1 The boot coordinate system is invalid
The world coordinate system is based on the tip of the gun. In this coordinate system, all movements of the robot are based on the tip of the gun to complete the movement. The direction of the XYZ cutting gun does not change. If the robot moves in the world coordinate system, the gun head Also with the change of direction, it is that we did not choose the tool after booting.
Solution: Configuration → Current Tool/Base Coordinates → Tool Number → 1
2 expert landing
In general, when we want to edit the program after booting, we first need to log in to the expert level to help us operate.
Rescue plan: Configuration → User Group → Expert → Login → Password KUKA → Login
3 Settings END
In the new program we found that there is no end, we have to set the end point.
Solution: Configuration→Miscellaneous→Editor→Set DEF
4 The first program is set to the home location
When editing the program, the first instruction must be set to the home position. At this time, we can directly find the home position standard, which can save the time for manually moving the robot.
5 Manually turn off the output signal
When we test the program or normal use (output signal has been turned on), we sometimes encounter unexpected situations, such as the program path is in danger of crash, or warm-up failure, program error, etc. At this time we have to manually shut down output signal. After the problem is solved we can use kcp again to open the output signal. (where our output signal is 3 is low pressure oxygen, 4 is high pressure oxygen, 5 is propane)
Solution: Display → Input/Output → Digital Output → Press and hold the Drive → Number (Close or Open)
6 6D mouse failure
The system indicates that the 6D mouse still has a prompt such as a voltage and the mouse has failed. We can now release the drive and press it again to wait for the drive indicator I to turn green.
7 Copy the program from your computer
The computer copies the program so that after the program in the C drive is lost, we can copy it from the D drive or an external mobile USB drive.
Solution: After the expert logs in → Press Num (the Num on the display is gray, click on the conversion back) → CTRL (2) + Esc → Computer C drive → KRC → ROBOTER → KRC → R1 → Program
8 Robot protection
When the robot crashes, it will start automatic protection, that is, the robot has a protection system at the A6 axis. When the collision occurs, the spring is deformed by bending and the system will stop all operations after receiving the signal. At this time, we cannot operate the robot. We need to turn off the protection switch first.
Solution: Configuration → Input/Output → External Auto → Allow Movement → Change 5 to 1025 → At this time, the robot can be moved without restriction of system protection. Pay attention to adjust the direction of robot movement, adjust the movement speed, leave the collision point, and reach safety After the position, adjust the "Allowed Movement" to 5.
9 The KUKA robot needs to recalibrate the zero point in the following cases
When the robot is not fully shut down, the zero point is lost after the battery power is exhausted.
When the robot hits a hard limit, it loses zero.
Manually delete the zero point.
Failure of the boot, directly lost opportunity to lose zero.
10 program data parameters
Cutting speed line and arc are 0.005m/s, acceleration 1%
The robot movement speed PTP is 20% or 10%
Linear movement speed (non-cutting) 0.05m/s, acceleration 70%
Output signal: 3 is low pressure oxygen, 4 is high pressure oxygen, 5 is propane
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