间自动丢失

… 没有连接控制器移动机器人的轴 …在引导期间自动丢失

…高于手动速度碰撞 …手动操作

…机器人与工件碰撞 …手动操作

重新零点设定.. 零点丢失…

…若存储的零点丢失 …手动操作

•只能在T1方式设定零点

•按顺序分别设定每一个轴

•从1轴开始

•从正向负方向逼进预校正点

•标尺处是预校正位置 零点校正程序

千分尺

EMG/EMT

零点校正工具

EMG = 电子测量计

测量电缆

X 32

测量接口

EMT 连接

EMT结构

1

2

3

4

标志 机械零点

EMG 或 Dial

预校正位置

对齐标志

+ -

Measure pin with notch

+ -

- 预校正位置 - 红灯灭

- 两个绿灯亮 - 对齐标志

- EMG 在凹槽下滑 - 相应绿灯亮

1 2

+ -

Marks 零点校正_{- EMG 1/2}

- +

- 在零点位置 - 位置校验 - 绿灯都亮

- 顶针向上 - 相应绿灯亮 - 红灯不亮 零点校正－ _{EMT 3/4}

+ -

3 4

工具负载的影响

由于负载变化 使零点偏移

首次零点校正

带负载或辅助负载

首次校正

不带负载

检查

带零号工具

检查

带负载，进行 偏差校验

恢复

带负载 绝对校验

工具学习

计算重量引起的误差

Start up Master Loss/check

EMT功能

•工具测量

工具测量

用户可以进行工具测量.

工具原点由用户决定.

Z X

Y

工具测量

为什么要进行工具测量 ?

1

2

3

工具测量步骤

Y_Flange

X_Flange Z_Flange

TCP缺省位置

1.Step:

确定TCP中心点

测量后的TCP

2. Step:

确定工具的方向

Y_Tool

X_Tool Z_Tool

工具测量方法

1. 确定TCP点

2. 确定旋转方向 or

or or

XYZ-4 点

XYZ-参考

ABC-World 5D

ABC-World 6D

ABC-2 Point

工具负载

100 10kg kg

最大速度 / 运行速度

负载

为了最快地运行机器人，要进行 负载数据优化

不要忘了外部负载!

payload data

Y_Flange

X_Flange Z_Flange

M 负载重量.

X, Y, Z 负载中心至法兰盘中心点的距离

C A B

X

Z

Y

+X

+Z

+Y

操作

TCP在旋转时位置不变

TCP

…

TCP

TCP

• 无论在哪点，旋转时TCP不变.

+X

+X

+Z

+Y

向工件方向直接运行

TCP

Example of jogging in tool working direction

Z

Y

X

• Magazine is not orientated in WORLD coordinate system.

• If you want to jog to pick position in WORLD system, it‘s necessary to use different direction.

• Using a measured tool, you can jog in tool working direction to pick a cube.

Path Program execution

The programmed velocity is kept during

the programmed path.

Sense of tool measuring

XYZ 4 point method

By means of XYZ 4 point method the TOOL CENTER POINT is jogged to a reference position out of 4 different directions.

The TOOL CENTER POINT will be calculated by the different positions of the flange and the robot axes.

4 point method

P1

P3 P2 P4

Z

X

Reference point Unknown

tool

• Jog to reference point out of 4 different directions. (P1 to P4)

• Advice : Choose the last orientation (P4) , so that +X_t

has the same direction as -Z_W

• Important: The different Orientations of the tool must differ a minimum amount.

Reduce the HOV (hand override) near to the reference point in order to avoid a collision.

XYZ reference method

Reference point measured

tool

Reference point unknown

tool

By means XYZ reference method the data of the TOOL CENTER POINT is calculated by comparison with a already known tool.

The new TOOL CENTER POINT will be calculated by the different flange and axis positions.

Example of XYZ Reference method

Flange as Reference

tool

XYZ reference method

Reference point measured

tool

Reference point unknown

tool

By means XYZ reference method the data of the TOOL CENTER POINT is calculated by comparison with a already known tool.

The new TOOL CENTER POINT will be calculated by the different flange and axis positions.

Example of XYZ Reference method

Flange as Reference

tool

ABC world 5D method

In this method the working direction of the tool has to be parallel to the Z-Axis of

WORLD coordinate system.

The orientation of the other axes will be determined by the controller.

Conditions:

X

Z

Z

Y

X

X

Y

Z

ABC world 6D method

Z

Y

X

X

Y

Z

Conditions:

X

Z

Y

Y

Z

X

In this method the tool must be orientated in alignment with the WORLD coordinate system.

ABC 2 Point method 1. Step

In the first step the TCP is moved to the reference point.

TCP

reference point

ABC 2 Point method 2. Step

In the second step a point in the reverse working direction is moved to the reference point.

Now the working direction is defined.

reference point TCP

X_Tool

ABC 2 Point method 3. Step

In the third step a point in the XY plane of the future tool coordinate system is moved to the reference point.

TCP reference point Y_Tool

X_Tool

Z_Tool

Base calibration

A Cartesian coordinate system which is linked to the work piece is defined. The origin (position) and

orientation has to be defined by the user.

X_Base Z_Base

Y_Base

What happens during the base calibration ?

Sense of base calibration

Z_World

tool

Y_World X_World

Jogging

Move along the axes of the work pieces.

jogging direction

base

Sense of base calibration

base

Z_World

tool

Y_World X_World

Teaching points

The coordinates of the taught points refer to

the base coordinate system.

Sense of base calibration

Program operation

If the base coordinate system is moved the taught points will move as

well.

Z_World

tool

base

Y_World X_World

base

Sense of base calibration

Program operation

There can be more than one BASE coordinate

systems.

Z_World

tool

Y_World X_World

base 2 base 1

3-point method Step 1

work piece reference tool

origin

• In the first step the TCP is moved to the origin of the new

base coordinate system. (position)

3-point method Step 2

• In the second step the TCP is moved to a point on the

positive X-axis of the new base

coordinate system.

work piece reference tool

origin

X

3-point method Step 3

• In the third step the TCP is moved to a point with positive Y value on the XY

plane of the new base coordinate system.

work piece reference tool

origin

X

Y

Z

Indirect determination of the BASE coordinate system

Z

Y

X

reference point

Point 4

Point 1

Point 2 Point 3

In this method the TCP is moved to four points

whose positions are known (e.g. CAD data, manufacturing drawing, etc.). The robot controller calculates the base

coordinate system automatically.

Fixed tool

X

Y Z

• The work piece is mounted to the flange of the robot and is calibrated as BASE.

X Y

Z

X

Y Z

• Determination of the

distance

coordinate system.

Using a “fixed tool” means, that the robot feeds one or more tools,

which are steadily integrated in the work cell, with a work piece. The measuring consist of two parts:

Calibrating the fixed tool

The coordinates are saved as BASE_DATA[1]….[16].

1. calibrate the fixed tool

X

Y Z

Calibrating the fixed tool Step 1

• At first the TCP of the fixed tool is approached by a tool which

dimensions are known.

Calibrating the fixed tool Step 2

• Second step is to orientate the flange of the robot in the

working direction of the tool.

X

Y Z

Tool

Calibrating of the moveable work piece

2. calibrate the work piece

X Y

Z X

Y Z

The coordinates are saved as TOOL_DATA[1]….[16].

Calibrating of the moveable work piece Step 1

Origin and TCP

• The origin of the coordinate system of the work piece has to be moved to the TCP of the fixed tool.

Calibrating of the moveable work piece Step 2

• Second step is to save a point, which is located on the positive x-axis of the coordinate system of the work piece.

Origin X

Calibrating of the moveable work piece Step 3

• Last step is to move to a point on the XY-plane of the

coordinate system of the work piece, which has positive Y value.

Y

Origin X

Z

Kinematics chain in base-oriented interpolation

$IPO_MODE=#BASE

Kinematics chain in external TCP interpolation

$IPO_MODE=#TCP

运动编程

SPS编程