KST_AD_Gripperspottech_23_en.pdf
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SOFTWARE
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KUKA.Gripper- and SpotTech 2.3
for KUKA System Software (KSS) 5.x, 7.0
Issued: 10 July 2006 Version: 00
KUKA.Gripper&SpotTech2.3 07.06.00 en
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e
Copyright 2006
KUKA Roboter GmbH
This documentation or excerpts therefrommay not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
KUKA Interleaf
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KUKA.Gripper&SpotTech2.3 07.06.00 en
Contents
1 General
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2
Installation / uninstallation / update
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3 GripperTech
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3.1.1 Type 1 2 outputs, 4 inputs, 2 switching states
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3.1.2 Type 2 2 outputs, 2 inputs, 3 switching states
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3.1.3 Type 3 2 outputs, 2 inputs, 3 switching states
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3.1.4 Type 4 3 outputs, 2 inputs, 3 switching states
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3.1.5 Type 5 2 outputs, 4 inputs, 2 switching states
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3.1.6 Freely programmable type
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3.1.7 Initialization and configuration examples
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3.3 Programming gripper functions
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3.3.2 Check Gripper
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4 SpotTech
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4.1 Basic SpotTech user functions
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4.1.2 The functions SPOT and RETRACT
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4.2.1 General information on programming
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4.2.1.1 Variables in input boxes of the inline forms
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4.2.1.2 Overview of the inline forms
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4.2.2 Spot welding (SPOT)
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4.2.3.1 Point--to--point (PTP) motion
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4.2.3.2 Motion along a straight line (LIN)
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4.2.3.3 Motion along a circular path (CIRC)
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4.2.3.4 Activating/deactivating collision detection
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4.2.4 Programming a weld spot (SPOT)
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4.2.4.2 The inline form and the parameter lists for the welding command “SPOT”
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4.2.4.4 Retract stroke after the welding process (RETR OPN / CLO)
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4.2.5 Opening/closing the welding gun retract stroke (RETRACT)
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4.2.5.2 Programming the retract stroke (RETRACT)
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4.2.7 Reorientation of the welding gun
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4.3.1 Creating a new program
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3.1 Basic gripper functions
3.1.6.1 Programming example
3.2 Manually operating a gripper
3.3.1 Gripper
4.1.1 Range of commands
4.2 Programming and operation
4.2.3 Types of motion
4.2.4.1 Menu
4.2.4.3 Selecting the welding gun (Gun = n)
4.2.4.5 Weld parameter list
4.2.5.1 Types of motion
4.2.6 Motion commands
4.3 Program example
KUKA.Gripper-- and SpotTech 2.3
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4.3.1.2 Welding the second spot sequence
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4.3.1.3 Moving from the end of the spot seam to the home position
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4.4 Altering existing programs
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4.4.1 Altering command lines
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4.4.3 Adding commands to an existing program
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4.4.3.2 Changing the position of the welding gun (point in space P10)
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4.4.3.3 Reorientation of the welding gun -- inserting the command “Motion” (P11)
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4.4.3.4 Moving to the point in space P12 -- inserting the command “Motion”
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4.4.3.5 Welding spot P13 -- inserting the command “SPOT”
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4.4.3.6 Moving to the weld spot P16 and welding
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4.4.3.7 Moving to the home position
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4.5 SpotTech configuration
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4.5.2 Retract stroke (RETRACT) and working stroke (SPOT)
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4.5.3 Early closing of the gun (PRESPOT)
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4.6 Components of the SpotTech package
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4.6.2 SPOT Tech--specific files
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4.7 Adaptation to the periphery, configurable options
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4.7.2 The user--specific program “USERSPOT.SRC”
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4.7.2.1 Schematic sequence diagram for SPOT (without RETRACT)
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4.7.2.2 Schematic sequence diagram for SPOT (with RETRACT)
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4.7.2.4 Program example for the file “USERSPOT.SRC”
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4.8 Program example
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4.9 Manual operation of the welding gun using the status keys
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4.9.1.1 Definition of function type and assignment of physical outputs
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4.9.2 Manual control of RETRACT and SPOT in series
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4.3.1.1 Welding the first spot sequence
4.4.2 Deleting command lines
4.4.3.1 Description of the alteration
4.5.1 Program sequence
4.6.1 Program structure
4.7.1 FOLD “SPOT” in the file “$CONFIG.DAT”
4.7.2.3 Robot controller -- welding controller interface
4.9.1 Separate control of RETRACT and SPOT
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