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e Copyright KUKA Roboter GmbH
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 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 GripperTech . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1 Basic gripper functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1.1 Type 1 2 outputs, 4 inputs, 2 switching states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1.2 Type 2 2 outputs, 2 inputs, 3 switching states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1.3 Type 3 2 outputs, 2 inputs, 3 switching states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1.4 Type 4 3 outputs, 2 inputs, 3 switching states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1.5 Type 5 2 outputs, 4 inputs, 2 switching states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1.6 Freely programmable type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1.6.1 Programming example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1.7 Initialization and configuration examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Manually operating a gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Programming gripper functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.1 Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.2 Check Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4 SpotTech . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1 Basic SpotTech user functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1.1 Range of commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1.2 The functions SPOT and RETRACT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2 Programming and operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2.1 General information on programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2.1.1 Variables in input boxes of the inline forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2.1.2 Overview of the inline forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2.2 Spot welding (SPOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.3 Types of motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.3.1 Point--to--point (PTP) motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.3.2 Motion along a straight line (LIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.3.3 Motion along a circular path (CIRC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.4 Programming a weld spot (SPOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2.4.1 Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2.4.2 The inline form and the parameter lists for the welding command SPOT . . . . . . . . . . . . . 23
4.2.4.3 Selecting the welding gun (Gun = n) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.2.4.4 Retract stroke after the welding process (RETR OPN / CLO) . . . . . . . . . . . . . . . . . . . . . . . . 25
4.2.4.5 Weld parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.2.5 Opening/closing the welding gun retract stroke (RETRACT) . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2.5.1 Types of motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.5.2 Programming the retract stroke (RETRACT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.6 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.7 Reorientation of the welding gun . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.3 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.3.1 Creating a new program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.3.1.1 Welding the first spot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3.1.2 Welding the second spot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
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KUKA.Gripper-- and SpotTech 2.2
4.3.1.3 Moving from the end of the spot seam to the home position . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.4 Altering existing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.1 Altering command lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.2 Deleting command lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.3 Adding commands to an existing program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4.3.1 Description of the alteration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4.3.2 Changing the position of the welding gun (point in space P10) . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4.3.3 Reorientation of the welding gun -- inserting the command Motion (P11) . . . . . . . . . . . . . . 39
4.4.3.4 Moving to the point in space P12 -- inserting the command Motion . . . . . . . . . . . . . . . . . . . 40
4.4.3.5 Welding spot P13 -- inserting the command SPOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4.3.6 Moving to the weld spot P16 and welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4.3.7 Moving to the home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.5 SpotTech configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.5.1 Program sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.5.2 Retract stroke (RETRACT) and working stroke (SPOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.5.3 Early closing of the gun (PRESPOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.6 Components of the SpotTech package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.6.1 Program structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.6.2 SPOT Tech--specific files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.7 Adaptation to the periphery, configurable options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.7.1 FOLD SPOT in the file $CONFIG.DAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.7.2 The user--specific program USERSPOT.SRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.7.2.1 Schematic sequence diagram for SPOT (without RETRACT) . . . . . . . . . . . . . . . . . . . . . . . . 47
4.7.2.2 Schematic sequence diagram for SPOT (with RETRACT) . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.7.2.3 Robot controller -- welding controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.7.2.4 Program example for the file USERSPOT.SRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.8 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.9 Manual operation of the welding gun using the status keys . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.9.1 Separate control of RETRACT and SPOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.9.1.1 Definition of function type and assignment of physical outputs . . . . . . . . . . . . . . . . . . . . . . . . 53
4.9.2 Manual control of RETRACT and SPOT in series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
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KUKA.Gripper-- and SpotTech 2.2
1 General
The software packages GripperTech and SpotTech are supplied together on a Setup CD and
expand the scope of the basic KRC software.
-- The functions of the GripperTech technology package (gripper programming) enable the
robot system to control and monitor tools and devices in its work environment.
-- The SpotTech technology package is used for the convenient programming of spot welding
applications.
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2 Installation / uninstallation / update
From system software version 5.1 onwards, technology packages are offered exclusively as
add--on software modules. These are available on CD--ROM. Should you be interested in
purchasing further modules, please contact KUKA Support.
The installation procedure is the same for all technology packages and is described in a
separate documentation module.
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KUKA.Gripper-- and SpotTech 2.2
3 GripperTech
3.1 Basic gripper functions
The GripperTech technology package includes five basic types of gripper control, with whose
logic functions the majority of applications that occur are covered. If these basic types prove
to be insufficient at any time, any additional gripper functions can be freely programmed.
Each gripper must be assigned a function type. If a gripper is to be temporarily or
permanently excluded from use, it must be assigned gripper type 0.
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3.1.5 Type 5 2 outputs, 4 inputs, 2 switching states
The same as type 1 but with a pulse signal instead of a continuous signal.
State OUT1 OUT2 IN1 IN2 IN3 IN4
A TRUE FALSE TRUE FALSE TRUE FALSE
B FALSE TRUE FALSE TRUE FALSE TRUE
In contrast to gripper type 1, a continuous signal is not applied here, but a pulse of variable
duration is transmitted whenever the signal level changes. It is set by modifying the variable
GRP_PULSE_TI.
During controller operation, this variable can be altered by means of the Modify -- Variable
options in the Monitor menu.
More detailed information on how to modify the values of system variables during controller
operation can be found in the chapter Monitor Functions, section Variables.
This task requires the use of two double--acting pneumatic cylinders controlled via electro-
magnetically operated 4/2--way valves.
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KUKA.Gripper-- and SpotTech 2.2
State Control
Out- Out- Out- Out-
put1 put2 put3 put4
A FALSE TRUE FALSE TRUE
B TRUE FALSE FALSE TRUE
C TRUE FALSE TRUE FALSE
Programming
In order to implement the example described, make the following changes or additions to the
data shown below.
GRIPPER[1]={TYPE 100}
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STRUC MY_GUN INT RET_OPN,RET_CLS,WRK_OPN,WRK_CLS,GUN_STAT
STAT
Structure of the user--defined data type MY_GUN:
DECL MY_GUN MY_GUN1={RET_OPN 100,RET_CLS 101,WRK_OPN
102,WRK_CLS 103,STAT #RET_OPN}
Assignment of outputs for the welding gun MY_GUN1 of type MY_GUN:
...
ENDDAT
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KUKA.Gripper-- and SpotTech 2.2
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3.1.7 Initialization and configuration examples
On switching to state A
Example_1
(Open), output 17 will be set
to TRUE and output 18
(inverted) also to TRUE.
Not defined When scanned, input 22
must have the state TRUE
and input 23 the state FALSE
17
so that the motion program
--18 can continue.
0
On switching to state B
0 (Closed), output 17 will be
set to FALSE and output 18
(inverted) also to FALSE.
22 When scanned, input 22
23 must have the state FALSE
and input 23 the state TRUE
0 so that the motion program
0 can continue.
On switching to state A
Example_2
(Open), output 19 will be set
to TRUE and output 21 to
FALSE. When scanned,
Not defined input 22 must have the state
TRUE, input 23 (inverted)
the state TRUE, input 24 the
19
state TRUE and input 25
21 (inverted) also the state
0
TRUE so that the motion
program can continue.
0
On switching to state B
(Closed), output 19 will be
22 set to FALSE and output 21
--23 to TRUE. When scanned,
input 22 must have the state
24 FALSE, input 23 (inverted)
--25 also the state FALSE, input
24 the state FALSE and input
25 (inverted) also the state
FALSE so that the motion
program can continue.
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KUKA.Gripper-- and SpotTech 2.2
You can then switch between the gripper functions using the bottom status key shown on the
left.
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3.3 Programming gripper functions
3.3.1 Gripper
Open the menu using the menu key Technology. Then select GRIPPERTech. The follow-
ing submenu is displayed:
It is possible to abort programming of the gripper function at any time by pressing the softkey
Cmd Abort or the ESC key. The command will not be saved in this case.
If the programming window is in focus, the various input windows can be selected using the
and arrow keys. The window that is currently selected is highlighted by a color back-
ground.
The programming window can be activated by repeatedly pressing the Window selection
key until the entire window is highlighted in color.
Move the cursor to the input box SET. The status key (at the bottom right of the display)
changes its assignment.
You can choose between the configured grippers using this status key.
Move the cursor to the input box State. The status key (at the bottom right of the display)
changes its assignment.
You can use this status key to choose between the functions that have been defined for the
selected gripper.
Move the cursor to the next input box on the right. The status key (at the bottom right of the
display) changes its assignment.
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KUKA.Gripper-- and SpotTech 2.2
The approximate positioning function can be switched on or off using this status key.
If you switch the approximation function off, a further input box, GDATn, appears on
the right, in this case GDAT1.
If the cursor is moved to this box with the arrow key, a status window is opened.
Data that more precisely characterize the gripper function must be entered here.
Activate this status window using the Window selection key.
Decide at this point whether any sensors that may be fitted on the gripper are to be
interrogated or whether a wait time is to be used to ensure that the functions that have been
programmed are fully executed.
Wait Time:
If Check Gripper is switched off because, for example, it is not possible to interrogate the
sensors, a wait time of up to ten seconds can be defined here.
Check Gripper:
Here you can specify whether the sensors on the gripper are to be interrogated before the
robot starts moving again (it is only possible to interrogate the sensors if approximate
positioning is switched off in this block). If the sensors do not return a status message, the
controller allows you to set the inputs so that execution of the program can continue
unhindered.
Only use this simulation if you are sure that it cannot result in any unexpected
situations!
If you switch the approximation function on, two further input boxes, at and Delay, appear
on the right.
Other than in the case of the gripper function without approximation, the robot does
not stop here after reaching the end point in order to activate the gripper.
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Motion block
1
Motion block
End point 1
End point
Motion block
2 Motion block
2
End point
The parameters START, END and Delay are used to define the point at which the
gripper function is executed.
START
Delay
positive
Delay
negative END
The reference point for activation of the gripper is determined using the status key (at
the bottom, to the right of the display).
Then move the cursor to the box Delay. You can enter a value here, using the
numeric keypad, or change the default value by increments of 1 ms using the status
key (at the bottom, to the right of the display).
Then press the softkey Cmd Ok. The gripper function is now fully programmed and saved.
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KUKA.Gripper-- and SpotTech 2.2
Any sensors fitted on the gripper can be interrogated using this command. If the conditions
defined by the function type and configuration of the gripper are not satisfied, the robot stops
moving. It does not continue the motion program until the conditions are met.
Now open the menu by means of the menu key Technology. Then select GRIPPERTech.
(The menu items contained in this menu depend on the specific software configuration.)
It is possible to abort programming of the gripper sensor interrogation at any time by pressing
the softkey Cmd Abort or the ESC key. The command will not be saved in this case.
If the programming window is in focus, the various input windows can be selected using the
and arrow keys. The window that is currently selected is highlighted by a color back-
ground.
The programming window can be activated by repeatedly pressing the Window selection
key until the entire window is highlighted in color.
Move the cursor to the input box CHECK. The status key (at the bottom right of the display)
changes its assignment.
You can choose between the configured grippers using this status key.
Move the cursor to the input box State. The status key (at the bottom right of the display)
changes its assignment.
You can use this status key to choose between the functions that have been defined for the
selected gripper.
Move the cursor to the input box at. The status key (at the bottom right of the display)
changes its assignment.
The reference point for the gripper interrogation is determined using this status key.
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Motion block
1
End point
Motion block
2
The parameters START, END and Delay are used to define the point at which the gripper
function is executed.
START
Delay
positive
Delay END
negative
Then move the cursor to the box Delay. You can enter a value here, using the numeric
keypad, or change the default value by increments of 1 ms using the status key (at the
bottom, to the right of the display).
Then press the softkey Cmd Ok. The gripper interrogation function is now fully programmed
and saved.
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KUKA.Gripper-- and SpotTech 2.2
4 SpotTech
4.1 Basic SpotTech user functions
Once the technology package has been correctly installed, additional commands are
available in the SpotTech package for spot welding applications.
Welding gun
Working stroke
Retract stroke
Component
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4.2 Programming and operation
This section describes how to create spot welding programs and how to program welding
and motion commands. It also contains information on everything that has to be taken into
account when setting individual parameters.
SpotTech has a universal basic structure and each of the programming possibilities given
here is dependent on the welding equipment and user--specific subprograms that are used.
The inline forms contain a series of input boxes, whose designations are freely selectable.
This applies to the boxes
P1 ... Designation of the end point
PDAT1 ..., CPDAT1 ... Designation of the Movement parameters data set
SDAT1 ... Designation of the Weld parameters data set
The following must always be observed:
-- The designation can consist of letters and numbers. Special characters apart from the
underscore _ cannot be used.
-- The first character of a designation must always be a letter.
-- The designation is entered unchanged as a pure character string into all of the
subsequent program lines.
-- If the last character is a number, the value of this number is automatically incremented
(n+1), e.g. SDAT1, SDAT2 ... SDATn or SEAM_FRONT1, SEAM_FRONT2
... SEAM_FRONT99, in the subsequent commands.
If a number is entered at the end of the designation -- this number being incremented (n+1)
in each subsequent command -- please remember that the number of characters increases
by 1 when going from 9 to 10.
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If the cursor is positioned in the appropriate box of the inline form, the bottom right status key
can be used to alter the parameters or to select data sets that have already been defined.
It is possible to both enter and alter commands and parameters by means of the keypad (by
pressing the initial letter of the command/parameter).
This symbol indicates that a parameter list (movement or weld parameters) is assigned to
the input box in the inline form. The status window together with the appropriate parameter
list is activated when the Window selection key on the graphical user interface is pressed.
This softkey (which is only available when a parameter list is active in the status window) is
used to exit the status window and activate the corresponding input box in the inline form.
The path cannot be predicted exactly for PTP motions! The motion characteristics
of the robot with greater distances between points and near obstacles should
therefore be checked in a test run.
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4.2.4 Programming a weld spot (SPOT)
4.2.4.1 Menu
After selecting the relevant option (SPOT Tech -- SPOT -- PTP in this example) by means
of the menu key Technology, the inline form described in the next section is opened.
4.2.4.2 The inline form and the parameter lists for the welding command SPOT
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Frames Example of a
weld parameter list
Base coordinate
system
Pressure for
the 1st gun pair
LIN/CIRC PTP
Velocity Velocity
(0.001 to 2 m/s) (1 to 100 %)
Acceleration Acceleration
(1 to 100 %) (1 to 100 %)
You can switch to the commands RETRACT or Motion and change the motion type
(PTP, LIN or CIRC) at any time during programming, until this is concluded using Cmd Ok.
Brief description of the input boxes of the inline form (from left to right), their functions and
their range of values where applicable:
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Designation of the end point; Freely selectable
with CIRC motions, a further Change the designation Pn by
P2
input box is available for the using the keypad or the bottom
auxiliary point. right status key.
Designation of the movement Freely selectable (see Section
PDAT2
parameters 4.2.1.1).
SPOT Gun= 1 Designation of the welding gun Select from up to 5 guns.
Retract stroke after the welding CLO = retract stroke closed
RETR OPN
process (RETRACT) OPN = retract stroke open
Designation of the weld parame- Freely selectable (see Section
SDAT1
ters 4.2.1.1).
4.2.4.4 Retract stroke after the welding process (RETR OPN / CLO)
In this input box, you define whether the welding gun retract stroke is to be open or closed
after the welding process.
Welding gun
Retract stroke
Working stroke
Component
Retract
stroke open Retract stroke closed
RETR OPN RETR CLO
You can switch between Retract stroke open (RETR OPN) and Retract stroke closed
(RETR CLO) by pressing the bottom right status key. This status key has a toggle function
in this instance. The pulldown menu will be opened and closed automatically after a short
time. Alternatively, the respective initial letter (O = OPN = open; C = CLO = closed) can
be entered by means of the keypad. The cursor must be positioned in the input box next to
RETR in this case.
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Working stroke
Start of early
closing of gun Early closing time
Weld spot
position Pn
reached
Early closing
distance
Pn
Gun closed
The point of closing the gun early (early closing time) is to optimize the time taken to execute
the spot welding process. Whilst the welding gun is still moving to the weld spot, the closing
operation is already starting. In this instance, it must be ensured that the gun is not closed
completely until just after the end position Pn is reached.
Variations in air pressure, the position of the gun and other factors may produce different
opening and closing times for the gun. The closing time of the welding gun must therefore
be checked in a test run. Closing the gun too early while the robot is still moving results in
the weld spot being incorrectly positioned and may cause the component and the tool to
be damaged!
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In addition to the type of motion (PTP, LIN, CIRC), the name of the end point (Pn), the
movement parameters (PDATn or CDATn) and the designation of the welding gun (Gun= n),
this command also contains an instruction specifying whether the gun retract stroke is to be
open (OPN) or closed (CLO) after the end point has been reached.
Menu (The menu items contained depend on the specific software configuration.)
After selecting the relevant option by means of the menu key Technology (SPOT Tech --
RETRACT -- PTP in this example), the inline form described in the next section is opened.
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The inline form and the parameter lists for the command RETRACT
Frames
Tool coordinate
system
Base coordinate
system
Ext. TCP
True or False
LIN/CIRC
PTP
Velocity Velocity
(0.001 to 2 m/s) (1 to 100 %)
Acceleration Acceleration
(1 to 100 %) (1 to 100 %)
You can switch to the commands SPOT or Motion and change the motion type (PTP,
LIN or CIRC) at any time during programming, until this is concluded using Cmd Ok.
Brief description of the input boxes of the inline form (from left to right), their functions and
their range of values where applicable:
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Box Function Range of values, Comments
PTP, LIN, CIRC
PTP Type of motion Change using bottom right status
key, softkey or keypad
Designation of the end point; Freely selectable
with CIRC motions, a further Change the designation Pn by
P1
input box is included for the using the keypad or the bottom
auxiliary point. right status key.
Designation of the movement
PDAT1 Freely selectable
parameters.
Retract stroke after reaching the OPN = retract stroke open
RETR OPN
end point. CLO = retract stroke closed
SPOT Gun= 1 Designation of the welding gun Select from up to 5 guns.
Retract stroke after reaching the end point (RETR OPN / CLO)
In this box, you define whether the welding gun retract stroke is to be open or closed after
the end point has been reached.
Welding gun
Retract stroke
Working stroke
Component
Retract
stroke open Retract stroke closed
RETR OPN RETR CLO
You can switch between Retract stroke open (RETR OPN) and Retract stroke closed
(RETR CLO) by pressing the bottom right status key. This status key has a toggle function
in this instance. The pulldown menu will be opened and closed automatically after a short
time. Alternatively, the respective initial letter (O = OPN = open; C = CLO = closed) can
be entered by means of the keypad. The cursor must be positioned in the input box next to
RETR in this case.
A corresponding inline form is opened by means of the softkey Motion, with the motion type
(PTP, LIN or CIRC) that was predefined with the last command being displayed; this must
be changed, if necessary.
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Pn
(P2) Pn
(P3)
P4
P1
P3
P2
Reorientation of the
welding gun by 90
If the spot welding plane changes -- as shown in the sketch above -- the welding gun must
be reorientated. To do so, the gun must first be moved into a position (P2) where there is no
risk of it colliding with the component or with other obstructing contours during reorientation.
The reorientation (point in space P2 to P3) is carried out using the command Motion -- LIN
or -- if the gun retract stroke (RETRACT) is to be changed during the same operation -- SPOT
Tech -- RETRACT -- LIN (see Section 4.2.5). The gun can subsequently be positioned
to the next weld spot (P4).
Depending on the position of the robot axes, it may also be possible to select a PTP motion.
As PTP motions cannot be predicted exactly, a test run should be carried out.
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4.3 Program example
In this section, the use of the basic commands of the spot welding technology will be
described step by step on the basis of a simple program example. The assembly shown
below, consisting of three individual parts, is to be fabricated by means of spot welding.
Home
position
Pay attention to the position of the edit cursor. The following program line created by you will
be inserted as a new line after the cursor.
Alternatively, you can program in edit mode by means of the softkey Edit. The syntax will
not be checked, however.
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Home
position
When moving the welding gun from the home position to the first weld spot, it must be
ensured that no obstructing contours (e.g. those of the component) can cause a collision.
For example, the path of the PTP motion cannot be exactly predicted! The motion
characteristics of the robot near obstacles should therefore always be checked in a test
run.
The diagram given below shows a collision situation on the left. As can be seen in the
situation on the right, you can ensure that the welding gun is positioned safely to the first weld
spot (P2) by inserting an additional point in space (P1).
Home Home
position position
PTP
motion
If the motion between the point in space P1 and the first weld spot (P2) is executed as a
PTP motion, the distance between these two points should not be too great. The robot can
use approximate positioning for moving from the home position to P2 via P1 because exact
positioning is not required until the welding gun moves to the position of the weld spot.
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After selecting the command SPOT Tech -- RETRACT -- PTP, the following inline form is
opened on the screen:
If the programming window is active, the input boxes can be selected by means of the arrow
keys. The selected box appears in white lettering on a blue background.
At the same time that the inline form given above is opened, the assignment of the softkey
bar changes to that shown below:
You can also correct your original selection (SPOT, Motion and type of motion) by means
of this softkey. The inline form changes accordingly when a selection is made. The command
can be aborted by means of the softkey Cmd Abort or the ESC key. This will close the inline
form.
The welding gun retract stroke must be open after the point in space P1 has been reached.
This is set in the input box RETR. In the example given above, OPN (open) is already
entered; otherwise, CLO (closed) appears here.
To change the setting, move the cursor to the input box RETR. You can
switch between RETR CLO and RETR OPN by means of the bottom right
status key. This status key has a toggle function. Alternatively, the letter C
(=closed) or O (=open) can be entered by means of the keypad. In this case,
enter O.
For the purpose of positioning the welding gun, move it to the position P1 by means of the
Space Mouse or the traversing keys. Information on controlling motions of the robot manually
can be found in the chapter [Manual traversing of the robot].
You can now press the softkey Touch Up. In this case, press the softkey Yes to confirm
the query Touchup (Y/N)? that is displayed in the message window. Alternatively, press the
softkey Cmd Ok or the Enter key. The current robot coordinates are automatically saved.
The command is ended by pressing the softkey Cmd Ok or the Enter key. If the point P1
has not yet been touched up, the current robot coordinates are now automatically saved. The
information message Point P1 created automatically is displayed in the message window.
The inline form is closed and the generated program line is inserted into the program form
afterwards. The numbers of the following program lines are automatically updated.
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After selecting the command SPOT Tech -- SPOT -- PTP, the following inline form
appears on the display.
Alternatively, you can also press the softkey Last Cmd. If you had last entered a
RETRACT command, an inline form for the command RETRACT is displayed. SPOT
can then be called by means of the softkey SPOT. The same inline form is thus available.
As can be seen, the names for the end point (P2) and the data set (PDAT2) have been
adapted. A further box is also displayed: the designation of the weld parameter set (SDAT1).
The welding gun retract stroke can be left closed (RETR CLO) in this program example.
If the first command to be entered was RETR OPN (retract stroke open), this has been used
as a default setting in the input box of the new inline form.
To change the setting, move the cursor to the input box RETR. Press the bottom right status
key or enter the letter C by means of the keypad. CLO (=closed) subsequently appears
in the input box of the inline form.
Enter the movement and weld parameters into both the inline form and the parameter lists
and move the welding gun to the desired position P2.
If your welding system has been configured appropriately, the functioning of the gun can be
checked at this point by means of the gun status keys. For information on this, see Section
4.9 and the chapter [SPOT Tech -- Expert Programming].
After entering all of the parameters, press the softkey Cmd Ok. The current robot
coordinates are saved and the program form is updated accordingly.
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4.3.1.1 Welding the first spot sequence
P5
P4 P3 P2
The further points (P3 to P5) can be programmed using the procedure described in the last
section. In this case, leave the welding gun retract stroke closed (RETR CLO) for P3 and P4.
As the welding gun is to be positioned to the first weld spot (P6) of the second welding
sequence (see the sketch at the beginning of Section 4) after P5, the retract stroke must be
opened at P5. To do so, select the option RETR OPN when programming P5.
After all of the entries for the first spot sequence have been made, the program form appears
as follows:
As can be seen, the numeric values for the designation of the movement parameters
(PDATn) have each been increased by 1 in command lines 4 to 7. The numeric values for
the designation of the weld parameters (SDATn) have likewise been increased. The parame-
ters entered in SDAT1 have automatically been entered in SDAT2 .... SDAT4.
For spot sequences that are to be welded with the same welding tool and the same weld
parameters, programming can be simplified if each weld spot is not programmed
individually but by using the procedure described below:
With the motion type CIRC, the coordinates for the required auxiliary point must always
be touched up manually.
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4.4 Altering existing programs
It is possible to alter commands and/or parameters and to delete command lines in an
existing program at any time. Two examples are given below.
4.4.1 Altering command lines
The procedure for altering command lines is demonstrated below by using a different type
of motion for the command SPOT -- RETRACT to the point in space P1 to that used in the
above program example. The parameter PTP for P1 is to be changed to LIN.
Then press the softkey Cmd Ok. The inline form is closed and the program form is updated
accordingly.
and select Delete by means of the arrow key. Then press the Enter key. The key 1 in the
numeric keypad can also be pressed (do not press Enter).
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Line 13 has been deleted and the original line 14 is now line 13.
Home
position
Reorientation of
the welding gun
by 90
The new part is welded to the two brackets by means of two spots (P13 and P16 in the
diagram). As the welding gun has to be reorientated by 90 to weld these two spots in relation
to welding the spot sequences P2 to P5 and P6 to P9, it is advisable to weld them before
welding spot sequences P2 to P9.
In this example, these two spots are to be welded after weld spot P9. This requires the follow-
ing changes to be made to the program:
-- Alter the command Motion (P10)
-- Insert the command Motion (P11) to reorientate the welding gun
-- Insert the command Motion (P12)
-- Insert the command SPOT -- SPOT (P13)
-- Insert the command Motion (P14)
-- Insert the command Motion (P15)
-- Insert the command SPOT -- SPOT (P16)
-- Insert the command RETRACT (P17)
-- Insert the command Motion (P18)
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4.4.3.1 Description of the alteration
Open the program form from the previous section.
4.4.3.2 Changing the position of the welding gun (point in space P10)
Move the edit cursor to line 12. Position the welding gun to the point in space P10. When
doing so, ensure that it cannot collide with the component or with other obstructing contours
during the following reorientation to P11. Press the softkey Touch Up to save the new robot
coordinates.
4.4.3.3 Reorientation of the welding gun -- inserting the command Motion (P11)
P10
P11
Ensure that the edit cursor is positioned in line 12 (P10). An inline form is opened by pressing
the softkey Motion.
Select the motion type LIN. Use the traversing keys or the Space Mouse to align the welding
gun accordingly (rotate by 90). Save the current robot coordinates (Touch Up) and press
the softkey Cmd Ok after entering all the parameters.
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4.4.3.4 Moving to the point in space P12 -- inserting the command Motion
Now insert the command Motion -- PTP to move the welding gun to the point in space P12,
which is located above the weld spot P13.
The altered line 12 (P10) and the new lines 13 to 20 (P11 to P18) are indicated by the white
line on the left in the diagram.
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4.5 SpotTech configuration
Configuration of the SpotTech software package is only possible in expert mode.
The following diagram shows the basic sequence of a spot welding program between two
weld spots.
ADVSPOT
Robot
motion
Time t t
SPOT
t
Weld start Weld
Weld complete
duration
WLD_CMP WLD_STRT (weld start --
weld complete)
The usable functions depend on the type of welding gun used as well as its controller. The
individual functions:
Name Description
Retract stroke Retract stroke of the welding gun. Completely opens the gun, for
RETRACT example, to approach weld spots over component edges.
Working stroke of the welding gun. The working stroke is generally
Working stroke
sufficient for spot sequences along even surfaces.
Advance communication with the welding controller (during gun
ADVSPOT movement) so that all required weld data are available when the end
point is reached.
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Welding gun
Working stroke
Retract stroke
Component
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Trigger for early gun Working stroke
closing (PRESPOT)
TRIGGER WHEN DISTANCE=1
DELAY=SSDAT1.CLO_TM DO
USERSPOT(#PRESPOT,S_ACT)
PRIO= -1
Weld spot
position Pn
reached
Early closing
distance
Welding gun
closed
Pn
Trigger for weld start
TRIGGER WHEN DISTANCE=1
DELAY=0.0 DO USERSPOT
(#SPOT,S_ACT) PRIO= -1
The point of closing the gun early (PRESPOT) is to optimize the time taken to execute the
spot welding process. The closing operation already starts while the welding gun is still
moving towards the weld spot. In this instance, it must be ensured that the gun is not closed
completely until just after the end position Pn is reached.
Variations in air pressure, the orientation of the gun and other factors may produce different
gun opening and closing times. The closing time of the welding gun must therefore be
checked in a test run. Closing the gun too early while the robot is still moving results in the
weld spot being incorrectly positioned and may cause the component and the tool to be
damaged!
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KR C1 program structure
USERSPOT.SRC This file is supplied as a skeleton program. This is where you enter
data for your own spot welding programs, e.g. for initializing, for
RETRACT, ADVSPOT, SPOT, etc.
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4.7 Adaptation to the periphery, configurable options
This section describes the SpotTech peripheral interfaces with an example illustrating the
assignment of the digital outputs and inputs. The Fold USERSPOT contained in the file
$CONFIG.DAT as well as the file USERSPOT.SRC are described.
INT BOSCHCMD_OK=534
INT BOSCHSTAT_OK=528
;==============================
; all for Bosch-Serial-Interface
;==============================
EXT BOSCH (INT :IN,INT :IN,INT :OUT )
; BOSCH-OUTWORD 1 (513-528) param
SIGNAL BOSCHPAR $OUT[513] TO $OUT[528]
; BOSCH-OUTWORD 2 (529-544) command
SIGNAL BOSCHCMD $OUT[529] TO $OUT[533]
; BOSCH-INWORD 1 (513-528) status+validbit
SIGNAL BOSCHSTAT $IN[513] TO $IN[527]
;ENDFOLD
If adaptation to the peripheral hardware used is required, please consult the corresponding
documentation.
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4.7.2.1 Schematic sequence diagram for SPOT (without RETRACT)
The following diagram shows the basic program sequence of the command SPOT. The
options PRESPOT (early closing of the gun) and RETRACT (open/close retract stroke
of the gun) are not shown.
Weld parameter S01 S02
designation (Auxiliary point)
Robot
motion
t
GUN_WRK
Working stroke OPEN
activation
(output) t
CLOSE
WRK_STAT
Working stroke OPEN
status
(input) t
CLOSE
WLD_STRT
TRUE
Weld start
(output)
FALSE t
WLD_CMP
Weld TRUE
complete
(input) t
FALSE
PNUM ADVSPOT
S.PGN01
Program
number
(output)
0 t
After welding the spot S01 the weld complete signal (WLD_CMP=TRUE) triggers, with its
falling edge (WLD_CMP=FALSE), the instruction for opening the working stroke of the
welding gun (GUN_WRK=G_OPN). At the same time the weld start signal
WLD_STRT=FALSE as well as the program number PNUM=0 are set.
The robot controller now waits for the status message WRK_STAT==G_OPN indicating
that the working stroke of the gun is open. This signal enables robot movement to the next
weld spot.
To ensure that all the data required for welding are available at the end point (in this example
point S02), the welding program number, for example PNUM=S.PGN01, is already output
during the actual movement, provided this has been configured in the section ADVSPOT
of the file USERSPOT.SRC.
At the end point (in this example point S02), the control instruction is given to close the
working stroke (GUN_WRK=W_CLO). The status message from the welding controller that
the working stroke is closed (WRK_STAT=W_CLO) triggers the weld start
(WLD_STRT=TRUE).
At the conclusion of the welding process, the instruction is given once again, by means of
the falling edge of the weld complete signal (WLD_CMP=FALSE), to open the working stroke
of the gun (GUN_WRK=G_OPN) as well as to set the weld start signal WLD_STRT to
FALSE and the program number PNUM to ZERO.
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Robot
motion t
WLD_STRT
Weld start TRUE
(output)
FALSE t
WLD_CMP
Weld TRUE
complete
(input) t
FALSE
PNUM ADVSPOT
Program TRUE S.PGN01
number
(output) FALSE 0 t
After welding the spot S01 the weld complete signal (WLD_CMP=TRUE) triggers, with its
falling edge (WLD_CMP=FALSE), the instruction for opening the working stroke of the
welding gun (GUN_WRK=G_OPN). At the same time the weld start signal
WLD_STRT=FALSE as well as the program number PNUM=0 are set.
When the status message WRK_STAT==G_OPN is given, indicating that the working
stroke of the gun is open, movement is initiated to the next weld spot, provided the option
RETR CLO (gun retract stroke remains closed) has been programmed with the SPOT
command.
If the option RETR OPN has been programmed (the gun retract stroke is opened after the
spot has been welded), the command GUN_RET=G_OPN is executed. In this case,
movement to the next weld spot is not enabled until the status signal RET_STAT=OPEN
is set. During this movement, the welding program number (PNUM) is output if this has been
configured in the section ADVSPOT of the file USERSPOT.SRC.
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At the end point (in this example point S02), the control instruction is given to close the
working stroke (GUN_WRK=CLOSE). The welding program number (PNUM) is output at the
same time. If the retract stroke at point S02 is open (RET_STAT=OPEN), the
corresponding close instruction (GUN_RET=CLOSE) is given first of course.
The status message from the welding controller that the working stroke is closed
(WRK_STAT=W_CLO) triggers the weld start (WLD_STRT=TRUE). At the conclusion of the
welding process, an instruction is given once again by means of the weld complete signal
(WLD_CMP) to open the working stroke of the gun (GUN_WRK=G_OPN).
Output / Input
Name Description, signal states
(example)
PNUM Welding program no. (max. 255 characters) Output 1 ... 8
WLD_STRT Weld start Output 15
WLD_CMP Weld complete signal (from welding controller) Input 15
Working stroke control (SPOT)
Close stroke Open stroke
GUN WRK
GUN_WRK
TRUE FALSE Output 10
FALSE TRUE Output 11
Working stroke status message (SPOT)
Stroke closed Stroke open
WRK STAT
WRK_STAT
TRUE FALSE Input 10
FALSE TRUE Input 11
Retract stroke control (RETRACT)
Close stroke Open stroke
GUN RET
GUN_RET
TRUE FALSE Output 12
FALSE TRUE Output 13
Retract stroke status message (RETRACT)
Stroke closed Stroke open
RET STAT
RET_STAT
TRUE FALSE Input 12
FALSE TRUE Input 13
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DECL SPOT_TYPE S
Assignment of inputs/outputs
;Program No.
SIGNAL PNUM $OUT[1] TO $OUT[8] Program number, outputs 1...8
;GUN-RETRACT
SIGNAL GUN_RET $OUT[10] TO $OUT[11] Retract stroke (RETRACT),
outputs 10, 11
;State RETRACT
SIGNAL RET_STAT $IN[10] TO $IN[11] Retract stroke status, inputs 10, 11
;GUN work (SPOT)
SIGNAL GUN_WRK $OUT[12] TO $OUT[13] Working stroke (SPOT),
outputs 12, 13
;State SPOT
SIGNAL WRK_STAT $IN[12] TO $IN[13] Working stroke status, inputs 12, 13
;Weld Start
SIGNAL WLD_STRT $OUT[15] Weld start, output 15
;Weld done
SIGNAL WLD_CMP $IN[15] Weld complete signal, input 15
;=================================
;GROUP Definitions
INT R_CLO,R_OPN,W_CLO,W_OPN Retract stroke / working stroke states
R_CLO=B0001
R_OPN=B0010
W_CLO=B0001
W_OPN=B0010
;=================================
SWITCH CMD
CASE #INIT
INIT ( )
CASE #ADVSPOT
ADVSPOT (CMD,S )
CASE #PRESPOT
PRESPOT (CMD,S )
CASE #SPOT
SPOT (CMD,S )
S_READY=TRUE
CASE #RETR
RETRACT (CMD,S )
S_READY=TRUE
ENDSWITCH
END ; END OF MAIN
;*********************************
;*****************************
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;*****************************
DEF SPOT ( )
WAIT FOR WRK_STAT==W_CLO Waiting for Working stroke closed
WLD_STRT=TRUE Set weld start
WAIT FOR WLD_CMP Waiting for weld complete
signal (TRUE)
PNUM=0 Set program number to ZERO
WAIT FOR NOT (WLD_CMP) Waiting for weld complete
signal (FALSE)
WLD_STRT=FALSE Reset weld start (FALSE)
GUN_WRK=W_OPN Open working stroke
WAIT FOR WRK_STAT==W_OPN Waiting for Working stroke open
END ;(SPOT)
;*****************************
DEF RETRACT ( )
SWITCH S.RETR Retract stroke (RETRACT)
CASE #OPN If RETR OPN programmed:
GUN_RET=R_OPN open retract stroke (RETRACT)
WAIT FOR RET_STAT==R_OPN Waiting for Retract stroke open
CASE #CLO If RETR CLO programmed:
GUN_RET=R_CLO close retract stroke
WAIT FOR RET_STAT==R_CLO Waiting for Retract stroke closed
ENDSWITCH
END ;(RETR)
;*****************************
DEF INIT ( )
PNUM=0 Set program number to ZERO
WLD_STRT=FALSE Reset weld start
GUN_WRK=W_OPN Open working stroke (SPOT)
WAIT FOR WRK_STAT==W_OPN Waiting for Working stroke open
GUN_RET=R_OPN Open retract stroke (RETRACT)
WAIT FOR RET_STAT==R_OPN Waiting for Retract stroke open
S_READY=TRUE Enable for further program execution
END ;(INIT)
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KUKA.Gripper-- and SpotTech 2.2
Now move the edit cursor to line 4 and select FOLD -- Act FOLD op/cl with the menu
function Program (to do so you must be within the user group Expert). You will now see
the complete program listing for the entered command.
File DEMO01.SRC
PTP P1 PDAT1 SPOT Gun= 1 RETR OPN SDAT
PDAT_ACT=PPDAT1
BAS (#PTP_DAT )
FDAT_ACT=FP1 Motion parameters
BAS (#FRAMES )
BAS (#VEL_PTP,PPDAT1.VEL ) Ref. to data set (for
precalculation)
S_ACT.GUN=1 Selection of welding gun (1...5)
S_ACT.PAIR=SDEFAULT.PAIR Selection of gun pair
S_ACT.RETR=#OPN Retract stroke open
S_ACT.CLO_TM=SSDAT1.CLO_TM
S_ACT.PGNO1=SSDAT1.PGNO1 Welding program number
S_ACT.PGNO2=SDEFAULT.PGNO2
S_ACT.PRESS1=SSDAT1.PRESS1
S_ACT.PRESS2=SDEFAULT.PRESS2
S_READY=FALSE
USERSPOT (#ADVSPOT,S_ACT )
TRIGGER WHEN DISTANCE=1 Trigger for gun closing
DELAY=SSDAT1.CLO_TM DO USERSPOT (working stroke)
(#PRESPOT,S_ACT ) PRIO= -1 Trigger for early gun closing
(PRESPOT)
TRIGGER WHEN DISTANCE=1 Trigger for weld start (SS)
DELAY=0.0 DO USERSPOT
(#SPOT,S_ACT) PRIO= -1
PTP XP1
WAIT FOR S_READY
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4.9 Manual operation of the welding gun using the status keys
When carrying out tests, it is useful to be able to test the retract stroke (RETRACT) and
working stroke (SPOT) functions of the gun in addition to the gun movement, without actually
welding.
4.9.1 Separate control of RETRACT and SPOT
The configuration described below allows separate manual control of the gun retract stroke
(RETRACT) and working stroke (SPOT).
Using the Gripper selection status key, you can choose from the following:
-- Retract stroke (RETRACT) -- (Gripper) no. 1 and
-- Working stroke (SPOT) -- (Gripper) no. 2
The retract stroke (1) or the working stroke (2) can be controlled corresponding to the
selection you make with the status key for manual gripper operation.
Retract/working stroke selection
Working stroke (SPOT)
Retract stroke (RETRACT)
GUN_RET GUN_WRK
OPEN CLOSE OPEN OPEN CLOSE OPEN
The changes required in the file $CONFIG.DAT for manual gun operation are described
below.
Static outputs
Entries in the file $CONFIG.DAT when using gripper function type 1:
; Definition of grippers
;==================================
INT MAXGRIPPER=8
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KUKA.Gripper-- and SpotTech 2.2
Pulse outputs
Entries in the file $CONFIG.DAT when using gripper function type 5:
; Definition of grippers
;==================================
INT MAXGRIPPER=8
The pulse duration for function type 5 is preset to 0.5 seconds. It is possible to make a change
at the end of the block Definition of grippers in the file $CONFIG.DAT.
REAL GRP_PULSE_TI=0.5 ; pulse time for gripper type 5
Corresponding entry using the menu function Monitor -- Variable -- Modify:
Variable Default (sec.)
GRP_PULSE_TI 0.500
The inputs (IN1 ... IN4) are not polled in these examples because the mechanical gun
function can be checked visually. For this reason the configuration and addressing of the
physical inputs are irrelevant for the manual gun control function.
In the examples above, the retract stroke control for gripper no. 1 and working stroke
control for gripper no. 2 were assigned. You can also assign other numbers if these
numbers are reserved for other applications, for example.
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The assignment of gripper no. 8, for example, requires the following entry in the file
$CONFIG.DAT:
GRIPPER[8]={TYPE 1,OUT1 10,OUT2 11, ...
Note that the value of the variable MAXGRIPPER must be at least as high as the
configured gripper number. MAXGRIPPER=8 is the default setting.
Operation
The changes required in the file $CONFIG.DAT for manual gun operation are described
below.
; Definition of grippers
;==================================
INT MAXGRIPPER=8
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KUKA.Gripper-- and SpotTech 2.2
GRIPPER[1]={TYPE 4,OUT1 10,OUT2 12, Retract (OUT 10) and working stroke
OUT3 0,OUT4 0,IN1 0,IN2 0,IN3 0, (OUT 12), definition of the function
IN4 0,GRP_OLD 1} type (4) and assignment of the
physical outputs (e.g. 10 and 11)
1
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Index
Zeichen F
$CONFIG.DAT, 9, 10, 44, 45, 53 FOLD, 52
Function type, 8
Zahlen
4/2--way valves, 9 G
GDAT, 16
Gripper sensor interrogation, 18
A
GRIPPERTech, 15, 18
Adding commands, 38 GRP_PULSE_TI, 9
ADVSPOT, 41, 47, 48 Gun, 22
Altering existing programs, 37 Gun opening and closing times, 43
Approximation function, 16
Arrow keys, 15
I
Assignment of inputs/outputs, 50
at, 16, 18 Identification number, 10
INI, 20
Initialization command, 20
B Initialization and configuration examples, 13
Basic functions, 42 Inline form, 15, 18, 21, 23
BLOW, 8 Inline form RETRACT, 28
Inline form SPOT, 23
C Inputs, 45
Issue program number, 50
Call during advance run, 46
CASE #ADVSPOT, 46
CASE #INIT, 46 L
CASE #PRESPOT, 46 LIN, 22
CASE #SPOT, 46
CHECK, 18 M
Check Gripper, 16, 18
Manual control of RETRACT and SPOT in se-
CIRC, 22 ries, 55
Cmd Ok, 17 Manual gripper operation, 9
Continuous signal, 9 Manual operation of the welding gun, 53
Creating a new program, 31 Manually operating a gripper, 14
Monitor, 9
D
Default data set, 45 O
Delay, 16, 17, 19 OFF, 8
Deleting command lines, 37 Outputs, 45
Designation of the welding gun, 22
P
E P1, 21
Early closing of the welding gun, 26 Parameter lists RETRACT, 28
Early closing time, 26 Parameter lists SPOT, 23
Early gun closing, 42 PDAT, 21, 25
Enabling switch, 14 Peripheral interfaces, 45
END, 17, 19 Pneumatic cylinders, 9
Exclusion from use, 8 PRESPOT, 42
Index -- i
Index
Index -- ii