库卡KUKA机器人资料0603_KUKA_Sim_Pro_KL_11eng.pptVIP

KUKASIMTrainingProExerciseLinearUnit

Task:KUKARobotonaKUKALinearUnitshouldbecontrolledbyOfficeLite.

ThisisdefaultmountingpositionoftherobotonthelineartrackwhichisautomaticallyrealizedusingthePlugPlayfunctionality.KUKASimPro–ExerciseLinearUnit

1.TappedPanelTeach?rightclick3Dwindow?TranslateWorldFrame2.TranslatetheWorldCoordinateFrameabout:

50mm(KL250)

57mm(KL1500)KLStep1–TranslateWorldFrameKL250KL1500MaDa347mm450mm+50mm+57mmActualHeight397mm

507mm1

1.SelectRobotandrotaterobotintothedesiredposition2.TappedPanelTeach?rightclick3Dwindow?RotateWorldFrame3.RotatetheWorldCoordinateFrameaboutthesameangleastherobot:

theX-axisshouldpointinthesamedirectionastheflangeplateKLStep2–RotateWorldFrame

1.TappedPanelCreate?Behaviors?KRCCoupling2.AssignE1toAxis7KLStep3–KRCCoupling

1.Testsingleaxis:2.Testmathematicalcoupling:KLStep4–Test

Standard:$RAT_MOD_AX[7]=+$ET1_TA1KR={X0,Y0,Z450,A0,B-90,C0}

$ET1_TFLA3={X0,Y0,Z0,A0,B90,C0}$ET1_TA1KR={X0,Y0,Z450,A0,B0,C90}

$ET1_TFLA3={X0,Y0,Z0,A0,B0,C-90}$ET1_TA1KR={X0,Y0,Z450,A0,B90,C0}

$ET1_TFLA3={X0,Y0,Z0,A0,B-90,C0}$ET1_TA1KR={X0,Y0,Z450,A0,B0,C-90}

$ET1_TFLA3={X0,Y0,Z0,A0,B0,C90}MaDaforLinearUnit1/4-+

Standard:$RAT_MOD_AX[7]=+$ET1_TA1KR={X0,Y0,Z450,A0,B90,C0}

$ET1_TFLA3={X0,Y0,Z0,A90,B45,C-90}$ET1_TA1KR={X0,Y0,Z450,A0,B90,C0}

$ET1_TFLA3={X0,Y0,Z0,A90,B-45,C-90}$ET1_TA1KR={X0,Y0,Z450,A0,B90,C0}

$ET1_TFLA3={X0,Y0,Z0,A90,B225,C-90}$ET1_TA1KR={X0,Y0,Z450,A0,B90,C0}

$ET1_TFLA3={X0,Y0,Z0,A90,B135,C-90}MaDaforLinearUnit2/4-+

Mirrored:$RAT_MOD_AX[7]=-$ET1_TA1KR={X0,Y0,Z450,A0,B-90,C0}

$ET1_TFLA3={X0,Y0,Z0