Kuka slide show

1. Elements of an Industrial Robot
An Industrial Robot arm includes following main parts
• Manipulator (Arm)
• Controller
• Drive
• Teach Pendant
• Inputs and Outputs
• End Effector
• Sensor

2. Arm

3. Controller
• The Controller is the “Brain" of the Industrial Robotic
arm and allows the parts of the Robot to operate
together.
• It works as a Computer and allows the Robot to also be
connected to other systems.
• The Robotic arm Controller runs a set of instructions
written in code called a program.

4. Fig. ABB Controller Fig. KUKA Controller

5. Drive
• The Drive is the Engine or Motor that moves the links
into their designated positions.
• Industrial Robot arms generally use one of the following
types of drives: hydraulic, electric, or pneumatic.
• Hydraulic drive systems give a Robot great speed and
strength. An electric system provides a Robot with less
speed and strength.
• Pneumatic Drive systems are used for smaller Robots
that have fewer axes of movement. Drives should be
periodically inspected for wear and replaced if
necessary.

6. Configuration Keys Emergency Switch
3D Mouse
Programming Keys
Display
Teach Pendant

7. Emergency Button
6 D Mouse
Jog Keys
Program
Override Key
Jog Override Key
Main Menu Key
Technology key
Start Forward Key
Start Backward Key
Stop Key
Keyboard Key
Disconnecting Button
Operating Mode Key
Display

8. End Effector
• The End Effector connects to the Robot's Arm and
functions as a Hand.
• This part comes in direct contact with the Material the
Robot is manipulating.
• Some variations of an Effector are a Gripper, a Vacuum
Pump, Magnets, and Welding Torches. Some Robots are
capable of changing End Effectors and can be
programmed for different sets of tasks.

10. Sensor
• Sensors allow the Industrial Robotic Arm to receive
feedback about its environment.
• They can give the Robot a limited sense of sight and
sound.
• The Sensor collects information and sends it
electronically to the Robot controlled.

11. Types of Messages
Icon Type
Acknowledgement message
• Displays states that require confirmation by the operator before
program execution is resumed (e.g. “Ackn. EMERGENCY
STOP”).
• An acknowledgement message always causes the Robot to stop or
not to start.
Status message
• Status messages signal current controller states (e.g.
“EMERGENCY STOP”).
• Status messages cannot be acknowledged while the status is
active.
Notification message
• Notification messages provide information for correct operator
control of the Robot (e.g. “Start key required”).
• Notification messages can be acknowledged. They do not need to
be acknowledged, however, as they do not stop the controller.

12. Wait message
• Wait messages indicate the event the controller is waiting
for (status, signal or time).
• Wait messages can be cancelled manually by pressing the
“Simulate” button.
Dialog message
• Dialog messages are used for direct communication with
the operator, e.g. to ask the operator for information.
• A message window with buttons appears, offering various
possible responses.
Icon Type

13. Robot Modes of Operation
• Robot controllers normally come with a two or three
position key switch or Modes.
• T1
• T2
• Automatic

14. T1 T2 Automatic
In T1 Mode jogging is
possible.
In T2 Mode jogging is not
possible in KUKA. In ABB
& Fanuc Jogging is
Possible but not
recommended
In Automatic Mode jogging
is not possible.
In T1 Mode maximum
Speed of Robot is
250mm/sec.
In T2 Mode maximum
speed of Robot is 2m/sec.
In Automatic Mode
maximum speed of Robot is
2m/sec.
In T1 Mode Dead Man
Switch is required.
In T2 Mode Dead Man
Switch is required.
In Automatic Mode Dead
Man Switch is not required.
In T1 Mode Door Limit
Switch is not Active
In T2 Mode Door Limit
Switch is not Active
In Automatic Mode Door
Limit Switch is Active

15. Types of Brake Reactions
• Emergency Brake Reaction
• Path Maintained Brake Reaction
• Path Not Maintaining Brake Reaction

16. Jogging
• Manual Movement of Robot is called Jogging.
• Jogging Should be done in following modes.
• Joint Mode
• World Coordinate System
• Flange Coordinate System
• Tool Coordinate System
• Base Coordinate System

17. Coordinate System of Robot
• A Robot uses several coordinate systems, each suitable
for specific types of jogging or programming.
• The World coordinate system
• The Flange coordinate system
• The Tool coordinate system
• The Base coordinate system

18. The World coordinate system

19. Flange coordinate System
Fig. Flange coordinate system

20. The Tool coordinate system

21. The Base coordinate system
• The base coordinate system is located at the base of
the Robot. It is the easiest one for just moving the
Robot from one position to another. See The base
coordinate system for more information.

22. Tool Calibration of Robot
Teach Position Method
There are Two Types of Teach Position Method
•4 point method
•6 point method
•Numeric Input Method

23. 4 Point Method
Fig. Tool Calibration by 4 point method

24. Tool load data
• Tool load data refer to all the loads mounted on the
Robot flange.
• They form an additional mass mounted on the Robot
which must also be moved together with the Robot.

25. Tool load data can be obtained from the following
sources:
• Software option KUKA. Load Determination (only for
payloads)
• Manufacturer information
• Manual calculation
• CAD programs

26. Base calibration
Base calibration options
Methods Description
3-point method • Definition of the origin
• Definition of the positive X axis
• Definition of the positive Y axis (XY plane)
Numeric input • Direct entry of the values for the distance from
the world coordinate system (X, Y, Z) and the
rotation (A, B, C).

28. Motion Programming
There are Four types of motion programming
• Point to Point (PTP)
• Linear (Lin)
• Circular (Cir)
• Spline

29. Inline form “PTP” (Motion)
Item Description
1 Motion type PTP
2 • The name of the end point is issued automatically, but can be
overwritten as required.
• To edit the point data, touch the arrow; the option window Frames
opens.
3 CONT: end point is approximated.
[Empty box]: the motion stops exactly at the end point.
4 Velocity
• PTP motions: 1 … 100%
5 Motion data set:
• Acceleration
• Approximation distance (if CONT is entered in box (3))

30. Inline form “LIN” (Motion)
Item Description
1 Motion type LIN
2 • The name of the end point is issued automatically, but can be
overwritten as required.
• To edit the point data, touch the arrow; the option window Frames
opens.
3 CONT: end point is approximated.
[Empty box]: the motion stops exactly at the end point.
4 Velocity
• LIN motions: 1 … 100 m/s
5 Motion data set:
• Acceleration
• Approximation distance (if CONT is entered in box (3))

31. Inline form “CIRC” (Motion)
Item Description
1 Motion type CIRC
2 • The name of the end point is issued automatically, but can be
overwritten as required.
• To edit the point data, touch the arrow; the option window Frames
opens.
3 CONT: end point is approximated.
[Empty box]: the motion stops exactly at the end point.
4 Velocity
• CIRC motions: 1 … 100 m/s
5 Motion data set:
• Acceleration
• Approximation distance (if CONT is entered in box (3))

32. Execution of Programming
Program Run Modes
GO
• Program runs continuously to the end of the program.
• In test mode, the Start key must be held down.
Motion Step
• In the program run mode Motion Step, each motion command is
executed separately.
• At the end of each motion, Start must be pressed again.
Single Step | Only available in the user group “Expert”!
• In Incremental Step mode, the program is executed line by line
(irrespective of the contents of the individual lines).
• The Start key must be pressed again after every line.

33. Logic Programming Commands
• OUT Command: Switches an output at a specific point
in the program
• WAIT FOR Command: Signal-dependent wait
function- the controller waits for a signal Here :
• Input IN
• Output OUT
• Time signal TIMER
• WAIT : Time-dependent wait function: the controller
waits a specified time at this point in the program.

34. Backuping and Restoring Robot
Click on Backup and Restore Command
• Select backup & restore command on flex pendant to
restore and backup data.