Professional Documents
Culture Documents
KR C2 / KR C3
Operator Control
Version: 00
BedienungBH5.2 09.03.00 en
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e Copyright
This documentation or excerpts therefrom may 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.
PD Interleaf
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Contents
1
1.1
1.2
1.3
1.4
10
1.5
1.5.1
1.5.2
1.5.2.1
1.5.2.2
1.5.2.3
1.5.2.4
1.5.3
11
11
11
12
12
12
12
13
1.6
13
15
2.1
15
2.2
23
2.3
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
2.3.6
2.3.7
24
24
24
25
26
28
29
30
Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
3.1
33
3.2
34
3.3
35
3.4
36
3.5
38
39
4.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
4.2
40
4.3
40
4.4
41
4.5
42
4.6
43
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Operator Control
4.6.1
4.6.2
4.6.2.1
4.6.2.2
4.6.2.3
4.6.3
4.6.3.1
4.6.3.2
Mouse position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Degrees of freedom of the Space Mouse (mouse configuration) . . . . . . . . . . . . . . . . . . . . . .
Motion of the main axes (translational motions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion of the wrist axes (rotational motions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unlimited functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dominant axis of the Space Mouse (mouse configuration) . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dominant axis activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dominant axis not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
45
45
46
46
47
48
48
4.7
4.7.1
4.7.2
4.7.3
49
49
50
51
Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
5.1
5.1.1
5.1.2
5.1.3
5.1.3.1
5.1.3.2
5.1.3.3
5.1.4
5.1.4.1
5.1.4.2
5.1.5
5.1.6
5.1.6.1
5.1.6.2
5.1.6.3
5.1.6.4
53
53
55
55
55
56
58
59
60
61
61
62
63
66
66
67
5.2
5.2.1
5.2.1.1
5.2.1.2
5.2.2
5.2.2.1
5.2.2.2
5.2.2.3
5.2.3
5.2.3.1
5.2.3.2
5.2.4
5.2.4.1
5.2.4.2
5.2.4.3
5.2.4.4
5.2.4.5
5.2.4.6
5.2.5
5.2.5.1
5.2.5.2
5.2.5.3
5.2.5.4
File menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Create directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Create module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
File/Folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Log book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Archive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Log Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
68
68
69
70
70
71
72
72
72
72
73
73
74
74
74
74
74
75
75
76
76
76
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5.2.5.5
5.2.5.6
5.2.6
5.2.7
5.2.8
Current selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rename . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Format floppy disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Attributes/Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
77
78
79
80
5.3
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.7.1
5.3.7.2
5.3.8
5.3.9
Edit menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Select all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Duplicate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Without parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
With parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cancel program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
81
81
81
82
82
83
84
84
85
85
85
5.4
Monitor menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
5.5
5.5.1
5.5.2
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keyboard assignment of the Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default settings at User and Expert levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
86
88
91
6.1
6.1.1
6.1.2
91
92
94
6.2
95
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
Stop reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ramp--down braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Path--maintaining Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maximum braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Short--circuit braking (dynamic braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warning and safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
95
95
96
96
97
6.4
6.4.1
6.4.2
6.4.3
6.4.4
6.4.5
6.4.6
6.4.7
6.4.8
98
98
98
102
103
104
106
106
106
6.5
6.5.1
6.5.2
6.5.3
6.5.4
6.5.5
107
107
107
107
108
108
6.6
Deselecting a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
7.1
Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
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7.1.1
7.1.2
7.1.3
7.1.4
7.1.4.1
7.1.4.2
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
112
113
115
115
116
7.2
7.2.1
7.2.2
7.2.3
7.2.4
Rob. Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cartesian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis--specific . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Incremental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master/Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
118
119
119
119
7.3
7.3.1
7.3.2
7.3.2.1
7.3.2.2
7.3.2.3
7.3.3
7.3.4
7.3.5
7.3.6
Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edit Configmon.ini . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cyclic Flags (Notice) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
120
122
122
123
123
123
124
124
125
7.4
Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
7.5
Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
7.6
Hardware Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
7.7
7.7.1
7.7.2
7.7.3
Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Online help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Online help -- Contents/Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
127
127
130
132
Menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
136
8.1
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
137
8.2
8.2.1
8.2.2
8.2.3
Program/Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Edit menu in Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Program menu at programming level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Program menu in the editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
141
141
143
145
8.3
Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
8.4
Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
151
8.5
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
155
8.6
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
161
8.7
Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
162
8.8
Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
163
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1.1
Options
If the control cabinet is equipped with extra
options, their status is indicated by the
LEDs.
Cabinet lock
The cabinet lock is protected by a cover,
which also serves as the door handle.
Computer drives
With the cabinet door open,
a CD--ROM drive and a
floppy disk drive are accessible.
CD--ROM drive
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It is also possible to connect a standard serial mouse to the computer systems COM1 port.
This can even be connected and disconnected during operation without having to reboot the
system. For this reason, COM1 is automatically used by the mouse driver.
Applications and functions that access the COM1 port must be reconfigured to a different
COM port.
The temporary connection of a keyboard to the corresponding DIN or PS/2 port is also
possible.
The KR C2 control cabinet door may only be opened by a skilled and appropriately trained
electrician for the purpose of service work. The KR C2 cabinet door must be closed again
immediately after service work, otherwise the cooling effect of the internal airflow is lost.
Failure to do so can cause the controller to overheat and fail.
1.2
KCP connection
Status indication
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CD--ROM drive
Floppy disk drive
IUPS
On/off switch
Reset
Both doors on the control module must be kept shut in order to keep dirt out.
1.3
The display then shows the main menu for program creation, selection and execution.
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If the machine data loaded do not match the robot type, a corresponding error
message is generated when the controller is booted. The robot must not be moved
in this case.
If the robot controller logs onto the network, this has a significant effect on the time the
controller takes to boot.
1.4
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1.5
1.5.1
Cold start
Warm start
A warm start is intended to keep production downtimes to a minimum in the event of a power
failure. Once the system has booted, the status reached immediately before the power failure is restored. The outputs that were set at the time the system was switched off are set
again when the system reboots, the field buses are reset (also in the event of a fault). The
processing of the program can then be resumed from the point that had been reached in the
program. In most cases it is no longer necessary to move the cell free.
Before restarting the system, you must decide whether it is still sensible to resume
program execution given that the outputs will be reset or restored.
The next time the system is booted, the initial state of the user interface is restored. If, for
example, forms were open or a program was loaded into the editor before the power failure,
they will not be displayed after the restart.
The state of the kernel system, including programs, block pointer, variable contents, outputs,
status messages and acknowledgement messages, is completely restored.
In the case of a restart after software problems, program resumption is only possible in
isolated cases.
All outstanding changes that have not yet been saved are lost after a shutdown.
Further information on the setup and configuration of the warm restart can be found in the
Programming Handbook in the main chapter [Configuration], chapter [Configuring
the system].
1.5.2
Cold start
No program is selected when the system has booted and the user outputs are set to FALSE.
This response can be activated via the corresponding menu command.
Configure
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
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1.5.2.1
Hardware requirements
All peripheral devices which can trigger potentially dangerous movements in the
cell must be designed using pulse valve technology. This prevents unintentional
movements from occurring when the power supply is switched off or back on.
1.5.2.2
1.5.2.3
If the robot is located on its programmed path (e.g. ramp--down braking), the program
can be started using the start continue function.
If the robot has left its programmed path (e.g. short--circuit braking), a BCO run may,
under certain circumstances, be necessary at the point where the path was left (RET
position).
1.5.2.4
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1.5.3
1.6
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Cause
Remedy
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KCP2
E--STOP
The KUKA Control Panel, referred to hereafter as KCP, forms the human--machine interface and is used for easy operation of the KR C... robot controller. All elements required
for programming and operator control of the robot system, with the exception of the main
switch, are located directly on the KCP. The LCD screen is used to visualize operator and
programming actions.
2.1
Before the EMERGENCY STOP button is released, the situation that caused the stop
to be triggered, and if necessary its consequences, must first be rectified.
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Drives ON
Pressing this button activates the robot drives.
These can only be switched on under normal
operating conditions (e.g. no EMERGENCY
STOP button pressed, safety gate closed,
etc.).
Drives OFF
Pressing this button deactivates the robot
drives. The brakes of the motors are also applied after a slight time delay and hold the
axes in position.
Drives OFF activates dynamic braking.
Operating
mode
Jogging
Program mode
(Test 1)
Jog velocity
Keep enabling switch held down
Press jog key or Space Mouse
Jog velocity
Keep enabling switch held down
Keep Start key held down
(Test 2)
Jog velocity
Keep enabling switch held down
Press jog key or Space Mouse
Programmed velocity
Keep enabling switch held down
Keep Start key held down
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(Automatic)
(Automatic
External)
Not possible
Programmed velocity
Drives ON
Press Start key briefly
Not possible
Programmed velocity
Drives ON
External start
If the operating mode changes while the program is running, dynamic braking is activated.
Automatic operation is only possible with the safety circuit closed.
Enabling switches
For certain actions, such as jogging the
robot, one of the enabling switches must be
held down.
The enabling switches are situated on the
back of the KCP and on one of the holding
domes.
They are all designed as two--position
buttons. For program execution, a button
must be held in the middle position.
Releasing the button or pressing it hard
triggers dynamic braking.
Space Mouse
This is used for manually--controlled motion
of all 6 axes (degrees of freedom) of the
robot. The amount of deflection of the Space
Mouse influences the velocity of the robot.
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ESC key (Escape)
An action that has been started can be
aborted at any time using the Escape key.
This includes, for example, open inline forms
and status windows.
Menus opened by mistake can also be
closed again, one by one, by pressing this
key.
ESC
Program STOP
Pressing this button stops a program that is
running.
Path--maintaining braking is carried out and
this can be acknowledged in automatic
mode.
To resume a program that has been stopped,
press the Program start forwards or
Program start backwards key.
STOP
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Enter key
This key is used to confirm entries or to
complete commands.
Arrow keys
The arrow keys are used to
-- move the focus
-- change the position of the edit cursor
-- toggle between the boxes in inline forms and
parameter lists.
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Menu keys
These are used to open the corresponding
menus
You can select from the menu that is opened
as follows:
-- by using the (# ") arrow keys, which
highlights the selected menu item in color
-- by entering the number preceding the
menu item.
A menu can be closed one step at a time by
pressing the ESC key.
Status keys
--
Softkeys
These are used for selecting the functions
displayed in the softkey bar.
The functions available are dynamically
adapted, i.e. the assignment of the softkey
bar is altered.
Numeric keypad
Numbers are entered using the numeric
keypad. At a second level, the numeric
keypad has cursor control functions.
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2
HOME
Jumps to the beginning
of the line in which the
edit cursor is positioned.
LDEL
Deletes the line in
which the edit cursor
is positioned.
TAB
Tabulation
UNDO
Cancels the last entry (not
yet implemented).
PGDN
Scrolls one screen
towards the end of the
file.
END
Jumps to the end of the
line in which the edit cursor is positioned.
INS
Switches between insert and
overwrite modes.
PGUP
Scrolls one screen
towards the start of the
file.
CTRL
Control key, e.g. for
program--specific
commands.
DEL
Deletes the character to
the right of the edit cursor.
Arrow z
Backspace key; deletes
the character to the left
of the edit cursor.
Keyboard
Used for entering letters and other
characters.
NUM key
Allows you to switch between entry of
numbers or control characters via the
numeric keypad. You can switch between
these functions by pressing the NUM key
briefly.
Numeric entry
Cursor control functions
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ALT key
This is used in keyboard shortcuts. In this
way, menus can be opened and certain
actions can be executed.
The ALT key remains activated for one
keystroke. In other words, it does not need
to be held down.
SHIFT key
For switching between lower--case and
upper--case letters.
If the shift key is pressed once, the next
character will be typed in upper case. To
type upper--case characters, the shift key
must be held down while the characters
are entered. It is also possible to switch to
continuous upper--case characters using
the keyboard shortcut SYM+SHIFT.
Lower--case letters
UPPER--CASE LETTERS
SYM key
Used for entering special characters
depicted on the letter keys.
The SYM key remains activated for one
keystroke. In other words, it does not need
to be held down.
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2.2
Enabling
switch
Enabling
switch
Space Mouse
Enabling
switch
Program start
forwards
Rating plate
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2.3
2.3.1
2.3.2
GUI elements
Keys
Monitor
Expert
Windows
These include, for example, status and
message windows.
The window selection key is used to toggle
between the individual windows in the GUI.
Within the individual windows, the focus can
be moved using the arrow keys.
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Selection lists
These are used for selecting predefined
values.
Position the focus on the selection list using
the arrow keys or the TAB key. Then open the
list using the keyboard shortcut ALT+ # and
select the desired entry. Confirm the selection
by pressing the Enter key.
Input boxes
These are used for entering values or texts.
Position the focus on the input box using the
arrow keys or the TAB key. Then enter the
desired characters.
Parameter boxes
Selection of a specific value from a predefined
range.
Set the desired value using the corresponding
status key. Alternatively, the value can be
entered in the input box.
Focus
The desired object can be selected using the
arrow keys. Commands and options will then
refer to this object.
2.3.3
Function keys
Menu bar
Robot controller functions are grouped
together in the menu bar.
These groups must be opened using the
menu keys in order to select the entries
contained therein.
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Status key bars
The individual status keys provide access to
robot controller functions. The assignment of
the softkey bar changes according to the
specific requirements.
Softkey bar
The softkey bar, which adapts itself dynamically, offers functions that can be selected
using the relevant softkeys.
2.3.4
Input/output windows
Program window
The contents of the selected program are
displayed in the program window. If no
program is selected, a list of all the available
programs is displayed.
Located between the line number and the text
of the instruction is a yellow arrow pointing
right, the block pointer. It is positioned in the
program line that is currently being executed.
Edit cursor
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Status window
The status window is displayed as required.
It contains information about the status of
certain components, e.g. inputs/outputs.
Form
The form is displayed as required. Data
required by the controller are entered here.
This is the case, for example, with tool
calibration.
The focus is moved to the desired position
using the arrow keys or the TAB key.
Parameter list
This is used for entering values from a range
of values.
The focus is moved to the desired position
using the arrow keys or the TAB key.
Message window
The controller communicates with the
operator via the message window.
Notification, status, acknowledgement, wait
and dialog messages are displayed here.
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Inline form
Some of the program functions require values
to be entered.
These values are entered in an input mask
(inline form) or selected from selection boxes.
In this way, you ensure that the programmed
instructions always have the correct format.
2.3.5
System status
Status line
Information regarding important operating
states is grouped together and displayed in
the status line.
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2.3.6
Messages
Notification messages contain information or indicate operator actions, programming
errors and operator errors. They are purely for information purposes and do not interrupt
program execution.
Start key required
This message appears after a program has been selected.
Status messages indicate the status of the system. They are also informational in character
and can interrupt the application program to a certain extent. Status messages are automatically deleted when the status that triggered them is no longer applicable.
EMERGENCY STOP
This message is generated if, for example, the EMERGENCY STOP button has been
pressed or a safety gate opened.
Acknowledgement messages frequently appear following a status message (e.g.
EMERGENCY STOP) and must be explicitly confirmed. They indicate disruption to program
execution.
Confirm EMERGENCY STOP
Acknowledgement messages stop robot operation until the cause of the error has been
eliminated and the message confirmed.
Wait messages are generated if a program is running and a wait condition is being executed.
WAIT FOR $IN[1]==TRUE
The robot controller is stopped until the condition is fulfilled or the program reset. In this
example the system is waiting for a signal at input 1.
The operator must respond to dialog messages. The result is stored in the relevant variable.
The program is stopped until the message is acknowledged, and subsequently resumed.
Do you want to touch point P1?
The yes and no softkeys are now offered in the softkey bar. When one of the two softkeys
is pressed, the message is deleted from the message window.
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2.3.7
Status bar
UPPER--CASE LETTERS.
UPPER-- and lower--case letters are active.
Gray:
Green:
Red:
Green:
Red:
Gray:
No program is selected.
Yellow:
Green:
Red:
Black:
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The block number of the program line that is currently being executed
is indicated here.
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Coordinate systems
Coordinate systems
In jog mode, the robot is moved in accordance with the selected coordinate system.
Joint coordinate system
3.1
--
--
--
--
--
--
Jog keys
Space Mouse
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3.2
--
--
--
--
--
--
Jog keys
Space Mouse
The World coordinate system only corresponds with that of the Space Mouse if the
operator with the KCP is standing directly in front of the robot.
Position of
operator
Robot
As standard, the origin of the WORLD coordinate system is located at the center of the
robot base.
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3.3
--
--
--
--
--
--
Jog keys
Space Mouse
On delivery, the origin of the BASE coordinate system is located in the base of the robot.
The BASE coordinate system is relative to the WORLD coordinate system.
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3.4
--
--
--
--
--
--
Jog keys
Example: torch
Space Mouse
The TOOL coordinate system is generally orientated in such a way that its X axis is identical
to the working direction of the tool (tool direction).
On delivery, the origin of the TOOL coordinate system is located at the flange centerpoint.
The TOOL coordinate system is relative to the BASE coordinate system.
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3.5
On delivery, the origin of the ROBROOT coordinate system is identical to that of the
WORLD coordinate system and is located in the base of the robot.
Detailed information on the subject ROBROOT may be found in the Programming
Handbook, in the main chapter [Expert Programming], chapter [Motion programming].
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4.1
General
Jogging is used for manually controlled movement of the robot. The standard robot has a
total of six axes, which are defined as follows:
Overview:
Position and direction of rotation of the robot
axes
To jog the robot, the mode selector switch must be set to Jog mode
(T1 or T2).
The robot can be jogged only if there is no EMERGENCY STOP situation.
If a robot axis runs against one of its software limit switches, it is immediately switched off.
The robot can then be moved out of this position manually in the joint coordinate system.
The other axes remain unaffected.
If one or more of the robot axes hits its end stop without being braked and at a
velocity in excess of the jog velocity set by the manufacturer, the buffer concerned
must be replaced immediately.
If this happens to axis 1 of a wall--mounted robot, its rotating column must be
replaced.
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4.2
To get a better overview of the robot movement, the positions of the axes can be shown
in a status window.
Monitor
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
4.3
Cartesian
Axis specific
Incremental
Master/Slave
The type and number of options available depend on your system configuration.
Robot
Only the 6 robot axes A1...A6 (joint coordinate system) or X, Y, Z, A, B, C
(reference coordinate system) can be moved.
External axes
Here you can move only the external axes (E1...E6).
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Further information about external axes can be found in the separate documentation
[External axes].
4.4
In the wrist singularity (A4 and A6 parallel), there is the danger that an external
energy supply system (if present) may be wound around the wrist axis.
Further information on moving the wrist axes can be found in the main chapter [User
Programming], in the chapter [Program commands], section [Motion] under
Infinitely rotating axes.
Information on the wrist axis singularity and the extended position may be found in the
Programming Handbook, in the main chapter [Expert Programming], chapter [Motion
programming], section [Motion commands] under Singularities.
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4.5
...
In modes T1 and T2, the jog override can also be altered during program execution.
Depending on the configuration, the HOV value last used is restored when the system is
switched to T1 mode.
With the Space Mouse, the jog velocity can be further decreased by reducing the deflection
of the mouse (velocity proportional to the deflection).
The jog override increment can be increased. To do this you must activate the option Jog
OV Steps on/off in the Configure --> Jogging menu. The value is then no longer altered
in increments of 1% but changes between 1, 3, 10, 30, 50, 75 and 100 per cent of the value
defined in the machine data.
Configure
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
Program OV Steps
Jog OV Steps
Mouse position
Mouse configuration
If you have selected the joint coordinate system as the reference coordinate system the
jog override refers to the specific axis.
If a rectangular coordinate system is set (e.g. WORLD coordinate system) the jog override
refers to the axis with the longest trajectory (leading axis). The motions of all other axes
are synchronized with the leading axis.
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4.6
If you pull the Space Mouse towards you in the positive X direction, for example, the robot
axes will likewise move in the positive X direction in the reference coordinate system. This
also applies to the Y and Z axes.
Turning the Space Mouse about its X axis, for example, likewise causes the tool center point
to rotate about the X axis of the set reference coordinate system. This again applies equally
to the Y and Z axes.
For certain applications, e.g. fine positioning or tool calibration, it is useful not to move the
robot in all 6 axes simultaneously. For this reason, the aids Degrees of freedom and
Dominant axis are available to reduce the number.
4.6.1
Mouse position
In order to ensure intuitive operator control when traversing the robot using the Space
Mouse, the operator can inform the controller of his position.
Configure
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
Program OV Steps
Jog OV Steps
Mouse position
Mouse configuration
The default setting for the mouse position is 0 degrees. The robot thus moves in the positive
X direction. To ensure that the deflection of the Space Mouse corresponds to the motion
direction, the operator should stand in front of the robot.
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If the operator stands to the left of the robot and wishes to move the robot back towards
himself, he no longer has to rethink what he is doing. The mouse position is simply set to 90
degrees. This causes the world coordinate system to be rotated by 90 degrees in the robot
controller.
The same Space Mouse motion as before will move the robot towards the operator.
You can change the position of the 6D mouse by pressing the corresponding softkeys. Each
time the softkey + is pressed, the world coordinate system is rotated an additional 45
degrees in a clockwise direction. The softkey -- rotates the coordinate system in a
counterclockwise direction.
The KCP symbol in the status window also moves each time the softkey is pressed, and thus
always indicates the current position.
Close
The softkey Close accepts the current mouse position and closes the status window.
When switching to AUT (Automatic) or EXT (Automatic External) mode, the mouse
position is automatically reset to 0 degrees.
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4.6.2
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
Program OV Steps
Jog OV Steps
Mouse position
Mouse configuration
A status window opens in which you can set the degrees of freedom.
Degrees of freedom of the Space Mouse:
Axis selection
all Axis (6D)
Unlimited functionality
4.6.2.1
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4.6.2.2
4.6.2.3
Unlimited functionality
With this setting, all 6 axes of the robot can be moved simultaneously. In
a Cartesian coordinate system, pushing or pulling the Space Mouse
along its X, Y or Z axis causes the robot to be correspondingly moved
along the X, Y or Z axis of the set reference coordinate system. Rotating
the Space Mouse about its X, Y or Z axis similarly causes the tool center
point to be correspondingly rotated about the X, Y or Z axis.
In the joint coordinate system, you can specifically move the robot axes A1 to A6: Pushing
or pulling (translational motions) along the X, Y and Z coordinate axes of the Space Mouse
moves the robot axes A1, A2 and A3. If, on the other hand, you turn the Space Mouse about
its X, Y and Z coordinate axes, you can move the wrist (robot axes A4, A5 and A6).
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You can use the settings described above to reduce the number of degrees of freedom from
6 to 3, but it is not possible to move just one single axis with the Space Mouse.
It is, however, possible to define a so--called dominant axis in order to permit operation with
only one axis if required.
4.6.3
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
Program OV Steps
Jog OV Steps
Mouse position
Mouse configuration
A status window opens in which you can specify whether only the dominant axis will be
moved.
Axis selection
all Axis (6D)
Dominant axis:
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Operator Control
The command Dominant axis can also be switched on and
off using the corresponding status key. This status key is only
available in the jog mode Space Mouse.
4.6.3.1
Deflections
of the Space Mouse
4.6.3.2
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4.7
TOOL
With some robot models, the user interface may vary slightly from the standard interface.
With a palletizing robot in joint (axis--specific) jog mode, for example, axes A4 and A5 are
not available, and in Cartesian jog mode, angles B and C are not available.
It is only possible to jog the robot if you first hold down one of the enabling switches and
then press the desired jog key. If either the enabling switch or the jog key is released, the
robot is stopped immediately.
4.7.1
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4.7.2
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4.7.3
Incremental jogging
A motion command can be executed step by step using incremental jogging. Each motion
command is then executed step by step in accordance with the increment setting.
The positioning of equidistant points is significantly accelerated using this function.
In the event of an error it enables the user to move the robot a defined distance or orientation
away from the component. The robot can then be moved step by step back to the previous
position.
Incremental jogging switched off
Increment set to 100 mm linear (X, Y, Z)
or 10 degrees orientation (A, B, C)
Increment set to 10 mm linear (X, Y, Z)
or 3 degrees orientation (A, B, C)
Increment set to 1 mm linear (X, Y, Z)
or 1 degree orientation (A, B, C)
Increment set to 0.1 mm linear (X, Y, Z)
or 0.005 degrees orientation (A, B, C)
To jog the robot using the jog keys, you must hold down one of the
enabling switches and then press the jog key of the desired axis. The --
key toggles to the next value down while the + key toggles to the next
value up. The robot keeps moving as long as the jog key remains
pressed, and stops by itself after the preset distance or number of
degrees has been reached. The status key must then be released and
pressed again.
In the case of an interruption, e.g. Emergency Stop, change of operating mode, releasing
the jog key or enabling switch, the robot stops. This terminates the incremental motion that
was begun.
The increments are executed relative to the coordinate system selected.
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Operator Control
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Navigator
Navigator
The Navigator is a so--called file manager which the operator can use to navigate through
the drives and directory structures. The Navigator can be used to create, select, copy, save,
delete and open files.
5.1
5.1.1
Fundamentals
The Navigator consists of the following four areas:
Header
Directory structure,
attributes display or
selection list
(templates and filters)
Status line
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Operator Control
The following icons and symbols are used in the Navigator:
Drives
Icon
Type
Default path
Robot
KRC:\
Floppy disk
A:\
CD--ROM *1
E:\
Backup drive
Archive:\
Type
Meaning
Directory
Normal directory
Directory open
Open directory
Archive
Read directory
Module
Module containing
errors
Src file *1
Src file *1
Src file containing errors Program file at expert level which must be
*1
corrected before being run in the editor
Dat file *1
Other files *1
Integrated file
*1: These symbols are not shown in the user group User.
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5.1.2
Navigator (continued)
Header
The left side of the header shows the filter or the templates that are available for selection.
The right side shows the folder and/or file path.
The filter setting and template selection are not available in the user group User.
Filter
to
Information on the user group Expert can be found in the Programming Handbook in
the main chapter [Configuration], chapter [Configuring the system].
Template
5.1.3
5.1.3.1
Directory structure
By default, the Navigator displays the directory structure of the current drives or directories.
Focus
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Further drives and directories are available at expert
level.
Here too you can use the --, -- arrow keys or the
Enter key.
To switch between the directory structure and the file list, use the or
arrow key.
5.1.3.2
Attributes display
Display and modification of options relating to individual files or directories.
The attributes display is opened by first
selecting a file or directory.
File
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
General
Name of the selected file (in this case a module
comprising one src and one datfile).
Information about the file type ((Dir, Archive,
Bin, Text, Module, VirtualDir and Unknown),
its path and the total amount of memory occupied.
Date and time of file creation, change and most
recent access.
Display of the Windows file attribute which can be
changed at expert level.
The current edit mode (Free, Full, ProKor or
ReadOnly).
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Navigator (continued)
Module info
Information about the release, the src and dat files
and the file type (RobotSRC, SubmitSub or
None).
Status of the file in the Submit interpreter and in the
robot interpreter (possibilities: Unknown, Free,
Selected or Active).
Switching of the kernel system attribute Visible.
User name, max. 30 characters.
Additional comment which can be scrolled using the
and arrow keys if required.
Parameter
Any desired additional information can be anchored
in KRL modules. This can be information about the
version or the template name, for example.
The arrow keys and can be used to move the focus to one of the boxes
in order to enter text or select an option (space bar).
To move the cursor within an input box, use the ! or z arrow keys. On
the Parameter page, you can access the individual parameter values
directly by pressing one of these keys.
Tab +
NUM
ESC
Tab +
The softkey Tab+ can be used to switch between the General, Module
info and Parameter tabs. If you want to use the numeric keypad, the
NUM display in the status line must be switched off.
OK
Cancel
Using the softkeys OK or Cancel, you can confirm the changes made or cancel the action.
Alternatively, you can use the Enter or ESC keys.
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5.1.3.3
Selection list
At present, Filter and Templates are available in selection lists.
Filter
The men command Filter offers the following filter types for selection:
The appearance of the file list changes depending on the filter that is set.
Filter Module
Filter Detail
The arrow keys and can be used to move the focus to the desired filter.
You can use the softkey bar to switch on the selected filter or cancel the action.
OK
Cancel
Template
At expert level, the softkey New opens a window and offers one of the following templates:
Cancel
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5.1.4
Navigator (continued)
To switch between the directory structure and the file list, use the or
arrow key.
The space bar can be used to select several files permanently or to cancel selections.
To do so, move the focus to the desired file using the or
arrow key and press the space bar. The file in question is now
selected.
Press the space bar again and the selection is canceled.
Alternatively, several consecutive files can be selected using
the keyboard shortcut Shift+ or Shift+.
The ESC key cancels the selection of all the files highlighted.
Using the filter option Detail at expert level, the same file list has the following appearance:
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5.1.4.1
Pop--up menu
For each selected object (e.g. program list or data list, etc.) a pop--up menu can be opened
as an alternative to the pull--down menus and softkeys. Only those commands are available
for selection which can actually be executed at a given moment.
The menu can be opened in one of the following ways:
Pressing the ! arrow key;
Pressing the right mouse button (if a computer mouse is connected);
Without parameters
With parameters
File/Folder
Data list
Error list
Move the focus to the previous/next menu item using the " and # arrow keys. You can
open a submenu using ! or the Enter key and close it again using z or the ESC key.
Alternatively, you can select a command by pressing the corresponding number on the
numeric keypad. The NUM display must be activated in order to do this. The numbers
preceding the individual commands are fixed, i.e. the commands are not dynamically
renumbered. Thus the experienced user need only remember the numbers relevant to him.
In some circumstances, the pop--up menu cannot be opened. This is the case, for example,
when the attributes display is open.
The pop--up menu can also be used in conjunction with multiple directories or files selected
at the same time.
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5
5.1.4.2
Navigator (continued)
Additional information
The following information is available to the operator:
The title bar gives details about the type of information displayed.
Directory or file name
File extension, e.g. SRC, SUB, UPG etc.
The first 10...15 characters of the comment
The existing operating system and kernel system attributes
File size in kilobytes
Number of changes made to the file
Date and time of the last change
Creation date including time
5.1.5
Status line
Information about the number of files, their size, path, progress and other status messages
are displayed in the status line of the Navigator.
Contents display (turquoise)
Selection information (turquoise)
Process cancelled
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User dialog (yellow)
5.1.6
Error display
This option is used for error diagnosis and elimination. When the contents of a directory are
read, the program or module, etc., is checked for syntax errors. If any are found, the files
containing errors are highlighted accordingly.
If the focus is moved to a file marked as containing errors, the appearance of the softkey bar
changes as follows:
New
Error list
Open
Data list
Delete
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5
5.1.6.1
Navigator (continued)
Error list
This softkey opens the error display.
Additional information concerning the errors that have occurred is listed in the error list.
Title bar with the name of the file
Short description
Error number
Line and column in which the error occurs
The arrow keys and can be used to select the desired error.
The following commands are available in the softkey bar:
Show
Refesh
Close
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Show
This command opens the editor on the left--hand side.
In order for the line numbers in the error list to correspond to those in the editor, the options
-- All FOLDs open and
Edit
-- Detail view
Configure
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
FOLD
Copy
Paste
Cut
Delete
Find
Replace
Close
Language
Change password
Editor
Office option
Monitoring working env.
Reinitialization
Cycle Time Optimizer
PlugIn Configuration
Event planner
Def--line
ASCII Mode
Linebreak
must be activated. These functions are not available as standard in the user group User.
With open folds and ASCII mode activated, the entire contents of the program are displayed:
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Navigator (continued)
The line/column numbers in the error list now correspond to those in the editor, which makes
fault location significantly easier.
If the error is in a closed fold, the edit cursor is positioned on this closed fold.
When the file is closed, a request for confirmation is generated asking if the file should really
be saved to the hard disk.
Date Wednesday, 30 July 2003 14:51:53
Source: XEdit
No.: 19
KRC:\R1\PROGRAM\PROG_04.SRC Save changes?
Cancel
The changes are not saved, but the program window remains open for
further editing.
Yes
The softkey Yes saves the changes and closes the program window.
No
Once the file has been successfully saved, you can verify in the message window whether
the error has been successfully corrected.
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Operator Control
Refresh
The error display window is updated.
Close
The error list is closed.
5.1.6.2
Open
This command opens the file selected in the file list. This can be either a SRC file or a DAT
file.
Further information about the Open command can be found in Section 5.2.2.
5.1.6.3
Data list
The DAT file belonging to the program is loaded for editing. The data list can then be
modified.
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5.1.6.4
Navigator (continued)
Delete
The description of this command can be found in Section 5.3.5.
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5.2
File menu
File
New
Open
File/Folder
Data list
Error list
Current selection
Log book
Archive
All
Applications
Machine data
Configure
Log Data
Current selection
*1
All
Applications
Machine data
Configure
Current selection
*1
Restore
Rename
Format floppy disk
Attributes
Filter
*1:
5.2.1
*1
Drivers
I/O Longtexts
KUKA TechPack
Drivers
I/O Longtexts
KUKA TechPack
New
To be able to create a folder or module at all, the program window must first be active, i.e.
highlighted in color. If it is not, press the Window selection key until the program window
is activated.
The directory or module name can be entered in the input line. This name can have a
maximum of 24 characters. In the case of programs, a comment may optionally be entered.
The icon next to the input line indicates whether a folder or a file is being created.
Directory
NUM
Module
Numbers for directory and program names are entered using the numeric keypad on
the KCP. To do this, the NUM display in the status line must be deactivated.
Select
Duplicate
Archive
Delete
Open
If a program has already been selected or there is a program in the editor, you must first
toggle to the Navigator. No new program can be created until this is done.
5.2.1.1
Create directory
To do this, the focus must be located in the directory structure.
Focus
File
Then select the command New under the menu File, or press the corresponding softkey. Enter the desired name of the directory in the input line.
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Navigator (continued)
Create folder
Folder name
OK
5.2.1.2
To create the directory, press the softkey OK or the Enter key. The desired
file is automatically saved on the hard disk and displayed shortly afterwards
in the file window.
Create module
To do this, the focus must be located in the file list.
Focus
File
Then select the command New under the menu File, or press the corresponding softkey. Enter the desired name of the module in the input line.
Create module
Module name
Comment
A comment can be entered along with the module name for the purpose of
easier identification. The relevant input box in the form is accessed using the
arrow key. The first 15 characters of the comment, at most, are displayed
in the file list.
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OK
To create the module with the corresponding comment, press the softkey
OK or the Enter key. The desired file is automatically saved on the hard disk
and displayed shortly afterwards in the file window.
By following this procedure, a so--called skeleton program will be created, the program
name being shown in the file list.
If a module with this name already exists, a corresponding message is generated in the
message window.
Date Wednesday, 30 July 2003 15:19:24
Source: FILEHANDLER
No.: 17
Replace file?
Yes
No
At expert level, in addition to modules other program files can be created. For this purpose,
when the command New is selected, instead of an input line a window is opened offering
a selection of the various templates available.
Where possible, create user programs in the directory R1\PROGRAM, in order to ensure
that they are automatically saved via the menu item File --> Archive --> Applications.
5.2.2
Open
File
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
File/Folder
Data list
Error list
Once the submenu Open has been selected, the following options are available:
5.2.2.1
File/Folder
For this option, a directory or file must be selected.
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Navigator (continued)
While a program is being edited, the robot can at the same time be executing another
program in the background.
Example of an SRC file
The desired program is displayed in the program window. The assignment of the menu key,
softkey and status key bars is altered at the same time.
If you have opened a program which has so far only been initially created, the so--called
skeleton program is displayed in the programming window. The following screenshot
shows such a skeleton program.
5.2.2.2
Data list
Example of a DAT file
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5.2.2.3
Error list
Example of an error list
5.2.3
Print
File
5.2.3.1
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
Current selection
Log book
Current selection
The selected files are sent to the printer.
5.2.3.2
Log book
This command sends the logbook, which can be viewed via the menu Display -->
Diagnosis --> Logbook, to the printer.
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5.2.4
Navigator (continued)
Archive
This function allows you to save important data to floppy disk. With Navigator, the user can
see what is stored in these archives.
File
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
All
Applications
Machine data
Configure
Log Data
Current selection
Drivers
I/O Longtexts
KUKA TechPack
A request for confirmation is generated which must be answered before the saving process
is carried out.
Date Wednesday, 30 July 2003 15:35:36
Source: FILEHANDLER
No.: 35
Do you really want to archive the selected file(s)?
Yes
No
If you try to insert a file in an existing archive, the robot name is checked. The robot name
in the archive is compared with the name that is set in the controller. If the two names are
different, a request for confirmation is generated asking if you really wish to overwrite the
existing archive.
Date Monday, 4 August 2003 11:42:29
Source: C3ARC
No.: 0
Wrong robot archive: Archive: RName System: Rob--1
Ignore
Cancel
Cancel
5.2.4.1
The archiving can be terminated at any time by pressing the ESC key or
the softkey Cancel.
All
All data, with the exception of log files, are loaded from the floppy disk back onto the hard
disk.
KRC:\
C:\KRC\Data\
C:\KRC\Roboter\Init\
C:\KRC\Roboter\IR_Spec\
C:\KRC\Roboter\Log\
C:\KRC\Roboter\Template\
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Operator Control
The menu command File --> Archive --> All is also offered in the softkey bar.
Restore
Restr. All
Open
Save all
Following reinitialization, the user interface must be reloaded using the command
Configure --> Miscellaneous --> Reinit --> BOF Reinitialization in order to ensure that
changes to the menu structure (MenuKeyUser.ini) are displayed correctly.
5.2.4.2
Applications
All programs in the listed folders will be saved:
KRC:\R1\Program\
KRC:\R1\System\
KRC:\Steu\$Config.dat
5.2.4.3
Machine data
The following files and folders can be selected:
KRC:\R1\MaDa\
KRC:\Steu\MaDa\
KRC:\Steu\$Config.dat
C:\KRC\Roboter\Ir_Spec\
5.2.4.4
Configure
The configurations of the following technologies are available:
I/O drivers
I/O long texts
KUKA TechPack
5.2.4.5
C:\KRC\Roboter\Init\
C:\KRC\Data\Kuka_Con.mdb\
The corresponding registry entries are saved here.
Log Data
The logbook data, which can be viewed using the diagnostic logbook function, are written
to the hard disk.
C:\KRC\Roboter\Log\
Log data
5.2.4.6
Current selection
The selected files are saved on the floppy disk in drive A:\.
The menu command File --> Archive --> Current selection is also available in the softkey bar.
New
Select
Duplicate
Archive
Delete
Open
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5.2.5
Navigator (continued)
Restore
This command allows you to restore archives.
File
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
All
Applications
Machine data
Configure
Current selection
Drivers
I/O Longtexts
KUKA TechPack
This function is particularly useful, for example, if programs on the hard disk have become
damaged or if you wish to return a program to its original state after substantial changes have
been made to it. The files on the hard disk are hereby overwritten. A request for confirmation
is thus generated which must be answered before the files are restored.
Date Wednesday, 30 July 2003 15:50:21
Source: FILEHANDLER
No.: 34
Do you really want to restore the selected file(s)?
Yes
No
In the event of a version conflict between the archive files and the system files, an error
message is generated. Depending on the configuration, it may still be possible to copy the
affected files.
5.2.5.1
All
All data, with the exception of log files, are loaded from the floppy disk back onto the hard
disk.
KRC:\
C:\KRC\Data\
C:\KRC\Roboter\Init\
C:\KRC\Roboter\IR_Spec\
C:\KRC\Roboter\Template\
The I/O drivers are also reconfigured. The user interface is then reinitialized in order to update any changes, e.g. to the menu structure (MenueKeyUser.ini).
Depending on the configuration, the directory R1, including all files and subdirectories, can
be deleted before the files are restored. The request for confirmation before the R1 directory
is deleted also depends on the configuration. The directory structure and files are restored
exactly as they were when they were originally archived.
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Operator Control
No
Yes
Before the files are restored, the directory R1, including all files and
subdirectories, is deleted.
The menu command Restr. All in the softkey bar has the same function as the menu
command File --> Restore --> All.
Restore
5.2.5.2
Restr. All
Open
Save all
Applications
The following directories and files are written back on to the hard disk:
KRC:\R1\Program\
KRC:\R1\System\
KRC:\Steu\$Config.dat
5.2.5.3
Machine data
Only machine data are loaded from the floppy disk.
KRC:\R1\MaDa\
KRC:\Steu\MaDa\
KRC:\Steu\$Config.dat
C:\KRC\Roboter\Ir_Spec\
To restore individual files from the floppy disk, move the focus to the Archive:\ symbol and
open the directory Disk (corresponds to drive A:\). Then switch to the data list, locate the
desired files and paste them using the edit functions (Program menu).
5.2.5.4
Configure
Only the selected data are restored:
I/O drivers
I/O long texts
KUKA TechPack
UserTech
C:\KRC\Roboter\Init\
C:\KRC\Data\Kuka_Con.mdb\
The corresponding registry entries are saved here.
C:\KRC\Roboter\Init\MenueKeyUser.ini
C:\KRC\Roboter\Init\SoftKeyUser.ini
C:\KRC\Roboter\Template\
Once the long text database (Kuka_Con.mdb) has been written back onto the hard drive,
the restored version is immediately available.
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5
5.2.5.5
Navigator (continued)
Current selection
Only the selected files or directories in the drive Archive:\Disk\ are written back to the hard
disk.
The menu command File --> Restore --> Current selection has the same function as
the corresponding softkey.
Restore
Restr. All
Open
Save all
The floppy disk drive A:\ can be accessed directly at expert level:
5.2.5.6
History
Depending on the configuration, every time files are archived to floppy disk, a backup copy
of the relevant system files is also made in a certain directory on the hard drive. This backup
copy can be used to restore the system to its current state. The entry Archive --> History
is available for this in the Navigator.
Time
Date
Robot name
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Operator Control
The backup copy required for restoring the system can be selected from the file list. The
archive name comprises the name of the robot, and the date and time the archive is saved.
As well as a complete restoration, it is also possible to restore selected files and directories.
This is done using the arrow keys and the Enter key.
Restore
Restr. All
5.2.6
Yes
No
Rename
The command Rename allows you to change the name or the comment line of a program.
Certain directories cannot be renamed, depending on the particular configuration. In this
case, the menu command and the corresponding softkey cannot be selected.
In the right--hand Navigator window, select the file or directory that you would like to rename.
File
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
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Navigator (continued)
Make the desired changes. You can move to the next input box in the form
using the arrow key.
Then confirm the action using the softkey OK or the Enter key, or cancel
the action by pressing the softkey Cancel or the Escape key.
OK
Cancel
The renamed file is automatically saved on the hard disk. If a name is entered which already
exists, a corresponding error message is displayed in the message window and the action
is canceled.
5.2.7
New
Open
Print
Archive
Restore
Rename
Format floppy disk
Attributes
Filter
Yes
No
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Once the formatting has been completed, a corresponding output is generated in the
message window.
The floppy disk must not be removed from the disk drive until this message has
appeared in the message window and the LED on the disk drive is no longer lit.
Otherwise the disk drive and/or the floppy disk could suffer irreparable damage.
5.2.8
Attributes/Filter
Further information about the attributes display can be found in Section 5.1.3.2, while the
topic Filter is described in detail in Section 5.1.3.3.
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5.3
Edit menu
Edit
Select all
Copy
Paste
Cut
Delete
Duplicate
Select
Cancel program
Reset program
*1:
5.3.1
Navigator (continued)
Without parameters
With parameters
*1
Select all
All directories and files in the file
list are selected for editing.
the space bar is pressed when the focus is located on the desired symbol in the file list,
or
G
5.3.2
Copy
Selected directories and files are first copied to the clipboard. The copied directories and files
can then be pasted in a different position.
5.3.3
Paste
Folders and files from the clipboard are inserted at the current position (Copy), or moved
there (Cut). If one of the files to be inserted already exists, this prompts a request for
confirmation.
Date Wednesday, 30 July 2003 16:47:48
Source: FILEHANDLER
No.: 12
File ... already exists.
Do you want to overwrite?
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Operator Control
Yes
No
Yes All
No All
Cancel
5.3.4
Cut
Selected directories are first copied to the clipboard. When this is done, the icons of the
selected directories will appear dimmed.
The copied directories and files can then be pasted in a different position.
After being inserted, the directories and files are deleted from their original locations.
5.3.5
Delete
The selected files and directories are irrevocably deleted from the hard disk following a
request for confirmation. If you want to delete a program, it must not be currently selected
or being edited. You might first have to deselect the program or close the editor.
Certain directories cannot be deleted, depending on the particular configuration. In this
case, the menu command and the corresponding softkey cannot be selected.
Use the arrow keys to select the program you want to delete, then press the menu command
Edit --> Delete. A request for confirmation appears in the message window.
Date Wednesday, 30 July 2003 17:04:46
Source: FILEHANDLER
No.: 32
Do you really want to delete the selected file(s)?
Yes
No
If you press the softkey Yes, the program is deleted. It is then no longer
displayed in the list of programs available.
If you press the softkey No, the program remains unchanged.
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Navigator (continued)
5.3.6
Select
Duplicate
Archive
Delete
Open
Duplicate
The option Duplicate creates a copy of a program. For this purpose, a form is then opened
in which the name of the selected file is offered as a suggestion.
Program name
Comment
On the left--hand side of this inline form is the input box Name. Here you can enter a name
for your program, up to 24 characters long. This name must begin with a letter.
You can additionally enter a text for this program. To do so, press the arrow
key to position the edit cursor in the box Comment and enter the desired
comment.
The entries are saved and the form is closed by pressing the Enter key. The desired
program is then created and displayed on the screen.
If you have entered a program name that already exists, an error message is displayed in
the message window:
Select
Duplicate
Archive
Delete
Open
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5.3.7
Select
Edit
Select all
Copy
Paste
Cut
Delete
Duplicate
Select
Cancel program
Reset program
Without parameters
With parameters
A selected program can continue to run in the background while at the same time another
program is being processed in the editor.
5.3.7.1
Without parameters
The desired program is displayed in the program window. The assignment of the menu key,
softkey and status key bars changes at the same time, in order to make functions available
which are necessary for programming the robot.
If you have opened a program which has so far only been initially created, the so--called
skeleton program is displayed in the programming window.
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Navigator (continued)
The menu command Select without parameters is also available in the softkey bar.
New
5.3.7.2
Select
Duplicate
Archive
Delete
Open
With parameters
At expert level, the entry of parameters is also possible. For this purpose the following form
is opened in which the relevant data can be entered:
Additional parameters are necessary if a program requires further entries to be able to run.
If, for example, the program Test.SRC contains the header
DEF TEST(INT :IN, BOOL :OUT)
an integer value and a Boolean value are transferred when the program is called.
Further information about the program window can be found in the documentation [User
Programming] in the chapter [Program editing].
5.3.8
Cancel program
A program that has previously been selected, i.e. one that is ready for execution, can be
canceled via the Navigator. A different program can then be loaded for editing.
5.3.9
Reset program
A program selected in the background can be reset via the Navigator. In this way the program
can be brought back to the initial state it had immediately after it was loaded.
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5.4
Monitor menu
Monitor
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
NAVIGATOR
PROGRAM
EDITOR
It is also possible to switch between the Navigator, the program and the editor using the
corresponding softkey.
NAVIGATOR
PROGRAM
5.5
Appendix
5.5.1
EDITOR
The keys of the KCP for controlling the Navigator are assigned in such a way that selection
of files and folders can be carried out using one hand.
Key
Effect
Function
General
Toggle between directory list and file list
windows
Toggle numeric keypad to enter either
numbers or control characters
Used for entering special characters on the
KCP keypad
Key for special functions in conjunction with
the Windows operating system
Directory structure
Select drive/directory
Select directory/file
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Navigator (continued)
Open directory
Select/edit/display module
Edit text file
ESC
Keyboard shortcuts
Copy
Cut
Paste
The keys SHIFT and SYM remain activated for one keystroke.
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5.5.2
User
Expert
User
Expert
User
Expert
KRC:\
R1
MaDa
Program
System
TP
Steu
MaDa
Floppy disk (A:\)
Hard disk (C:\)
CD--ROM
Network drive
Archive:\
Filter
Detail
Modules
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5
Templates
User
Navigator (continued)
Expert
Cell
Module
Submit
Expert module
Expert Submit
Function
Standard directories
Available templates
Cell, Expert, Expert Submit, Function, Module,
Submit
R1
MaDa
Program
System
TP
Steu
No
Cell, Expert, Expert Submit, Function, Module,
Submit
Exp., Exp. Submit, Function, Module, Submit
Exp., Exp. Submit, Function, Module, Submit
No
MaDa
No
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6.1
Select
Using the arrow keys and , select the desired program and confirm your selection with
the softkey Select or the Enter key. The selected program is then displayed in the program
window.
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6.1.1
If you want to place the block pointer on a particular line, first move the edit cursor to the
desired position using the arrow keys " or #. Then press the softkey Line Sel.. The block
pointer is then placed on the selected line.
The appearance of the block pointer changes according to the situation.
L--shaped arrow (yellow):
The motion instruction is being executed in the forward direction, but has not yet been
completed.
L--shaped arrow (yellow) with plus sign:
Here the block pointer is positioned on a closed fold. The motion instruction is being
executed in the forward direction and has not yet been completed. This display is not
available in the user group User.
Normal arrow (yellow):
The robot has completed the specified motion instruction in the forwards direction
Normal arrow (yellow) with plus sign:
Here, too the block pointer is positioned on a closed fold. The motion instruction has
been completed. This display is also not available in the user group User.
L--shaped arrow (red):
The motion instruction is being executed backwards, but has not yet been
completed.
L--shaped arrow (red) with plus sign:
Here the block pointer is positioned on a closed fold. The motion instruction is being
executed backwards and has not yet been completed. This display is not available
in the user group User.
Normal arrow (red):
The robot has completed the specified motion instruction in the backwards direction
Normal arrow (red) with plus sign:
Here, too the block pointer is positioned on a closed fold. The motion instruction has
been completed. This display is also not available in the user group User.
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Edit cursor
Characters are inserted or deleted at this position. New commands, on the other hand, are
inserted below the edit cursor.
Direction indicator
This symbol is displayed if the block pointer is not visible in the program window.
Direction indicator
The symbol indicates the required direction for scrolling to get back to the program pointer.
Double arrow (black) pointing up:
The block pointer is located higher up. Use the arrow key " or PGUP to scroll up.
Double arrow (black) pointing down:
The block pointer is located lower down. Use the arrow key # or PGDN to scroll
down.
Linebreak
If the command line does not fit in the program window, a line break will be made automatically. This will be marked by a small black L--shaped arrow.
Line breaks
You can prevent the line break at expert level by activating the option Configure -->
Miscellaneous --> Editor --> Linebreak ON/OFF.
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6.1.2
Line/column
Symbol
Program name
The path and the program name of the program which has been selected
or is in the editor.
Line/column
The current line and column position at which the edit cursor is located.
Characters entered will, if possible, be inserted at this position.
Symbol
Here the operator can obtain additional information about the loaded program or about
program editing.
Padlock:
The file has been opened in write--protected mode. This means that no changes will
be saved. A selected program, for example, cannot at the same time be processed
in the editor.
Likewise, no changes can be made if the opened file has been given the attribute
ReadOnly. If you nevertheless want to make corrections to the file, first remove
the attribute ReadOnly. To do this, use the option File --> Attributes.
Chain:
The file indicated is selected or integrated into the selected program.
Clipboard:
Data have been copied to the clipboard; they can be inserted at another location.
Copy functions are available only at the Expert user level and above.
ABC with check mark:
The option Configure --> Miscellaneous --> Detail view is activated. This
function is not available in the user group User.
PTP:
An existing inline form has been opened by pressing the softkey Change.
PTP with star:
A new inline form has been opened.
Crossed--out (green) Start key:
The start interlock is active, i.e. the selected program cannot be started. This is the
case for example when a motion command is being inserted or modified.
Question mark:
A query dialog in the message window must be responded to. For example, deletion
of a block must first be confirmed by the operator.
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6.2
It is possible to alter the POV value not only in increments of 1%, but also directly between
values of 1, 3, 10, 30, 50, 75 and 100 per cent.
Configure
I/O
I/O Driver
SUBMIT Interpreter
Statuskeys
Jogging
User group
Cur. tool/base
Tool definition
On/Off Options
Miscellaneous
Program OV Steps
Jog OV Steps
Mouse position
Mouse configuration
6.3
Stop reactions
If a running program is stopped, the EMERGENCY STOP button pressed or a safety gate
opened, the robot is stopped. The controller distinguishes here between various states.
In order to protect the brakes against overheating, the braking energy is calculated along
with an associated cooling time. If the braking energy exceeds a certain value, the drives
are locked and a status message is generated in the message window.
The message cannot be acknowledged until the motor brakes have cooled, and only then
can the robot motion can be resumed.
6.3.1
Ramp--down braking
The robot is stopped with a normal braking ramp and remains on its programmed path. This
occurs if...
6.3.2
the Program start forwards or Program start backwards key has been released in
jog mode, or
the Stop key has been pressed in Automatic or Automatic External mode (passive
stop);
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6.3.3
the safety gate to the work cell or the operator safety has been opened in automatic
mode;
if the path can no longer be held, the controller switches automatically to the maximum
braking state.
Maximum braking
The robot is no longer on its path. This occurs if...
G
an axis exceeds its command velocity or acceleration (the command velocity is lower
in jog mode T1 than in T2 or automatic mode);
a software limit switch has been reached or a command value has been exceeded.
In order to protect the brakes against overheating, the braking energy is calculated along
with an associated cooling time. If the braking energy exceeds a certain value, the drives
are locked and a status message is generated in the message window.
The message cannot be acknowledged until the motor brakes have cooled, and only then
can the robot motion can be resumed.
6.3.4
the Emergency Stop button has been pressed in jog mode (T1 or T2);
In the event of short--circuit braking or dynamic braking, the holding brakes of the individual
axes are applied while the motion is still in progress. If this happens frequently while the
robot is still moving it leads to significantly increased wear on the holding brakes.
In order to protect the brakes against overheating, the braking energy is calculated along
with an associated cooling time. If the braking energy exceeds a certain value, the drives
are locked and a status message is generated in the message window.
The message cannot be acknowledged until the motor brakes have cooled, and only then
can the robot motion can be resumed.
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6.3.5
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6.4
The robot can be moved manually and programs started only if there is no EMERGENCY
STOP situation and -- in the Automatic mode -- the drives are switched on.
If the option AutoAck has been activated, all the acknowledgeable messages displayed
are acknowledged the first time the Start key is pressed. These include all the actions which
trigger the message Active commands inhibited (e.g. moving the robot with the jog keys
or the Space Mouse).
Depending on the configuration, the program override is automatically set to 10 percent
when the mode selector switch is switched to T2. If the mode is changed back to T1,
the last value used for T1 is restored.
6.4.1
6.4.2
Block selection
Within a selected program or subprogram, it is possible to select a program line and begin
program execution at this point. To do this, move the edit cursor to the desired program line
in the selected program using the " and # arrow keys.
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Line Sel.
Any line in the current program or subprogram can be selected, provided it contains a KRL
instruction that can be executed. Variables and declarations of procedures or functions do
not fall into this category and cannot be selected using the block selection function.
Once a program has been selected, its initialization section should be run first. The
variables are initialized here. Block selection should only be carried out after this
initialization process.
A number of additional functions are available for use with subprograms.
Block selection in local subprograms
Local subprograms are located in the same file as the main program from which they are
called.
A local subprogram can be selected directly without the need to start the corresponding main
program. This subprogram need not necessarily be located in the caller stack of the main
program. Following a jump to a subprogram, further motion blocks in this subprogram can
be selected by means of block selection.
If a subprogram has been started by means of block selection and the Program start key has
subsequently been pressed, it is no longer possible to jump to another subprogram using
direct block selection. In this case, you have the following options:
G
You can jump back to the main program by means of a direct block selection. From the
main program, you can jump into any subprogram.
When the end of a local subprogram is reached an advance run stop is triggered. The block
pointer is positioned at the point in the main program or subprogram from which the jump
occurred. The program is stopped at this point and may be restarted by pressing the Program
start key.
In the first example, a subprogram is being called.
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DEF PROG_1()
INI
PTP HOME Vel= 100 % DEFAULT
...
SP_1()
...
SP_2()
...
PTP HOME Vel= 100 % DEFAULT
END
DEF SP_1()
...
LIN P1 Vel= 2 m/s CPDAT1 Tool[1] Base[1]
LIN P2 Vel= 2 m/s CPDAT2 Tool[1] Base[1]
LIN P3 Vel= 2 m/s CPDAT3 Tool[1] Base[1]
...
END
PROG_1.SRC
DEF SP_2()
...
(1)
(2)
On completion of the subprogram, the main program is resumed from the point at which
the jump to the subprogram was made.
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1
2
3
1
6
7
8
12
13
14
17
18
19
24
25
28
29
30
5
33
34
37
38
39
45
DEF
INI
PTP
...
PTP
LIN
LIN
...
PTP
END
PROG_1()
PROG_1.SRC
DEF SP_1()
...
LIN P8 Vel= 2 m/s CPDAT8 Tool[1] Base[1]
LIN P9 Vel= 2 m/s CPDAT9 Tool[1] Base[1]
SP_3()
3
...
END
DEF
...
PTP
LIN
PTP
...
END
SP_2()
P15 Vel= 100 % PDAT15 Tool[1] Base[1]
P16 Vel= 2 m/s CPDAT16 Tool[1] Base[1]
P17 Vel= 100 % PDAT17 Tool[1] Base[1]
DEF SP_3()
...
PTP P21 Vel= 100% PDAT21 Tool[1] Base[1]
WAIT For IN 5 Periphery State= TRUE
PTP P22 Vel= 100% PDAT22 Tool[1] Base[1]
...
END
(1)
In the program PROG_1, the line PTP P1... has been selected. The caller stack is
currently empty.
(2)
The operator performs a block selection in the local subprogram SP_1. The caller
stack is still empty.
(3)
(4)
(5)
Block selection to subprogram SP_2 is not permissible as SP_2 is not in the caller
stack.
(6)
Block selection in SP1 is possible, however, as this subprogram is in the caller stack.
(7)
Block selection in the main program PROG_1 is also possible as this program is also
in the caller stack.
A line selected in the subprogram is integrated into the program sequence in the same way
as an interrupt program.
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6.4.3
BCO run
For the purpose of ensuring that the robot position corresponds to the coordinates of the
current program point, a so--called BCO run (block coincidence) is executed. This is carried
out at reduced velocity. The robot is moved to the coordinates of the motion block in which
the block pointer is situated.
This is done...
G after a program reset by means of a BCO run to the home position;
G after block selection to the coordinates of the point at which the block pointer is situated;
G after selection of the CELL program before the Automatic External mode can be started;
G after a new program has been selected
G after modifying a command
G after manual traversing in programming mode
A BCO run is also necessary if the tool center point is located outside the positioning window.
The following examples are intended to illustrate this:
The tool center point is still located on the programmed path after the robot has stopped.
A BCO run is not therefore required.
Tool center point
Programmed
path
P5
PTool P6
Positioning window
The tool center point is situated within the positioning window. A BCO run is not required
here either.
Tool center point
PTool
Programmed
path
P5
P6
Positioning window
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The robot has left the positioning window. A BCO run must be carried out.
Tool center point
PTool
PTool
P5
Programmed
path
P6
BCO run to P6
P6
P5
Positioning window
If a CIRC motion is left (e.g. through dynamic braking) the necessary BCO run is carried
out directly to the next point.
Tool center point
PTool
PTool
BCO run
P5
P5
P6
P6
A BCO run always takes place by the direct route from the current position to the
destination position. It is therefore important to make sure that there are no
obstacles on this path in order to avoid damage to components, tools or the robot!
6.4.4
Edit cursor
Block pointer (program pointer)
Line Sel.
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Program execution starts at the line indicated by the block pointer on the left. For the purpose
of selecting a particular block in the program, move the edit cursor to the desired program
line with the aid of the arrow keys. Then press the softkey Line Sel.. The block pointer now
jumps to the selected line.
Now start the program from the selected line. Press one of the enabling switches
and the Program start forwards key. During program execution, the program
pointer moves to the line that is currently being executed.
If the option AutoAck has been activated, all the acknowledgeable messages displayed
are acknowledged the first time the Start key is pressed. These include all the actions which
trigger the message Active commands inhibited (e.g. moving the robot with the jog keys
or the Space Mouse).
The first program step usually consists of a BCO run and must be triggered by pressing
an enabling switch and the Start key. When block coincidence is reached a corresponding
message is generated. At the start of the actual program, release the Start key briefly and
press it again.
The Program start forwards key must be held down while the robot is moving, otherwise
the program will be interrupted.
6.4.5
When the Program start backwards key is pressed, all outputs, flags and cycflags are
handled according to the configuration.
If a program is executed using the
Program start forwards key, the yellow
block pointer indicates the last motion
block addressed.
When the Program start backwards key
is pressed, the Program run mode status
key switches to backward motion. The
block pointer, which is now red, then
indicates the last motion block addressed
backwards.
Once the corresponding motion block has been reached, the Program start backwards key
must be released and pressed again. The next motion block is then addressed.
Forward and backward motion are only possible if BCO (block coincidence) exists.
In the case of backward motion, all programmed points are addressed with exact positioning.
Approximate positioning is not possible here.
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If the robot is moved backwards inside an approximate positioning range, the exact positioning point of the approximate positioning range is addressed.
Robot position
at change of direction
P1
P3
Forward direction
Overlapping motions, e.g. weaving or sensor corrections, are not supported during backward
motion.
Loss of BCO (caused, for example, by jogging the robot) causes the next reverse motion
to be executed automatically as a BCO run.
P2
P4
P3
P1
Forward direction
P2
P3
P1
Current
position
Programmed
path reached
(BCO)
BCO run
backwards
P4
Current
position
The backward motion function cannot be carried out in the following cases:
Backward motion not possible because...
Error message
No recording available
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6.4.6
6.4.7
Continuing a program
A program that has been stopped or interrupted can be continued by holding
down an enabling switch and pressing the Start key.
6.4.8
FOLD
Copy
Paste
Cut
Delete
Find
Replace
Cancel program
Reset program
Modify
The yellow block pointer then jumps to the first instruction that can be executed in the
indicated program. The selected program can subsequently be restarted.
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6.5
When a program is running, the menu commands Configure --> I/O Driver --> I/O Driver
Reset and I/O Reconfigure cannot be executed.
6.5.1
BCO run
A BCO run is now necessary. Press the Program start forwards key.
If the option AutoAck has been activated, all the acknowledgeable messages displayed
are acknowledged the first time the Start key is pressed. These include all the actions which
trigger the message Active commands inhibited (e.g. moving the robot with the jog keys
or the Space Mouse).
6.5.2
6.5.3
A program can be stopped by pressing the Program stop key. The program and
the robot are then stopped.
Quitt
C... Time
11:09:16 209
11:09:16 1370
Source
Message
KCP
If the drives of the robot have been switched off by means of the Drives OFF
key, the robot stops and the brakes of the axes are engaged.
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6.5.4
Continuing a program
If the drives of the robot have been switched off by means of the Drives OFF key,
the drives must first be switched on again before the program can be restarted.
This is done by pressing the Drives ON key.
In Automatic mode, press the Program start forwards key.
In Automatic External mode, a PLC assumes control of the system.
It may be necessary to carry out a BCO run at this point. This always takes place
by the direct route from the current position to the end position. It is therefore
important to make sure that there are no obstacles on this path in order to avoid
damage to components, tools or the robot!
6.5.5
Program
FOLD
Copy
Paste
Cut
Delete
Find
Replace
Cancel program
Reset program
Modify
The yellow block pointer then jumps to the first instruction that can be executed in the
indicated program. The selected program can subsequently be restarted.
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6.6
Deselecting a program
If you wish to deselect a program, select the corresponding menu command.
Program
FOLD
Copy
Paste
Cut
Delete
Find
Replace
Cancel program
Reset program
Modify
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Monitor
A wide range of functions are grouped together under the menu item Monitor giving you
an overview of operating states and settings of the robot system.
Monitor
Digital Inputs
Digital Outputs
Analog I/O
Automatic External
I/O
Rob. Position
Single
Overview
Cyclic Flags
Flags
Counter
Timer
Variable
Diagnosis
*2
Windows
Hardware Info
*1:
*2:
7.1
Oscilloscope
Log book
CROSS Log book
Caller Stack
Interrupts
Securitycircuit
Web Diagnosis
Cartesian
Axis specific
Incremental
Master/Slave
Display
*1
Configure
Edit CONFIGMON.INI
*1
Display
Configure
Display
Configure
NAVIGATOR
PROGRAM
EDITOR
Inputs/Outputs
The available inputs and outputs can be viewed and their long texts can be altered via the
menu item I/O.
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
Digital Inputs
Digital Outputs
Analog I/O
Automatic External
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7.1.1
Monitor (continued)
Digital Inputs
Once this option has been selected a status
window is opened, displaying the signal
states of the robot controllers inputs,
including the long texts.
There are normally 1024 inputs available, but it is also possible to use 2048 or 4096 inputs
(depending on the configuration).
Outputs
Name
You can open the status window for displaying the 1024 outputs with the aid
of the softkey Outputs. When you have pressed the softkey, its label and
function change. You can return to the status window for displaying inputs by
pressing it again.
The name of an input can be changed by pressing the softkey Name. This
information is saved in the long text database and is thus available again next
time the status window is opened.
The number of the desired entry can also be entered directly using the numeric keypad.
The focus is then positioned on the corresponding entry in the status window. To do this,
the function NUM must be activated in the status line.
Inputs can be simulated, i.e. set to fixed values, for the purposes of commissioning or in the
event of errors arising. This makes it possible to test robot programs even if the connected
peripheral equipment is not (yet) operational. This function can only be configured at Expert
level.
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7.1.2
Digital outputs
When this option has been selected, a status window is opened, displaying the signal states
of the robot controllers inputs.
When this option has been selected, a status
window is opened, displaying the signal states
of the robot controllers inputs.
There are normally 1024 outputs available, but it is also possible to use 2048 or 4096
outputs (depending on the configuration).
Inputs
Value
Name
You can open the status window for displaying the 1024 inputs with the aid
of the softkey Inputs. When you have pressed the softkey, its label and
function change. You can return to the status window for displaying outputs
by pressing it again.
By pressing the softkey Value, you can toggle the value of the selected
output between TRUE and FALSE. This softkey can only be used as long
as one of the enabling switches is held down. This softkey is not available in
Automatic mode.
The name of an input can be changed by pressing the softkey Name. This
information is saved in the long text database and is thus available again next
time the status window is opened.
The number of the desired entry can also be entered directly using the numeric keypad.
The focus is then positioned on the corresponding entry in the status window. To do this,
the function NUM must be activated in the status line.
Outputs can be simulated, i.e. set to fixed values, for the purposes of commissioning or in
the event of errors arising. This makes it possible to test robot programs even if the
connected peripheral equipment is not (yet) operational. This function can only be configured
at Expert level.
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Monitor (continued)
Further information...
...on simulation of inputs and outputs can be found in the Programming Handbook in the
documentation [Configuration], chapter [Configuring the system, Expert], section
[Simulated inputs/outputs].
...on the subject of system variables can be found in the Programming Handbook in the
documentation [Expert Programming], chapter [Variables and declarations], section
[System variables and declarations].
7.1.3
Analog inputs/outputs
After this option has been selected a status window is opened, displaying the values of the
32 analog inputs.
The input values (ranging from --10 V to
+10 V) and their long texts are displayed in
the boxes. The values of these inputs cannot
be changed.
Tab +
You can open the status window for displaying the 32 outputs using this
softkey.
The output values (ranging from --10 V to
+10 V) and their long texts are displayed in
the boxes.
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Operator Control
Tab +
ESC
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7.1.4
Monitor (continued)
Automatic External
When this option has been selected, a status window is opened, displaying the signal states
of the Automatic External interface.
7.1.4.1
Inputs
Configure
Outputs
Details
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Operator Control
The variable or system variable ($...) or the name of the
input.
The value of the input or the channel number.
Normal
Close
7.1.4.2
Outputs
Start conditions
This page contains all the status information relevant to the start.
Configure
Inputs
Tab --
Tab +
Details
Output (green).
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Monitor (continued)
Program status
This page contains all the variables that are relevant to the program state.
Robot position
Here you will find a list of robot positions including, for example, the various HOME positions.
Operating mode
The operating mode currently active is displayed on the last page.
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Operator Control
7.2
Rob. Position
The menu item Rob. Position offers various display modes for the robot position.
Monitor
Cartesian
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
Axis spec.
Cartesian
Axis specific
Incremental
Master/Slave
Increment
Mas./Slave
You can switch between the different coordinate specifications at any time by pressing the
softkeys Cartesian, Axis spec., Increment and Mas./Slave.
Close
If one of these status windows remains open, you can constantly monitor the position of
the robot while it is in motion.
7.2.1
Cartesian
This status window displays the current position of the robot in Cartesian mode.
Cartesian display
With this display mode, the position of the tool center
point (TCP) is displayed in relation to the WORLD
coordinate system in the base of the robot and the
rotational offset between the two coordinate systems.
The entries for Status and Turn are also displayed.
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7.2.2
Monitor (continued)
Axis--specific
This status window displays the current position of the robot in joint (axis--specific) mode.
Axis--specific display
The rotational offset of each robot axis is displayed
here in relation to its zero position determined during
mastering.
7.2.3
Incremental
This status window displays the current position of the robot in increments.
Incremental display
Values for the increments delivered by the axis
drives are displayed here.
7.2.4
Master/Slave
Master/slave display
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Operator Control
The softkey Mas./Slave and the associated status window are only displayed if the
corresponding options are installed.
7.3
Variable
The menu items Variable -- Single and Overview are available in conjunction with the
variable overview (variable correction display).
Monitor
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
Single
Overview
Cyclic Flags
Flags
Counter
Timer
Display
Configure
Edit CONFIGMON.INI
*1
*1
7.3.1
Single
After this option has been selected a status window is opened, in which the values of the
variables are displayed and can be altered.
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7
Name
Monitor (continued)
To change the value of a variable, first press the softkey Name to position
the cursor in the corresponding input box. Then enter the desired name and
press the Enter key.
As long as the cursor remains in
the box Name, the arrow keys
and can be used to scroll
through the list of variables being
edited and/or displayed.
New Value
Now press the softkey New Value to position the cursor in the corresponding
input box. Enter the new value for the variable and confirm this by pressing
the Enter key.
Once your entry has been accepted by the controller, the new value is
displayed in the box Current value. If this is not the case, please check the
messages in the message window.
In the basic setting, the search for the specified variable begins in the program
currently selected. If it is not found here, all global data lists are searched.
Module
If you wish to search for the variable in a program other than the one currently
selected, you need to press the softkey Module. The input box of the same
name is opened. Enter the file path here for the program you wish to search.
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Operator Control
7.3.2
Overview
7.3.2.1
Display
After this option has been selected a status window is opened.
The groups of variables entered in
the file CONFIGMON.INI are displayed
here.
The box Status indicates whether or not the line is updated automatically.
This symbol is displayed if the display is updated automatically.
The name of the input or output is displayed in the box Name.
If the box Variable exists, the name of the corresponding system variable
is displayed.
Value gray:
Value red:
The arrow keys can be used to select a specific element in the group and
make certain modifications. This is done by pressing the softkey Change.
It is possible to see from the tabs at the bottom of the status window whether
or not further display groups are available.
Configure
The softkey Configure, which is not available in the user group User,
enables the configuration of individual groups.
Tab +
If there is at least one other group available, you can toggle to this page using
the softkey Tab+.
Refresh all
The softkey Info start. activates the automatic updating of the selected
element. Cancel Info. can be used to deactivate the continuous automatic
Cancel Info updating function.
Start info
Edit
OK
Cancel
Close
Elements selected using the arrow keys can be modified by pressing the
softkey Edit. This applies to the names of inputs/outputs and the setting of
outputs to TRUE or FALSE.
The softkey OK is used to accept the changes that have been made.
The softkey Cancel is used to reject the changes.
Pressing Close saves the current changes in the file CONFIGMON.INI and
closes the status window.
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7.3.2.2
Monitor (continued)
Configuration
This menu item is not available in the user group User.
Information on this command can be found in the Programming Handbook in the main
chapter [Configuration], chapter [Configuring the system, Expert].
7.3.2.3
Edit CONFIGMON.INI
This menu item is also not available in the user group User.
Information on this command can be found in the Programming Handbook in the main
chapter [Configuration], chapter [Configuring the system, Expert].
7.3.3
Name
The name of the cyclical flag selected using the arrow keys can be modified
by pressing the softkey Name; up to 40 characters are permitted here.
OK
Cancel
More detailed information on the use and programming of cyclical flags can be found in the
Programming Handbook, in the main chapter [Expert Programming].
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Operator Control
7.3.4
Flags
After this option has been selected a status window is opened, displaying the states of all
999 flags.
Gray: The flag is not set.
Red: The flag is set.
The number of the flag in question is
displayed in the box No.
The name of the flag is displayed in the box
Name.
Value
You can switch the flag on which the focus is located by pressing the softkey
Value.
Name
The name of the flag selected using the arrow keys can be modified by
pressing the softkey Name, up to 40 characters are permitted here.
OK
Cancel
More detailed information on the use and programming of flags can be found in the
Programming Handbook, in the main chapter [Expert Programming].
7.3.5
Counter
After this option has been selected a status
window is opened, displaying the values of
the counters already configured.
Value
After pressing the softkey Value, you can enter a new value for the selected
counter using the numeric keypad.
OK
Cancel
Name
The name of the counter can be modified using the softkey Name. The
name may consist of a maximum of 40 characters.
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7
OK
Cancel
Monitor (continued)
If you close the status window without having pressed the softkey OK beforehand, the
changes will not be saved.
More detailed information on the use and programming of counters can be found in the
Programming Handbook, in the main chapter [Expert Programming], in the chapter
[Variables and declarations], section [Boxes].
7.3.6
Timer
After this option has been selected a status window is opened, displaying the values and
operating states of all 10 timers.
Red: This timer is deactivated and set
to a value 0.
Red with check: This timer is deactivated and set to a value > 0.
Green: This timer is activated and
running in the range 0.
Green with check: This timer is activated and running in the range > 0.
Start/Stop
Value
This softkey starts the selected timer or stops one that is running.
After pressing this softkey, you can enter a new value for the selected timer
using the numeric keypad.
OK
Cancel
Name
The name of the timer can be modified using the softkey Name. The name
may consist of a maximum of 40 characters.
OK
Cancel
If you close the status window without having pressed the softkey OK beforehand, the
changes will not be saved.
More detailed information on the use and programming of timers can be found in the
Programming Handbook, in the main chapter [Expert Programming], in the chapter
[Variables and declarations].
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Operator Control
7.4
Diagnosis
A description of these functions may be found in the Electrical Servicing handbook.
7.5
Windows
Monitor
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
NAVIGATOR
PROGRAM
EDITOR
When Navigator, Program or Editor is selected, the corresponding window will be brought
to the foreground. If no program is selected, or nothing is present in the editor, these items
will be shown as inactive in the upper menu.
7.6
Hardware Info
Monitor
I/O
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
The operator can use the command Hardware Info to obtain further information about the
individual components of the robot system.
Refresh
Export
Close
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7
Cabinet
Monitor (continued)
Robot
PC
1st RDC/1st PM
MFC
2nd RDC/2nd PM
1st DSE
2nd DSE
1st KPS
1st KSD
...
8th KSD
2nd KPS
1st KSD
...
8th KSD
7.7
Help
Help
Online help
Online help -- Contents/Index
Info
The function of the window selection key is disabled while the online help is displayed.
If an external keyboard is connected, you can also call the online help function by pressing
function key F1.
7.7.1
Online help
Online help is available for individual elements of the user interface. These include
messages, logbook entries, inline forms and the error display.
If the window containing the desired element is not active, this
window must be selected using the window selection key. The
element in question is then selected using the arrow keys.
Help
Online help
Online help -- Contents/Index
Info
If the contents of the help window do not all fit in the window,
you can use the arrow keys to move the information or page
through it.
Close
Press the softkey Close to end the online help function and return
to normal operation.
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Operator Control
Message window
Once the desired message has been selected and the online help function has been called,
the corresponding window is opened.
Log book
Once the desired logbook entry has been
selected and the online help function has been
called, the corresponding window is opened.
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Monitor (continued)
Inline forms
Once the desired inline form has been
selected and the online help function has been
called, the corresponding window is opened.
Error display
Once the desired error message has
been selected and the online help
function has been called, the corresponding window is opened.
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Operator Control
7.7.2
After this option has been selected the corresponding window appears on the user interface.
The left--hand side of the window shows a list of contents or the index, while the right--hand
side displays the corresponding help messages. The following navigation options are
available:
The arrow keys " and # can be used to select a subject, or to page through
the help messages.
The arrow keys ! and z or the Enter key can be used to open or close a
subdirectory.
Once you have selected a subject, press the Enter key to display the
corresponding help page.
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<---->
Index
Monitor (continued)
To avoid having to type in the entire term, you can use the arrow
keys to scroll the focus up or down a line at a time.
Once you have found the desired term, press the Enter key or the
Monitor button. The help page will then appear on the right--hand
side of the display.
Contents
Close
Pressing the softkey Contents takes you to the table of contents which is
displayed by default when the online help function is started.
Press the softkey Close to end the online help function and return to normal
operation.
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Operator Control
7.7.3
Info
Help
Online help
Online help -- Contents/Index
Info
Controller type
General version number
GUI version
Tab +
Robot name
Robot type and configuration
Tab +
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Monitor (continued)
Computer name
System version information
Memory information
Tab +
Pressing this softkey again opens the page listing additionally installed
options, such as MeasureTech and LaserCut.
Tab +
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Operator Control
Tab +
Tab +
Save
The last page, Virus scanner, provides additional information about the Ikarus virus scanner.
The softkey Save allows you to save the module information in the text
fileC:\KRC\ROBOTER\LOG\OCXVER.TXT.
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Monitor (continued)
Tab +
Export
The softkey Export allows you to send the information to a text file. By default, this file is C:\KRC\ROBOTER\LOG\VIRUSINFO.XML.
Close
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Operator Control
Menu structure
The menus provided by the KUKA System Software can be opened by pressing the
corresponding menu key.
Menu bar
Menu key
Program
Configure
Monitor
Setup
Commands Technology
Help
Menu key
Options
File
8.1
Program
8.2
Configure
8.3
Monitor
8.4
Setup 1)
8.5
Commands 2)
8.6
Technology 2)
Technology commands
8.7
Help
8.8
1)
2)
Section
Whether or not specific submenus and commands can be accessed depends on the user
group that is being used.
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8.1
File
User group Expert
New
Open
File/Folder
Data list
Error list
Current selection
Log book
Archive
All
Applications
Machine data
Configure
Log Data
Current selection
Restore
Rename
Format floppy disk
All
Applications
Machine data
Configure
Current selection
Drivers
I/O Longtexts
KUKA TechPack
Drivers
I/O Longtexts
KUKA TechPack
Attributes
Filter
File/Folder
Data list
Error list
Current selection
Log book
Archive
All
Applications
Machine data
Configure
Log Data
Current selection
Restore
Rename
Format floppy disk
All
Applications
Machine data
Configure
Current selection
Drivers
I/O Longtexts
KUKA TechPack
Drivers
I/O Longtexts
KUKA TechPack
Attributes
Filter
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Operator Control
New
MC [Operator control],
Ch. [Navigator]
Open
File/Folder
Data list
Error list
File/Folder
MC [Operator control],
Opens the selected directory.
Ch. [Navigator]
Loads the source file of a selected module (*.SRC) into the
editor.
Data list 1)
Opens the data list (*.DAT) of a selected file in the editor.
Error list
Opens a list of errors that have been detected in the selected
file.
1)
Current selection
Log book
Current selection
The selected files are printed
MC [Operator control],
Ch. [Navigator]
[
g
]
Log book
The logbook entries are printed.
Archive
All
Applications
Machine data
Configure
Log Data
Current selection
Drivers
I/O Longtexts
KUKA TechPack
All
All files are saved to floppy (Ini, MaDa, etc.)
MC [Operator control],
Ch. [Navigator]
[
g
]
Applications
Saves the applications (*.SRC and *.DAT) to floppy.
Machine data
Only saves the machine data to floppy.
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Configure 1)
Drivers
Saves the drivers to floppy.
I/O Longtexts
Saves the long text database.
KUKA TechPack
Saves certain registry entries to floppy.
MC [Operator control],
Ch. [Navigator]
Log Data
Saves the logbook files to floppy disk.
Current selection
Saves selected files and directories to floppy.
1)
Restore
All
Applications
Machine data
Configure
Current selection
Drivers
I/O Longtexts
KUKA TechPack
All
MC [Operator control],
All files, with the exception of log files, are loaded from the Ch. [Navigator]
floppy disk (Ini, MaDa, etc.).
Applications
The saved applications are loaded back from the floppy disk
onto the hard disk (*.SRC, *.DAT).
Machine data
Only machine data are loaded from the floppy disk to the
controller.
Configure 1)
Drivers
Only the I/O drivers are loaded from the floppy disk.
I/O Longtexts
The I/O list is loaded from the floppy disk.
KUKA TechPack
Restores certain registry entries.
Current selection
Selected files are loaded back onto the hard disk.
1)
Rename
MC [Operator control],
Ch. [Navigator]
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Operator Control
Format floppy disk
Attributes
MC [Operator control],
Ch. [Navigator]
2)
Details about type, path, size, creation, attributes, edit mode and MC [Operator control],
comment for the selected file.
Ch. [Navigator]
2)
Filter
1) 2)
MC [Operator control],
Ch. [Navigator]
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8.2
Program/Edit
The Program/Edit menu appears differently at the Navigator, Programming and Editor
levels.
8.2.1
Select all
Select all
Copy
Copy
Paste
Paste
Cut
Cut
Delete
Delete
Duplicate
Duplicate
Select
Without parameters
With parameters
Select
Cancel program
Cancel program
Reset program
Reset program
Without parameters
With parameters
Select all
Copy
1)
MC [Operator control],
Ch. [Navigator]
Paste
2)
MC [Operator control],
Ch. [Navigator]
MC [Operator control],
Ch. [Navigator]
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Operator Control
Cut
The selected files are deleted from their original position and MC [Operator control],
copied to the clipboard
Ch. [Navigator]
Delete
All selected files are permanently deleted after a request for MC [Operator control],
confirmation
Ch. [Navigator]
Duplicate
The selected file is copied into the current directory under a MC [Operator control],
different name
Ch. [Navigator]
Select
Without parameters
With parameters
Without parameters
The program is selected without function parameters.
MC [Operator control],
Ch. [Navigator]
[
g
]
With parameters
The function parameters are transferred when the program is
selected.
Cancel program
3)
Reset program
3)
MC [Operator control],
Ch. [Navigator]
MC [Operator control],
Ch. [Navigator]
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8.2.2
FOLD
Copy
FOLD
Copy
Paste
Paste
Cut
Cut
Delete
Delete
Find
Find
Replace
Replace
Cancel program
Cancel program
Reset program
Reset program
Point
Modify
FOLD
1)
Modify
1) 2)
MC [Operator control],
Ch. [Navigator]
Paste
1) 2)
HB Programming
Handbook
MC
Expert Programming
Ch.
[General information
on KRL programs]
Copy
1)
2)
Point
1)
MC [Operator control],
Ch. [Navigator]
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Operator Control
2)
Cut
The selected data are deleted from their original position and MC [Operator control],
copied to the clipboard
Ch. [Navigator]
2)
Delete
After a request for confirmation, the line in which the edit cursor MC User Programming
is situated is deleted.
Ch. [Program editing]
Find
It is possible to search the current program for a search string MC User Programming
Ch. [Program editing]
Replace
1)
This function allows you to search for one search string and MC User Programming
replace it with another
Ch. [Program editing]
1)
3)
Cancel program
3)
Reset program
MC User Programming
Ch. [Program editing]
MC User Programming
Ch. [Program editing]
1)
Modify
Point
Point
HB Programming HandVarious online modification options for programs and motion book
commands.
MC
Expert Programming
Ch. [External editor]
1)
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8.2.3
Copy
FOLD
Copy
Paste
Paste
Cut
Cut
Delete
Delete
Find
Find
Replace
Replace
Close
Close
FOLD
1)
HB Programming
Handbook
MC
Expert Programming
Ch.
[General information
on KRL programs]
Copy
1)
The program line selected via the edit cursor is copied to the clip- HB Programming Handboard.
book
MC
Expert Programming
Ch.
[General information
on KRL programs]
1)
Paste
1)
1)
HB Programming Handbook
MC
Expert Programming
Ch.
[General information
on KRL programs]
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Operator Control
1)
Cut
The program lines selected by means of the edit cursor are HB Programming Handdeleted from their original position and copied to the clipboard. book
MC
Expert Programming
Ch.
[General information
on KRL programs]
1)
Delete
After a request for confirmation, the line in which the edit cursor MC User Programming
is situated is deleted.
Ch. [Program editing]
Find
Replace
1)
1)
MC User Programming
Ch. [Program editing]
HB Programming Handbook
MC
Expert Programming
Ch.
[General information
on KRL programs]
Close
MC User Programming
Ch. [Program editing]
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8.3
Configure
I/O
I/O Driver
SUBMIT Interpreter
Status keys
Automatic External
Start / select
Stop
Cancel
Jogging
User group
Mouse position
Mouse configuration
Serial Logging
Serial Reset
Cur. tool/base
Tool definition
Tool type
Base type
Force cold start
Disable PowerOff Delay
On/Off options
Miscellaneous
Language
Change password
Editor
Office option
DEF--line
ASCII Mode
Line breaks
Reinitialization
Cycle Time Optimizer
PlugIn Configuration
Event planner
I/O
Status keys
Jogging
User group
Start / select
Stop
Cancel
Override
Configure
Automatic External
I/O Driver
SUBMIT Interpreter
BOF Reinitialization
Serial Logging
Serial Reset
Cur. tool/base
Tool definition
Tool type
Base type
Force cold start
Disable PowerOff Delay
On/Off options
Miscellaneous
Language
Change password
Editor
Office option
DEF--line
ASCII Mode
Line breaks
Reinitialization
Cycle Time Optimizer
PlugIn Configuration
Event planner
BOF Reinitialization
Override
Configure
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Operator Control
I/O
Automatic External
Automatic External
Settings for the Automatic External interface
I/O Driver
HB Programming
Handbook
MC Configuration
Ch. [Configuring the
system]
Serial Logging
Serial Reset
HB Programming Handbook
MC Configuration
C fi
ti
Ch. [Configuring the
system]
I/O State
The current state of the I/O system is displayed in a log file.
Serial Communication 1)
Serial Logging
The serial communication is recorded in a log file.
Serial Reset
The serial channels are reset.
1)
SUBMIT Interpreter
Start / select
Stop
Cancel
Start / select
Start/select Submit interpreter
Stop
Stop Submit interpreter
Cancel
Deselect Submit interpreter
HB Programming Handbook
MC Configuration
C fi
ti
Ch. [Configuring the
system]
Status keys
Relevant technology
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8
Jogging
Program OV Steps
Switches program override on/off
Jog OV Steps
Switches manual (jog) override on/off
Mouse position
Definition of the spatial relationship between the 6D mouse
and the robot.
HB Programming Handbook
MC Configuration
C fi
ti
Ch. [Configuring the
system]
Mouse configuration
Axis selection and dominant mode
User group
HB Programming Handbook
MC Configuration
Ch. [Configuring the
system]
Cur. tool/base
Tool definition
HB Programming Handbook
MC Configuration
Ch. [Configuring the
system]
Tool type
Base type
Tool type
Display saved calibration data for the tool type
Base type
Display saved calibration data for the base type.
HB Programming Handbook
MC Configuration
Ch. [Configuring the
system]
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Operator Control
On/Off Options
Miscellaneous
Language
Change password
Editor
Office option
Def--line
ASCII Mode
Line breaks
Reinitialization
Cycle Time Optimizer
PlugIn Configuration
Event planner
BOF Reinitialization
Language
Changes the language used in the graphical user interface.
Change password
Change the password for a user group
Editor 1)
Def--line
Displays the DEF lines in a program.
ASCII Mode
The program is displayed in KRL code.
Linebreak
Activates/deactivates line breaks in the program window.
Override
Configure
HB Programming Handbook
MC Configuration
C fi
ti
Ch. [Configuring the
system]
Office option
Additional operator control elements on the GUI for mouse
operation.
Work envelope monitoring 1)
Override
Overrides the monitoring of the work envelope.
Configure
Definition of the workspaces
Reinitialization 1)
BOF Reinitialization
The GUI (graphical user interface) is reinitialized without
rebooting the system.
Cycle Time Optimizer 1)
HB Programming HandAdaptation of the maximum possible acceleration to various book
MC Configuration
different technology packages.
Ch [Configuring the
Ch.
2)
PlugIn Configuration
system]
Selection and setting of the modules used by KSS.
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Event planner
HB Programming HandCarries out an action at a predefined time or when a specified book
event occurs.
MC Configuration
Ch. [Configuring the
system]
1)
2)
8.4
Monitor
I/O
Digital Inputs
Digital Outputs
Analog I/O
Automatic external
Rob. Position
Variable
Diagnosis
Windows
Hardware Info
I/O
Single
Overview
Cyclic Flags
Flags
Counter
Timer
Oscilloscope
Log book
CROSS Log book
Caller Stack
Interrupts
Securitycircuit
Web Diagnosis
Diagnosis
Windows
Hardware Info
Cartesian
Axis specific
Incremental
Master/Slave
Display
Configure
Edit ConfigMon.ini
Display
Configure
Display
Configure
NAVIGATOR
PROGRAM
EDITOR
Digital Inputs
Digital Outputs
Analog I/O
Automatic external
Rob. Position
Variable
Single
Overview
Cyclic Flags
Flags
Counter
Timer
Oscilloscope
Log book
CROSS Log book
Caller Stack
Interrupts
Securitycircuit
Web Diagnosis
Display
Configure
Edit ConfigMon.ini
Display
Configure
Display
Configure
NAVIGATOR
PROGRAM
EDITOR
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Operator Control
I/O
Digital Inputs
Digital Outputs
Analog I/O
Automatic external
Digital Inputs
Assignment of the digital inputs
MC [Operator control],
Ch. [Monitor]
[
]
Digital Outputs
Assignment of the digital outputs
Analog I/O
State of the analog inputs/outputs
Automatic external
Assignment of the Automatic External interface
Rob. Position
Cartesian
Axis specific
Incremental
Master/Slave
Cartesian
MC [Operator control],
Current position of the TCP with respect to the world coordinate Ch. [Monitor]
system with the components Position, Orientation, Status
and Turn of the standard axes and the configured external
axes.
Axis specific
Current, axis--specific position of the standard axes and the
configured external axes
Incremental
Current position of the robot axes in increments
Master/Slave
Current position of the master and slave axes in increments
Variable
Single
Overview
Cyclical flags
Flags
Counter
Timer
Monitor
Configure
Edit CONFIGMON.INI
Single
Display and modification of individual variable values.
MC [Operator control],
Ch. [Monitor]
Overview
Display
Displays the groups of variables in ConfigMon.ini.
Configure *1
Settings for the variable group Monitor.
Edit ConfigMon.ini *1
Editing the file ConfigMon.ini
MC [Operator control],
Ch. [Monitor]
HB Programming
Handbook
MC [Configuring the
system, Expert]
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MC [Operator control],
Ch. [Monitor]
[
]
Flags
Signal states of the flags
Counter
Display of the counter values
Timer
Values and operating states of the timers
*1
Diagnosis
Oscilloscope
Log book
CROSS Log book
Caller Stack
Interrupts
Securitycircuit
Web Diagnosis
Display
Configure
Display
Configure
Oscilloscope
Display
View and analyze saved traces.
Configure
Setting of the oscilloscope functions
HB
Electrical Servicing
Log book
Display
Displays logged operator actions
Configure
Configuration of the logbook function
CROSS Log book 1)
Log program KUKA--CROSS
Caller Stack 1)
Displays the order in which programs and subprograms are
called.
Interrupts1)
List of the interrupts.
Securitycircuit
Displays the safety circuit of the robot.
Web Diagnosis
Starts the internal Web browser which can be used to display
predefined pages.
*1
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Operator Control
Windows
NAVIGATOR
PROGRAM
EDITOR
NAVIGATOR
Displays the Navigator in the user interface
PROGRAM 2)
Switches the user interface to the selected program
EDITOR 3)
Displays the program that is loaded in the editor
2)
3)
MC [Operator control],
Ch. [Monitor]
Hardware Info
Displays information about the control cabinet and robot and MC [Operator control],
their components.
Ch. [Monitor]
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8.5
Setup
User group Expert
Measure
Master
Tool
Base
Fixed tool
Supplementary load data
External kinematic
Measurement Points
Tolerances
Dial
EMT
UnMaster
Software Update
Automatic
Service
DSE--RDW
Load data determination
External Editor
Axisconfigurator
Long text
Robot Data
X Y Z -- 4--Point
X Y Z -- Reference
A B C --2--Point
A B C -- World
Numeric Input
Payload data
3--Point
Indirect
Numeric Input
Root point
Root point (numeric)
Offset
Offset (numeric)
Workpiece
Tool
Offset external kinematic
Numeric Input
Tool type
Base type
External Axis
Direct measuring
Indirect measuring
Standard
With load corr.
Set mastering
Check mastering
First mastering
Teach offset
Master load
With offset
Without offset
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Operator Control
User group User
Measure
Master
Tool
Base
Fixed tool
Supplementary load data
External kinematic
Measurement Points
Tolerances
Dial
EMT
UnMaster
Software Update
Automatic
Service
DSE--RDW
Load data determination
External Editor
Axisconfigurator
Long text
Robot Data
X Y Z -- 4--Point
X Y Z -- Reference
A B C --2--Point
A B C -- World
Numeric Input
Payload data
3--Point
Indirect
Numeric Input
Root point
Root point (numeric)
Offset
Offset (numeric)
Workpiece
Tool
Offset external kinematic
Numeric Input
Tool type
Base type
External Axis
Direct measuring
Indirect measuring
Standard
With load corr.
Set mastering
Check mastering
First mastering
Teach offset
Master load
With offset
Without offset
Only KR3...
Measure
Master
UnMaster
Software Update
Service
Robot Data
Robot mastering
Commutation
Alter factory mastering
Drives diagnosis
Load data determination
External Editor
Axisconfigurator
Long text
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Measure
Tool
Base
Fixed tool
Supplementary load data
External kinematic
Measurement Points
Tolerances
X Y Z -- 4--Point
X Y Z -- Reference
A B C --2--Point
A B C -- World
Numeric Input
Payload data
3--Point
Indirect
Numeric Input
Root point
Root point (numeric)
Offset
Offset (numeric)
Workpiece
Tool
Tool type
Base type
External Axis
Direct measuring
Indirect measuring
Tool
MC [Start--up],
Calibration programs for position, orientation and structural Ch. [Calibration]
calculations for a tool mounted on the robot wrist.
X Y Z -- 4--Point
Moving the robot to a fixed reference point
X Y Z -- Reference
Moving the robot with a known reference tool to a reference
point
A B C -- 2--Point
Moving the robot to 2 points with orientation data
A B C -- World
Positioning perpendicular to the world coordinate system
Numeric Input
Entering the tool data
Tool load data
Entering the mass, center of mass and mass moment of
inertia
Base
Calibration programs to determine workpiece position and
orientation.
3--Point
Moving to the reference point of a workpiece
Indirect
Entering the inaccessible reference point of a workpiece
Numeric Input
Entering a reference point manually
Fixed tool
Calibration programs to define an external fixed tool.
Workpiece
Moving with a workpiece mounted on the robot flange
Direct measuring
Robot must be moved to TCP.
Indirect measuring
TCP is entered numerically.
Tool
Moving the robot to a fixed tool
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Operator Control
Offset external kinematic
Moving the robot to a fixed tool on an external machine
Numeric Input
Entering a fixed tool manually
MC [Start--up],
Ch. [Calibration]
MC [Start--up],
Ch. [Calibration]
Tolerances 1)
Entry of tolerance limits for tool calibration
1)
Master
Dial
EMT
Standard
With load corr.
Set mastering
Check mastering
First mastering
Teach offset
Master load
Master
Robot mastering
Commutation
Alter factory mastering
With offset
Without offset
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Dial
Mastering with a mechanical dial gauge
MC [Start--up],
Ch. [Robot mastering/
unmastering]
EMT
MC [Start--up],
Ch. [Robot mastering/
Mastering with the electronic measuring tool
unmastering]
Standard
Set mastering
The robot is mastered in the mechanical zero position with
or without a payload.
Check mastering
Checks the mastering
With load correction
First mastering
The robot is mastered in the mechanical zero position with
or without a payload
Teach offset
The robot is mastered with a payload and the encoder
offset relative to the first mastering is calculated for this
payload
Master load
With offset
This function is used to check the mastering of a payload
mounted on the robot, that has previously been
mastered with Teach offset.
Without offset
Mastering of the robot with any load; the difference from
the first mastering is calculated
Robot mastering *1
Robot mastering following successful first mastering.
Commutation *1
Synchronization between the motor and the encoder.
Alter factory mastering *1
First mastering of the KR 3...
*1
UnMaster
Software Update
MC [Start--up],
Ch. [Robot mastering/
unmastering]
Automatic
Automatic
Load new version of program from CD--ROM
MC [Start--up],
Ch. [Software Update]
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Operator Control
Service
DSE--RDW
Load data determination
External editor
Axisconfigurator
Long text
DSE -- RDW
HB
Displays for the Digital Servo Electronics and Resolver-- Electrical Servicing
Digital Converter
Load data determination
Determination of the load data
External Editor 1)
HB Programming HandExternal program for editing application programs at GUI and book
MC Expert ProgramKRL levels.
ming
Ch. [External editor]
Axisconfigurator *1
Setting up of external axes
See documentation
[External Axes]
Long text *1
Names of inputs/outputs
HB Programming Handbook
MC Configuration
Ch. [Configuring the
system]
*1
Robot Data
Change the robot name and display additional information about MC Start--up
the robot.
Ch. [Robot data]
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8.6
Commands
User groups Expert and User
Last Cmd
Motion
PTP
LIN
CIRC
Moveparams
Torquemon.
Logic
WAIT
WAITFOR
OUT
IBUS Segment on/off
Analog output
Static
Dynamic
Comment
Normal
Stamp
OUT
PULSE
SYN OUT
SYN PULSE
Last Cmd
Motion
MC
[User Programming],
Ch.
[Program commands]
PTP
LIN
CIRC
PTP
Point--to--point motion command
LIN
Linear motion command
CIRC
Circular motion command
Moveparams
Torquemon.
Collision monitoring call
MC
[User Programming],
Ch.
[Program commands]
Torquemon.
MC
[User Programming]
Ch.
[Program commands]
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Operator Control
Logic
WAIT
WAITFOR
OUT
IBUS Segment on/off
OUT
PULSE
SYN OUT
SYN PULSE
WAIT
Time--dependent wait function
WAITFOR
Signal--dependent wait function
MC
[[User Programming]
g
g]
Ch
Ch.
[Program commands]
OUT
OUT
Simple switching function
PULSE
Simple pulse function
SYN OUT
Path--dependent switching function
SYN PULSE
Path--dependent pulse function
IBUS Segment on/off
Coupling and decoupling an Interbus segment
Analog output
Static
Dynamic
Static
MC
Setting of analog outputs under program control to a fixed [User Programming]
value
Ch.
[P og a commands]
[Program
co
a ds]
Dynamic
Setting of analog outputs under program control to a fixed
value that is dependent on the velocity or the specific
technology package
Comment
Normal
Stamp
Normal
Inserts a comment line into a program
Stamp
Comment line with the date and time in a program
8.7
MC User Programming
Ch.
[P
[Program
commands]
d ]
Technology
This menu is reserved for optional technology packages.
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8.8
Help
User groups Expert and User
Online help
Contents/Index
Help
Online help
Starts context--specific online help for the topic currently MC [Operator control],
selected
Ch. [Monitor]
MC [Operator control],
Ch. [Monitor]
Help
MC [Operator control],
Ch. [Monitor]
NOTES:
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Index
Numbers
Computer drives, 7
ConfigMon.ini, 122
3--Point, 157
Contrast, 24
Control cabinet, 7
A B C -- World, 157
A B C --2--Point, 157
ALT key, 22
Alter factory mastering, 159
Analog outputs, 113, 152
archiving, 73
Arrow key, 21
Arrow keys, 19
ASCII Mode, 150
Attributes, 61, 80, 140
Attributes display, 53, 56
Aut, 31
Automatic External, 115, 148
Automatic program execution, 107
Axis--specific, 119, 152
Axisconfigurator, 160
B
Backward move, 98
Backwards key, 19
Base, 157
BASE coordinate system, 33, 41
Base type, 149, 158
BCO run, 102, 107
Block coincidence, 102
Block pointer, 26, 30, 92
BOF Reinitialization, 150
Braking ramp, 95
Brightness, 24
C
Cabinet lock, 7
Caller Stack, 153
Cancel program, 109
Cartesian, 118, 152
CD--ROM drive, 7
Change password, 150
Check mastering, 159
CIRC, 161
Commands, 136, 161
Comment, 69, 83
Commutation, 159
Display, 136
Dominant axis, 47
Dominant axis activated, 48
Dominant axis not activated, 48
Drives, 54
Drives OFF, 16, 107
Drives ON, 16
DSE -- RDC, 160
Duplicate, 83
Dynamic, 162
Dynamic braking, 96
Index -- i
Index
G
Edit, 81
Edit cursor, 93
Edit I/O configuration, 148
Edit menu, 81
Edit mode, 140
Editor, 150
EMERGENCY STOP button, 15
EMT, 159
Enabling switch, 23
Enabling switches, 17
END key, 21
Enter key, 19, 83
Error diagnosis, 62
Error display, 62
Error list, 63, 138
ESC key, 18
Escape key, 18
Go, 98
Graphical user interface, 53
GUI, 24
Gun, 152
H
Header, 53, 55
Help, 127, 136, 163
HOME key, 21
I
I--Step, 98
I/O Driver Reset, 148
I/O State, 148
Icons, 54
Interrupts, 153
File, 68, 136, 137, 138
File list, 53, 59
File manager, 53
File menu, 68
File name, 61
File operations, 136
Filter, 58, 80
First mastering, 159
Fixed tool, 157
Flags, 153
Floppy disk drive, 7
Folder, 138
Force cold start, 150
Form, 27
Format floppy disk, 79
Function parameters, 142
J
Jog keys, 40, 49
Jog mode, 31, 39, 40, 98
Jog OV Steps, 42, 149
Jog override, 42, 149
Jogging, 40
Jogging the robot, 39
Joint coordinate system, 33, 41, 49
K
KCP connection, 8
KCP, rear, 23
Keyboard, 21
Index -- ii
Index
O
Office option, 150
Offset external kinematic, 158
On/off switch, 9
Online help, 127, 130
Open, 66, 70
Operating mode, 31
Operator control elements, 15
Oscilloscope, 153
OUT, 162
Outputs, 111
Language, 150
LDEL key, 21
LIN, 161
Line breaks, 93, 150
Line/column, 94
Load correction, 159
Load data determination, 160
Log book, 138, 153
Log Data, 74
Long text, 160
Main axes, 45
Main switch, 7
Manual mode, 31
Manual program execution, 98
Master load, 159
Master/Slave, 152
Master/slave display, 119
Maximum braking, 96
Measurement points, 158
Menu bar, 25, 136
Menu key, 136
Menu keys, 20
Menu structure, 136
Merker (notices), 123, 153
Message window, 27
Messages in the status bar, 30
Mode selector switch, 16, 39
Module, 121
Module info, 57
Modules, 55
Monitor, 86, 110, 136
Monitor menu, 86
Mouse configuration, 45, 47, 149
Mouse position, 43, 149
N
Name, 83, 121, 124
Navigator, 53
New, 58, 68
New Value, 121
NUM, 57
NUM key, 21
Numeric input, 157, 158
Numeric keypad, 20
R
Ramp--down braking, 95
Reactivation, 11
Reconfigure I/O Driver, 148
Index -- iii
Index
Reinit, 150
Release E--STOP, 15
Rename, 78
Reset, 9, 106, 108
Reset program, 106, 108
Restore, 75
Robot mastering, 159
Robot position, 118
Root point, 158
Running up the controller, 7, 9
T
T1, 31, 39
T2, 31, 39
TAB key, 21
Teach offset, 159
Technology, 136, 162
Templates, 58
Timer, 153
Tolerances, 158
Tool, 157
TOOL coordinate system, 33, 41
Tool load data, 157
Tool type, 149, 158
S
Safety circuit, 153
Safety Instructions, 97
Select, 84, 91
Selecting and opening a program, 91
Selecting the kinematic system, 40
Selection list, 53, 58
Serial Communication, 148
Set mastering, 159
Setup, 136, 155
SHIFT key, 22
Short--circuit braking, 96
Shutting down the controller, 10
Signal states, 111, 112
Simultaneous motion, 33
Single Step, 98
Skeleton program, 70, 71
Softkey bar, 26
Softkeys, 20
Software limit switches, 39
Space Mouse, 17, 40, 43
Stamp, 162
START key, 18
Static, 162
Status bar, 30
Status key bars, 26
Status keys, 20
Status line, 16, 28, 53, 61, 94
Status window, 27, 40
STOP key, 18
Stop reactions, 95
Stopping program execution, 106, 107
Superposed motion, 48
Supplementary load data, 158
SYM key, 22
Symbol, 94
Symbols, 54
U
UNDO key, 21
User levels, 149
V
Variables, 121
W
WAIT, 162
WAITFOR, 162
Warning and safety instructions, 97
Web Diagnosis, 153
Window selection key, 18, 68
With offset, 159
Without offset, 159
Workpiece, 157
Workspace monitoring, 150
WORLD coordinate system, 33, 41
Wrist axes, 46
X
X axis, 36
X Y Z -- 4--Point, 157
X Y Z -- Reference, 157
Index -- iv