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The ROBOTICS Cycle TIme Analyzer. The first "time".

1. Appendix 7 Robotics CTA SA30 amp GOTO_JOINTS JVU CARTESIAN RSA 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY GOTO JVU CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN 5 30 amp GOTO_JOINTS JVV CARTESIAN RSA 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY GOTOJVV CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN S A 30 amp GOTO JOINTS JVW CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY GOTO JVW CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN SA 30 amp GOTO JOINTS JVX CARTESIAN RS A 30 WRT Z 5 END_OPERATION OUTLAY GOTO JVX CARTESIAN ADD P1 KON 10 WRT Z 100 JMP AD 5 amp END PROGRAM Appendix 7 The KUKA CSP file for axis 7 amp BEGIN DEVICES amp KUKA 6 KUKA amp END DEVICES amp BEGIN LOCATIONS KUKA amp LOCATION TPT CARTESIAN 320 6673 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 64 5262 39 5746 23 3094 168 1472 59 3314 3 2385 amp LOCATION TPT1 CARTESIAN 340 6673 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 63 1842 40 2060 23 9396 167 7797 59 5988 4 7017 amp LOCATION TPT2 CARTESIAN 300 6674 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 65 8988 38 9718 22 7146 168 5331 59 0729 17343 amp LOCATION TPT3 CARTESIAN 360 6672 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC
2. the name of a CRD file which defines the cartesian position of the robot The rest of the file contains the timing data Robotics CTA lt Dwl Time gt lt Short Acc gt lt Long Acc gt lt Max Vel gt Where Dwl Time DWELL the length of time used before the move begins Short Acc SHORT ACCELERATION the acceleration for short moves Long Acc LONG ACCELERATION the acceleration for long moves lt Max Vel gt MAXIMUM VELOCITY the maximum velocity This is the actual timing data used to calculate cycle times There must be one line of data for each joint at each speed plus one set of straight line data for each speed The units of the accelerations and velocities are determined by the CRD files being used The timing data is ordered in such a way that the data for joint 1 all speeds is placed first This is followed by joint 2 all speeds After the data for the last joint is the straight line data all speeds Min Jt Spd Max Jt Spd gt Num Jt Num Spd Spd Factor Units Jt CRD File Min St Spd Max St Spd gt Spd Factor Units St CRD File Dwl Time Dwl Time lt Dwi Time Dwl Time Dwl Time Dwl Time Dwl Time Short Acc Short Acc Short Acc Short Acc Short Acc Short Acc Short Acc Long Acc Long Acc Long Acc Long Acc Long Acc Long Acc
3. BEGIN OPERATION OUTLA 00091 28000 5 30 00092 28100 5 00093 28000 PTP X 357 7 1155 2 Z 1437 1 A 5 196 B 43 620 109 302 00094 28000 RS A 30 00095 28000 WRT Z 5 00096 28000 KOM END OPERATION OUTLAY 00097 28000 BEGIN OPERATION OUTLA 00098 28000 S 30 00099 28100 5 00100 28000 PTP X 109 7 Y 1204 3 Z 1437 1 A 6 804 B 43 620 109 302 00101 28000 RS 30 00102 28000 WRT Z 5 00103 28000 END OPERATION OUTLAY 00104 28000 KOM BEGIN OPERATION OUTLA 00105 28000 S 30 00106 28100 5 00107 28000 PTP X 377 8 Y 1148 8 Z 1437 1 A 6 196 B 43 620 C 109 302 00108 28000 RS 30 00109 28000 WRT Z 5 00110 28000 KOM END OPERATION OUTLAY 00111 28000 KOM BEGIN OPERATION OUTLA 00112 28000 5 A 30 00113 28100 5 00114 28000 PTP X 88 6 Y 1206 1 Z 1437 1 7 804 B 43 620 C 109 302 00115 28000 RS 30 00116 28000 WRT 2 5 00117 28000 KOM END OPERATION OUTLAY 00118 28000 KOM BEGIN OPERATION OUTLA 00119 28000 5 A 30 00120 28100 5 00121 28000 PTP X 397 7 Y 1142 0 Z 1437 1 A 7 196 B 43 620 C 109 302 00122 28000 RS A 30 00123 28000 WRT Z 5 00124 28000 END OPERATION OUTLAY 00125 28000 KOM BEGIN OPERATION OUTLA 00126 28000 S 30 00127 28100 5 00128 28000 PTP X 67 6 Y 1207 4 Z 1437 1 A 8 804 43 620 109 302 00129 28000 RS 30 00130 28000 WRT Z 5 00131 28000 END OPERATION OU
4. Max Jt Spd Num Jt Num Spd Spd Factor Units Jt CRD File Where Min Jt Spd MINIMUM JOINT SPEED the smallest acceptable speed stetting for joint interpolated motion Max Jt Spd MAXIMUM JOINT SPEED the largest acceptable speed setting for joint interpolated motion Num Jt NUMBER OF JOINTS the number of joints of the robot There must be speed and acceleration data for each joint Num Spd NUMBER OF SPEEDS the number of speeds for which there is timing data Spd Factor SPEED FACTOR the interval size between each speed setting Units UNITS a string defining the units of the joint interpolated speed setting lt Jt CRD File gt COORDINATE SYSTEM the name of a CRD file which defines the relationship between the PLACE joint angles and the angles to which the speeds and accelerations apply Line 2 contains five pieces of information related to straight line motion lt Min St Spd gt lt Max St Spd gt lt Spd Factor gt lt Units gt lt St CRD File gt Where lt Min St Spd gt MINIMUM STRAIGHT SPEED the smallest acceptable speed setting for straight line motion lt Max St Spd gt MAXIMUM STRAIGHT SPEED the largest acceptable speed setting for straight line motion lt Spd Factor gt SPEED FACTOR the interval size between each speed setting lt Units gt UNITS a string defining the units of the straight line speed setting lt St CRD File gt COORDINATE
5. 00051 28000 PTP X 4296 7 Y 11723 Z 4 1437 1 A 2 196 B 43 620 C 109 302 00052 28000 85 A 30 00053 28000 WRT Z 5 00054 28000 END OPERATION OUTLAY 00055 28000 BEGIN OPERATION OUTLA 00056 28000 5 30 00057 28100 5 00058 28000 PTP X 172 5 1196 9 Z 1437 1 A 3 804 B 43 620 C 109 302 00059 28000 RS A 30 00060 28000 WRT Z 5 00061 28000 END OPERATION OUTLAY 00062 28000 KOM BEGIN OPERATION OUTLA 00063 28000 5 A 30 00064 28100 5 00065 28000 PTP X 317 1 1167 0 Z 1437 1 A 3 196 B 43 620 C 109 302 00066 28000 RS A 30 00067 28000 WRT Z 5 00068 28000 END OPERATION OUTLAY 00069 28000 KOM BEGIN OPERATION OUTLA 00070 28000 5 30 00071 28100 5 00072 28000 PTP X 151 6 11998 Z 1437 1 A 4 804 B 43 620 C 109 302 00073 28000 85 A 30 00074 28000 WRT 2 5 00075 28000 KOM END OPERATION OUTLAY 00076 28000 OUTLA 00077 28000 5 30 00078 28100 5 00079 28000 PTP X 337 4 Y 11613 Z 1437 1 A 4 196 B 43 620 C 109 302 00080 28000 RS 30 00081 28000 WRT Z 5 00082 28000 END OPERATION OUTLAY 00083 28000 KOM BEGIN OPERATION OUTLA 00084 28000 5 A 30 00085 28100 5 00086 28000 PTP X 130 7 Y 1202 2 Z 1437 1 A 5 804 B 43 620 C 109 302 00087 28000 RS A 30 00088 28000 WRT Z 5 Appendix 8 Robotics CTA 00089 28000 KOM END OPERATION OUTLAY 00090 28000
6. KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 5093 731 3 Z4 1216 2 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 412207 731 3 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY Appendix 10 Robotics CTA KOM BEGIN OPERATION OUTLA 27030 WISTAT D 56 LIN 5793 Y 7313 Z 12162 A 61 608 B 14 422 169 084 TZU30 WCH T 5 KOM END OPERATION OUTLAY OPT P1 KON 10 WCH T 100 SPG AD 5 END HP97 83 Appendix 11 Robotics CTA Appendix 11 Robot Controller output port 30 The Robot Controller output port 30 is located in connection X13 The pins 272 and 2228 are used 3 OV extern 282 2 v 252 1 l OV extern 272 2 24V extern 204 extern 4 M 24 extern 224 Ausgang 2 43 26 2 44 26 Ausgang AU TT Ausgang 2 45 226 L Ausgang 2445 248 Ausgang 2447 28 EF ENI 2148 228 Sasi Ausgang Ausgang 10084 1 200 Lom d Ausgang 1004 2 2010 ESN m Ausgang 10004 3 2110 Ausgang 100m4 4 2612 Ausgang 1000 5 212 M Ausgang 10000 2012 Ausgang 7 204 IL LA Ausgang 100m 8 214 Ausgang 10000 9 Zu S O Ansicht Anschlu I LZ Ausgang 100 10 EEG seite Stecker Teig liw SPELT VEG IE vipunqua E St o 9t 91 Ausgang 00 29 228
7. RSA 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT4 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPTS CARTESIAN S A30 amp GOTO TPOINT TPT5 CARTESIAN RS A 30 WRT Z 5 43 Appendix 7 Robotics CTA amp COMMENT END OPERATION OUTLAY KUKA00 TPT5 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT6 CARTESIAN 30 amp GOTO_TPOINT TPT6 CARTESIAN RS A 307 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT6 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPTT CARTESIAN SA 30 amp GOTO_TPOINT TPT7 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT7 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPTS CARTESIAN SA30 amp GOTO TPOINT TPT8 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT8 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT9 CARTESIAN 5 30 amp GOTO TPOINT TPT9 CARTESIAN RS A 30 WRT Z 5 END_OPERATION OUTLAY KUKA00 TPT9 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT10 CARTESIAN S A30 amp GOTO TPOINT TPT10 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT10 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT11 CARTESIAN SA 30 amp GOTO_TPOINT TPT11 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA0
8. Release 7 0 LLALLA BEGIN SEGMENT STARTUP SET DEVICE MOTION MODE INTERPOLATE END SEGMENT STARTUP JOINTS IN 79 0000 60 0000 56 0000 10 0000 10 0000 125 0000 GOTO JOINTS IN 78 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 80 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 77 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 81 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 76 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 82 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 75 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 83 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 74 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLA Y JOINTS IN 84 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 73 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 85 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 72 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 86 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 71 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 87 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLA
9. Command Source Program file see Appendix 7 CTA creates sequences which contain just move ments so the USR file must contain the other commands which arc necessary for the robot program The robot program must contain a command which turns the Robot Controller output port nr 30 on before a movement and off after tbe motion is completed The robot program must also contain a command which increases the speed at the end of the program before jumping back to the beginning of the program These commands are in the USR file and must have KUKA syntax This means that these commands must be in SRCL language otherwise they can not be postprocessed The USR file must contain the commands that will turn a signal line ON and OFF The PC module uses this signal to determine when each robot move has started and is finished Each robot move is tagged with an operation called OUTLA Y In this sequence a robot move is an operation This operation is named OUTLA Y The contents of the operation are defined in the USR file You must define OUTLAY in your USR file to turn a signal ON at the beginning of each move and OFF at the end of each move It is recommended to add a delay of 0 5 seconds after each move to give the PC time to record the time of the move You can also avoid other synchronization problems by doing this You will need a separate USR file for each sequence that CTA generates All these USR files will be identical e
10. Dear Eric I used the options template file to make a new options file This time i used a conversionfactor of 1 0 as you suggested and this time it worked I got curious and tried several other things and they all worked I even tried to change the conver sionfactor and still it didn t go wrong I still wonder what the mistake s i made was Now another problem occured 11 the sequences that cta made are empty If for examle the first data line of the options file is DATA 30 6050000020 1 0 20 10 0 the sequence for joint 1 is GOTO JOINTS IN O 0 O 0 0 0 GOTO JOINTS IN O 0 0 0 0 0 OUTLAW 39 times this last line The number of goto joints are correct but all angles are zero I can t find out why this happens As for the robot pc interface I allready made it In the CTA manual release 7 0 i found an electronic schematic This i used to build it I also found out that that schematic is not fully correct I took out two things the resistor between the transformer and the voltage regulator the capacitor at the printer port Now it works very good The subject of my study is indeed just evaluation of CTA That is run CTA on the falc cell modelled by H J van Veld hoven But it is not my graduation study It s a small study before a graduation study Thanks for the quick response and all the information you sent me I hope you can help this time too Best regards Tijs Wille
11. Dear Mister Nicole My name is Tijs Willems and 1 am one of the two students that are currently working with Robotics It is my assignment to run CTA on the Kuka robot of the Falc cell of the TUE which has been modelled by Hein Jan van Veldhoven The manual timing file generation method worked very good but a problem occured trying to run the empirical data collection method After typing the name of the options file that is used cta prompts error reading options files We tried several configurations of the options file All uppercase capital letters like in the example in the manual We even tried it one time with a at the end of every line All lowercase letters with and without mixed one with lowercase letters for the names of the files because the filenames in the directory are also lowercase letters This one is included in this letter All the files reffered to in the options file are in the userdirectory that is used This directory contains all the files needed for modelling a cell We include the last options file we tried This one is simular to the options template file that is in the systemlibrary Could you please check this options file for errors and tell us bow to solve this problem With kind regards Tijs Willems Appendix 14 Robotics CTA Mr Eric Nicole McDonnel Douglas Information Systems 106 Bureaux de la Colinne 92213 St Cloud France Eindhoven 25 07 1991
12. END SEGMENT STARTUP 00013 28100 5 00014 28000 PTP X 234 9 1186 3 Z 1437 1 A 0 804 B 43 620 C 109 302 00015 28000 KOM RELEASE 7 0 00016 28000 KOM BEGIN SEGMENT STARTUP 00017 28000 KOM END SEGMENT STARTUP 00018 28100 5 00019 28000 X 234 9 1186 3 Z 1437 1 A 0 804 B 43 620 C 109 302 00020 28000 KOM BEGIN OPERATION OUTLA 00021 28000 5 30 00022 28100 5 00023 28000 PTP 255 6 1182 0 Z 1437 1 A amp 0 196 B 43 620 109 302 00024 28000 85 A 30 00025 28000 WRT Z 5 00026 28000 KOM END OPERATION OUTLAY 00027 28000 KOM BEGIN OPERATION OUTLA 00028 28000 5 30 00029 28100 5 00030 28000 X 214 2 Y 1190 2 Z 1437 1 A 1 804 B 43 620 C 109 302 00031 28000 85 30 00032 28000 WRT 2 5 00033 28000 END OPERATION OUTLAY 00034 28000 KOM BEGIN OPERATION OUTLA 53 Appendix 8 Robotics CTA 00035 28000 S A 30 00036 28100 5 00037 28000 PTP X 276 2 1177 3 Z 1437 1 A 1 196 B 43 620 C 109 302 00038 28000 RS 30 00039 28000 WRT Z 5 00040 28000 END OPERATION OUTLAY 00041 28000 BEGIN OPERATION OUTLA 00042 28000 S 30 00043 28100 5 00044 28000 X 193 4 Y 1193 7 Z 1437 1 A 2 804 B 43 620 C 109 302 00045 28000 RS A 30 00046 28000 WRT Z 5 00047 28000 END OPERATION OUTLAY 00048 28000 BEGIN OPERATION OUTLA 00049 28000 5 30 00050 28100 5
13. GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 48 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 62 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 58 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 72 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 68 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 82 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 78 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 92 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 88 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 102 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 98 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 112 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 108 0000 44 0000 OUTLAY Appendix 5 Robotics CTA Appendix 5 TIJSJ6 SEQ the sequence for axis 6 Release 7 0 466 _SEGMENT STARTUP SET DEVICE MOTION_MODE INTERPOLATE END SEGMENT STARTUP GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 45 0000 GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 44 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 46
14. KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X 942 5 757 7 2 4 1437 1 A 439 196 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA 75 Appendix 10 Robotics CTA 2030 WISTAT D 0 PTP X 582 5 1059 7 Z4 1437 1 A 40 804 B 43 620 109 302 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 X 1059 7 582 5 Z4 1437 1 A 449 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X 757 7 Y 942 5 Z 1437 1 A 50 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X4 1144 8 Y 389 7 Z4 1437 1 A 4 59 196 B 43 620 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X 909 9 Y 796 6 Z 1437 1 A 60 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X 1195 1 185 0 Z4 1437 1 A 469 196 B 43 620 C 109 302 TZ U 30 WCH 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 1034 4 Y 626 5 Z 1437 1 A 70 804 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT_D 0 PTP X 1209
15. KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 417 6 Y 11349 Z 1437 1 A 8 196 B 43 620 C 109 302 RS A 30 l WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 50 Appendix 8 Robotics CTA 1550 SA30 156 0 5 15 1N 2P 3N 4P 5P 6P 157 0 46 5 Y 1208 4 Z 1437 1 A 9 804 B 43 620 C 109 302 1580 RS A30 159 0 WRTZS 160 0 END OPERATION OUTLAY 1610 KOM BEGIN OPERATION OUTLA 1620 SA30 1630 WISTAT T BAA 1N 2P 3N 4P SP 6P 1640 X 437 4 Y 1127 4 Z 1437 1 A4 9 196 B 43 620 C 109 302 1650 RS A30 160 WRTZS 16 0 END OPERATION OUTLAY 168 0 BEGIN OPERATION OUTLA 1690 SA30 170 0 WISTAT T BAA 1N 2P 3N 5P 6P 1710 PTP X 25 4 Y 1209 0 Z 1437 1 A 10 804 43 620 C 109 302 172 0 RSA30 130 WRTZS5 1740 END OPERATION OUTLAY 175 0 KOM BEGIN OPERATION OUTLA 1760 SA30 177 0 WISTAT 1N 2P 3N 5P 6P 178 0 X 626 5 Y 1034 4 Z 1437 1 A 4 19 196 B 43 620 C 109 302 1790 RSA30 1800 WRT Z 5 1810 KOM END OPERATION OUTLAY 1820 BEGIN OPERATION OUTLA 1830 SA30 1840 WISTAT T BAA 1N 2P 3N 4P 5P 6P 185 0 1850 Y 1195 1 Z 1437 1 A 20 804 B 43 620 C 109 302 1860 RS A30 1870 WRTZS 1880 END OPERATION OUTLAY 189 0 BEGIN OPERATION OUTLA 100 SA30 1910 WISTAT_T BAA 1N 2P 3N 4P 5P 6P
16. WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 5P 6P 1127 4 437 4 Z 1437 1 A 80 804 B 43 620 C 109 302 RS A 30 WRT Z 5 END OPERATION OUTLAY ADD P1 KON 10 WRT Z 100 JMP AD 5 END HP91 Appendix 8 The KUKAJ7 SRC file KOM 21 0CT 1991 17 07 58 83 KOM CSP FILE KUKAJ7 KOM RFILE KUKAJ7 KOM KOM KOM KOM DEF HP97 ORI VAR MERGE CELL TISSTR WORLD LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN KOM ACT DEVICE KUKA GES BAN P1 63 Appendix 8 Robotics CTA KOM BEGIN SEGMENT STARTUP KOM WORKING TPOINT KUKA06 KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP WISTAT T BAA 1N 2P 3N 4P 5N 6P PTP X 320 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 PLACE RELEASE 7 0 KOM BEGIN SEGMENT STARTUP KOM WORKING TPOINT KUKA06 KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP WISTAT T BAA 1N 2P 3N 5N 6P PTP X 320 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 STRAIGHT 3D LINEAR KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 4340 7 Y 7313 Z 1216 2 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 WISTAT T BAA 1N 2P 3N 5N 6P LIN X 300 7 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZ5
17. 1 0000 0 0000 00000 0 0000 1 0000 0 0000 KUKAO4 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 10000 0 0000 05 MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 10000 00000 0 0000 0 0000 1 0000 0 0000 KUKA06 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 TOORTS MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 1 0000 0 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 END DISPLAY TPOINTS WORLD 4 TPT1 46 1024 0 0000 TOORTS 1 TP WHITE R 1 0000 G 1 0000 B 1 0000 16 5354 25 9606 0 7193 0 6947 0 0000 0 0000 0 0000 1 0000 14 0640 27 8080 0 7678 0 6406 0 0013 0 0115 0 0158 0 9998 14 0640 27 0720 0 7592 0 6509 0 0013 0 0117 0 0156 0 9998 19 5081 60 2362 0 9063 0 4226 0 0000 0 0000 0 0000 1 0000 WHITE R 1 0000 G 1 0000 B 1 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 WHITE R 1 0000 G 1 0000 B 1 0000 6 1024 10 6299 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 END TPOINTS Appendix 1 Robotics CTA 5 The JOINTSM CRD file The file containing the joint angles relationships COORD SYS NAME JOINTSM COORD SYS TYPE JOINT UNITS ROTATIONS DEG TRANSLATIONS MM NUMBER OF PARAMETERS DOF ORDER
18. 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 4440 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 SWISTAT_T BAA 1N 2P 3N 4P 5N 6N LIN X 200 7 Y 7313 Z 1216 2 A 61 608 B 14 422 169 084 RS A 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5N 6P LIN X 460 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 5N 6N 65 Appendix 8 Robotics CTA LIN X 180 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N SN 6P LIN X 4480 7 Y 7313 Z 1216 2 A 61 608 14 422 C 169 084 RSA30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S 30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 160 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2 3N 4P 5N 6P LIN X4 500 7 Y 7313 Z4 12162 A 61 608 B 14 422 C 169 084 RS 30 WRT 2 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X
19. 250 0000 DEG Low Value 250 0000 DEG Home Position 0 0000 DEG Joint Speed 187 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK Constant Appendix 1 Robotics CTA Translation along X axis Amount 182 3720 Variable Rotation about Y axis Joint Name AXIS5 Joint Constraints High Value 135 0000 DEG Low Value 135 0000 DEG Home Position 0 0000 DEG Joint Speed 182 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK Constant Translation along X axis Amount 141 6800 MM Variable Rotation about X axis Joint Name AXIS6 Joint Constraints High Value 270 0000 DEG Low Value 270 0000 DEG Home Position 0 0000 DEG Joint Speed 225 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK END OF DEVICE DI 22 2 070 INVERSE KINEMATICS DATA SOURCE STANDARD CONFIGURATIONS REACH FORWARD REACH BEHIND NOT VALID CONFIG ELBOW ABOVE ELBOW BELOW NOT VALID CONFIG JT 5 NEGATIVE JT 5 NEGATIVE JT 5 POSITIVE JT 5 POSITIVE Automatic wrist configuration Initial Configuration 1 29964646 MOTION TYPES NUMBER OF TYPES 3 STRAIGHT JOINT SLEW HOME MOTION TYPE JOINT TOOL COORDINATE SYSTEM KUKATOOL TOOLSPEED 0 0000 MM SEC MAX TOOL ACCEL 0 0000 MM SEC SEC COORDINATE SYST
20. 43 620 C 4 109 302 30 RSA30 40 0 WRTZ5 410 END OPERATION OUTLAY 420 KOM BEGIN OPERATION OUTLA 40 SA30 44 0 WISTAT T BAA 1N 2P 3N 4P 5P 6P 450 PTP X 214 2 Y 11902 Z 1437 1 A 1 804 B 43 620 C 109 302 460 RSA30 Appendix 8 Robotics CTA WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P SP 6P X 276 2 Y 11773 Z4 1437 1 A 41 196 B 443 620 C 109 302 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 193 4 Y 1193 7 Z4 1437 1 A 2 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 296 7 Y 11723 Z4 1437 1 A 42 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2 3N 4P 5P 6P PTP X 172 5 1196 9 Z 1437 1 A 3 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 317 1 Y 1167 0 Z 1437 1 A 3 19 B 43 620 C 109 302 RS A 30 WRTZ5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 5P 6P PTP X 151 6 Y 1199 8 Z 1437 1 A 4 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 SWISTA
21. BEGIN HOME 0 00000 0 00000 0 00000 0 00000 0 00000 0 00000 END HOME BEGIN CONFIGURATION FIXED FIXED AUTO 1 1 JT 5 NEGATIVE 2 JT 5 POSITIVE END CONFIGURATION BEGIN JOINT SPEED 237365 1 69297 2 58309 3 26377 3 17650 3 92699 END JOINT_SPEED BEGIN JOINT ACCEL 0 00000 0 00000 0 00000 0 00000 0 00000 0 00000 END JOINT_ACCEL BEGIN TRAJECTORY 2 1 2 3 END TRAJECTORY BEGIN TOOL TIP DEF KUKATOOL END TOOL TIP DEF BEGIN MAX TOOL SPD 0 00000 END MAX TOOL SPD BEGIN TOOL ACCEL 0 00000 END TOOL ACCEL BEGIN CRD SYS REP KUKACART CARTESIAN JOINTS JOINTS END CRD SYS REP BEGIN ADDITIONAL KINEMATICS 0 0 EXTKIN NONE CRD NONE JTMAPCRD NONE END ADDITIONAL KINEMATICS Appendix 1 Robotics CTA Appendix 1 Robotics CTA 3 The KUKA DEV file The file where the KUKA robot is defined as a device BUILD Release 7 0 10000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 00000 10000 0 0000 1 0000 00000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 10000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 00000 1 0000 0 0000 0 0000 0 0000 0 0000 10000 00000 0 0000 0 0000 0 0000 1 0000 0 0000 1 0000 0 0000
22. EF Ausgang 100m 30 2726 Ausgang 31 2630 Ausgang 10084 32 2630 a 0 n V M Y rn Q Y e elektronischer Eingang log 1 15 Y bis 30 Y ir elektransscher Ausgang 6 5 bei 24 100 15 Y tis 30 Y 35 Ybis 30 Y Aela seingang Spule 15 Yds 30 V 8900 x ev aktiv Signal felaiskontaktausgang JA 30V Figure A11 1 Robot Controller connection X13 Appendix 12 Robotics CTA Appendix 12 ROBOT PC interface schematic The schematic of the ROBOT PC interface box The interface change the Robot Controller I O signal between 15 and 30 V probably 24 V into an interrupt that can be received by the PC The interface has an additional fuse on the input current Only the schematic was included in the user guide the interface had to be build This schematic is the original McDonnell Douglas version To make it work I had to remove the encircled items the resistor in front of the voltage regulator and the capacitor between pin 11 and pin 25 78MOSCT 1A 220 Vac or 117 Vac HP 2602 8718 Parts List 220 V 7 5 V or 117 V 7 5 V Transformer 1 Diodes 1 Resisters 220 N Resisters 470 Resisters 1 Potentiometers 10 000 16 Capacitor 10 000 pF 25 V Capacitor 5 LEDs red green 2602 8718 Optocoder 78MOSCT Vottage Regulat
23. KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 360 7 7313 Z 1216 2 A 61 608 B 14 422 C 169 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5N 6P LIN X 280 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 WISTAT T BAA 1N 2P 4P 5N 6P LIN X 380 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA SA30 WISTAT 1N 2P 3N 4P 5N 6N LIN X 260 7 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 Appendix 8 Robotics CTA WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2 3N 4P 5N 6P LIN X 400 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 240 7 Y 7313 Z4 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 420 7 Y 7313 Z 12162 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X4 220 7 Y 7313 Z 1216 2 A 61 608 B
24. OUTLA Y GOTO JOINTS 85 0000 48 0000 50 0000 180 0000 10 0000 155 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 75 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 165 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 85 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 175 0000 OUTLAY GOTO JOINTS 1 85 0000 48 0000 50 0000 180 0000 10 0000 95 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 185 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 105 0000 OUTLAY 30 Appendix 5 Robotics CTA GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 195 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 115 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 205 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 125 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 215 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 135 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 225 0000 OUTLAY 31 Appendix 5 155 5 the sequence for the straight line movement PLACE Release 7 0 BEGIN_SEGMENT STARTUP WORKING_TPOINT KUKA06 TPW SET DEVICE MOTION MODE INTERPOLATE END SE
25. WRTZS amp COMMENT amp COMMENT S 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA 30 amp GOTO JOINTS RS A 30 WRT Z5 amp COMMENT amp COMMENT SA 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT Appendix 7 Robotics CTA JVL CARTESIAN END OPERATION OUTLAY GOTOJVL CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVM CARTESIAN END OPERATION OUTLAY GOTOJVM CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVN CARTESIAN END OPERATION OUTLAY GOTOJVN CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVO CARTESIAN END OPERATION OUTLAY GOTO JVO CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN CARTESIAN END OPERATION OUTLAY GOTOJVP CARTESIAN BEGIN OPERATION OUTLAY GOTOJJOINTS CARTESIAN CARTESIAN END OPERATION OUTLAY GOTO JVQ CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVR CARTESIAN END OPERATION OUTLAY GOTOJVR CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVS CARTESIAN END OPERATION OUTLAY GOTOJVS CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVT CARTESIAN END OPERATION OUTLAY GOTOJVT CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN 39
26. amp GOTO TPOINT TPT26 CARTESIAN RS A 30 WRT Z 5 amp END_OPERATION OUTLAY KUKA00 TPT26 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT27 CARTESIAN SA 30 amp GOTO TPOINT TPT27 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT27 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT28 CARTESIAN 5 30 amp GOTO TPOINT TPT28 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION 28 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT29 CARTESIAN 30 amp GOTO TPOINT 29 CARTESIAN RS A 30 WRTZS5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT29 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT30 CARTESIAN 2 SA30 amp GOTO TPOINT TPT30 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT30 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT31 CARTESIAN SA30 amp GOTO_TPOINT TPT31 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKAO00 TPT31 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT32 CARTESIAN S A 30 amp GOTO_TPOINT TPT32 CARTESIAN RS A 30 WRT Z 5 Appendix 7 Robotics CTA amp COMMENT END OPERATION OUTLAY KUKA00 TPT32 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT33 CARTESIAN 30 amp GOTO_TPOINT TPT33 CARTESI
27. 0 Y 25 4 Z 1437 1 A 79 196 B 43 620 C 109 302 TZ U 30 WCH T 5 76 Appendix 10 Robotics CTA KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Z U30 WISTAT D 0 PTP X 1127 4 Y 437 4 Z 1437 1 80 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY OPT P1 KON 10 WCH T 100 SPG AD 5 END HP91 Appendix 10 The HP97 file KOM 21 0CT 1991 17 07 58 83 KOM CSP FILE KUKAJ7 KOM RFILE KUKAJ7 KOM KOM KOM KOM DEF HP97 ORI VAR KOM MERGE CELL TUSSTR WORLD LAD P1 KON 10 LAD P2 KON 100 KOM DEF AD 5 VGL P1 P2 VIN GR HLT OV KOM ACT DEVICE KUKA SNH BAN P1 KOM BEGINSEGMENT STARTUP KOM WORKING TPOINT KUKA06 KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP WISTAT D 24 X 4320 7 7313 Z4 12162 A 61 608 B 414 422 169 084 PLACE RELEASE 7 0 KOM BEGINSEGMENT STARTUP KOM WORKING TPOINT KUKA 06 KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP WISTAT D 24 PTP X 320 7 Y 7313 Z 1216 2 61 608 14422 C 169 084 KOM STRAIGHT 3D LINEAR KOM BEGIN OPERATION OUTLA ZU30 WISTAT D 24 Appendix 10 Robotics CTA LIN X 43407 Y 7313 Z 1216 2 A 61 608 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 4300 7 Y 7313 Z 1216 2 61 608 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGI
28. 0000 120 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 140 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 110 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 150 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS 85 0000 40 0000 100 0000 0 0000 53 0000 226 0000 OUTLA Y JOINTS IN 85 0000 40 0000 160 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 90 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 170 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 80 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 180 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 70 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 190 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 60 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 200 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 50 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 210 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 40 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 220 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 30 0
29. 1800 100 450 0020 1034100 DATA 3201 7313 12162 364 719 806 002020020700 Figure 3 2 options file DEVICE NAME lt name gt This is the file name of the robot that is in PLACE which you want to test The robot is a device and has the name FILENAME DEV see Appendix 1 You can find it in the directory where all your ROBOTICS files Type all filenames that you must enter without extensions DCI NAME lt name gt This is the name of the Device Control Information DCI see Appendix 1 file for the robot This file often has the same name as the device name JOINT CRD NAME lt name gt This is the name of the joint Coordinate System CRD see Appendix 1 file This defines the relationships between the joint angles and the angles to which the speeds and accelerations apply for joint interpolated motion how to reach a certain point in space given joint angles The name of the joint CRD file must be the same as the joint CRD filename used in the BUILD BLD file and in the DCI file of that device STRAIGHT CRD NAME name This is the name of the CRD file see Appendix 1 which defines the cartesian position of the robot This name must be the same as used in the BLD file and the CDI file OUTPUT NAME name This is the name used as the prefix for all sequences and cells see Appendix 4 and 5 produced by CTA The sequence names consist of the named prefix and a single digit for each jo
30. 2 3N 5N 6N LIN X 3693 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS 30 WRT Z 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 1080 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 4393 731 3 Z4 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 1150 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 68 Appendix 8 Robotics CTA RS A 30 WRT 2 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 5093 731 3 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 SWISTAT_T BAA 1N 2 3N 5N 6 LIN X 1220 7 Y 7313 Z 1216 2 A 61 608 B 14 422 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 5793 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 END OPERATION OUTLAY ADD P1 KON 10 WRT Z 100 JMP AD 5 END HP97 69 Appendix 9 Robotics CTA Appendix 9 Translation german dutch file for the VAX For the VAX VMS system a translation program is wr
31. 41407 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT 1N 2P 3N 4P 5N 6P LIN X 520 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 SWISTAT_T BAA 1N 2P 3N 4P 5N 6N LIN X 120 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 4590 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Appendix 8 Robotics CTA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X4 50 7 731 3 Z4 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 5N 6P LIN X 660 7 Y 7313 Z 1216 2 A 61 608 14 422 C 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 SWISTAT_T BAA 1N 2 3N 5N 6N LIN 193 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 SWISTAT_T BAA 1N 2P 3N 4P 5N 6P LIN X 730 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN
32. 47 8819 0 7104 0 7020 0 0507 0 3065 0 6579 0 6879 0 3065 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 47 8819 0 7104 0 7020 0 0507 0 3065 0 6579 0 6879 0 3065 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 47 8819 0 7104 0 7020 0 0507 0 3065 0 6579 0 6879 0 3065 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 Appendix 4 Robotics CTA 11 8071 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 39 7677 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 14 5630 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 42 5236 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 17 3189 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 45 2795 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 20 0748 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 48 0354 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 22 8307 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 KUKA06 WHITE R 1 0000 G 1 0000 B 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 TOORTS WHITE R 1 0000 G 1 0000 B 1 0000 6 1024 10 6299 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 END TPOINTS Appendix 5 Robotics CTA Appendix 5 The SEQ files generated by CTA Appendix 5 TIJSJ1 SEQ the sequence for axis 1 5000000 PLACE Release 9 0 2498894
33. 56 6274 20 0089 amp LOCATION TPT23 CARTESIAN 660 6666 731 2816 1216 2041 61 6076 14 4223 169 0842 f EXTRA LOC 45 8556 53 3523 38 6926 164 1097 65 2508 22 5465 amp LOCATION 24 CARTESIAN 41 Appendix 7 Robotics CTA 19 3320 7312816 12162041 61 6076 EXTRA LOC 91 0163 34 1816 amp LOCATION TPT25 CARTESIAN 730 6665 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 43 0016 568248 43 0973 1637447 669127 amp LOCATION TPT26 CARTESIAN 89 3319 731 2816 12162041 61 6076 EXTRA LOC 96 8133 34 5360 amp LOCATION 27 CARTESIAN 800 6664 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 40 4229 60 4876 47 9630 163 4873 68 7753 amp LOCATION TPT28 CARTESIAN 159 3317 731 2816 1216 2041 61 6076 EXTRA LOC 102 4738 354019 amp LOCATION TPT29 CARTESIAN 870 6662 731 2816 1216 2041 61 6076 EXTRA LOC 38 0905 643556 amp LOCATION TPT30 CARTESIAN 229 3316 731 2816 12162041 61 6076 EXTRA LOC 107 8980 36 7463 amp LOCATION TPT31 CARTESIAN 940 6686 731 2816 1216 2041 61 6076 EXTRA_LOC 35 9774 684624 amp LOCATION TPT32 CARTESIAN 299 3314 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 113 0105 38 5227 22 2757 185 0331 56 3153 amp LOCATION TPT33 CARTESIAN 1010 6685 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 34 0592 72 8634 65 9746 163 1631 75 9682 amp LOCATION TPT34 CARTESIAN 369 3313 731 2816 1216 2041 61 6076 EXTRA_LOC 117 7636 406782 amp
34. 6 Z 1437 1 A 60 804 B 43 620 C 109 302 RS A 30 WRT 27 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X4 1195 1 Y 185 0 Z4 1437 1 A 4 69 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP 1034 4 Y 626 5 2 4 1437 1 70 804 B 43 620 C 109 302 RS A 30 WRT Z5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 2P 3N 4P 5P 6P PTP X 1209 0 Y 425 4 Z 1437 1 A amp 79 196 B 43 620 C 109 302 52 Appendix 8 Robotics CTA 2630 RSA30 2640 WRTZS 2650 KOM END OPERATION OUTLAY 266 0 BEGIN OPERATION OUTLA 267 0 5 30 2680 S WISTAT_T BAA 1N 2P 3N SP 6P 2690 1127 4 Y 4374 Z 1437 1 A 80 804 43 620 C 109 302 2700 30 27710 WRTZS 2720 END OPERATION OUTLAY 2730 ADD P1 KON 10 2740 WRT Z 100 2750 JMPADS 2760 END HP91 2770 TOTAL NUMBER OF ERRORS THIS COMPILATION 0 2780 TOTAL NUMBER OF WARNINGS THIS COMPILATION 0 Appendix 8 The KUKAJ1 SRL file 00001 22100 2 0 1 HP91 00002 28000 ORI VAR 00003 28000 KOM MERGE CELL TIS WORLD 00004 28000 LAD P1 KON 10 00005 28000 LAD P2 KON 100 00006 28000 DEF AD 5 00007 28000 VGL P1 P2 00008 28000 BAW GR 00009 28000 HLT UN 00010 28000 GES ALL P1 00011 28000 KOM BEGIN SEGMENT STARTUP 00012 28000 KOM
35. 804 B 43 620 C 109 302 RS A 30 WRTZ5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 357 7 1155 2 Z 1437 1 A 5 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 WISTAT T BAA 1N 2 3N 5P 6P PTP X 109 7 Y 12043 Z 1437 1 A 6 804 B 43 620 C 109 302 RS A 30 WRT 7 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 SWISTAT_T BAA 1N 2P 3N 4P 5P 6P PTP X 3778 Y 1148 8 Z 1437 1 A 6 196 B 43 620 C 109 302 RS A 30 WRT Z5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 WISTAT 1N 2P 3N 4P 5P 6P X 88 6 1206 1 Z 1437 1 A 7 804 B 43 620 C 109 302 RS A 30 WRT 2 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 397 7 1142 0 Z 1437 1 A 7 196 B 43 620 C 109 302 RS A 30 WRT 7 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 Appendix 8 Robotics CTA WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 67 6 1207 4 Z4 1437 1 A 8 804 B 43 620 C 109 302 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 417 6 Y 11349 Z4 1437 1 A 8 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P
36. FILE GENERATION METHOD With this method the user is able to create a timing file without requiring an actual robot The user must enter the desired data in response to a series of prompts ENTER DEVICE NAME MINIMUM MAXIMUM PROGRAM SPEED FOR JOINT MOTION MINIMUM MAXIMUM PROGRAM SPEED FOR STRAIGHT LINE MOTION NAME OF JOINT CRD FILE NAME OF STRAIGHT LINE CRD FILE MAXIMUM JOINT VELOCITY FOR JOINT 1 MAXIMUM JOINT VELOCITY FOR JOINT 2 MAXIMUM JOINT VELOCITY FOR JOINT 3 MAXIMUM JOINT VELOCITY FOR JOINT 4 MAXIMUM JOINT VELOCITY FOR JOINT 5 MAXIMUM JOINT VELOCITY FOR JOINT 6 MAXIMUM JOINT ACCELERATION FOR JOINT 1 MAXIMUM JOINT ACCELERATION FOR JOINT 2 MAXIMUM JOINT ACCELERATION FOR JOINT 3 MAXIMUM JOINT ACCELERATION FOR JOINT 4 MAXIMUM JOINT ACCELERATION FOR JOINT 5 MAXIMUM JOINT ACCELERATION FOR JOINT 6 MAXIMUM STRAIGHT LINE VELOCITY MAXIMUM STRAIGHT LINE ACCELERATION It is necessary to have these data available Most of these data are contained in the robot user manual if you do not have an actual robot you probably do not have a robot manual Perhaps it is difficult to obtain these data without a robot manual The data entered into CTA with this method can also be defined in BUILD For this reason you can almost always use BUILD instead of this option The main difference is that BUILD does not work in robot speed units The manual timing file generation method also gives you a way of changing t
37. GOTO JOINTS CARTESIAN JV4 CARTESIAN END OPERATION OUTLAY GOTOJV4 CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JV5 CARTESIAN END OPERATION OUTLAY GOTO JV5 CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JV6 CARTESIAN END OPERATION OUTLAY GOTOJV6 CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JV7 CARTESIAN END OPERATION OUTLAY GOTOJV7 CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JV8 CARTESIAN END OPERATION OUTLAY GOTO JV8 CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN JV9 CARTESIAN END OPERATION OUTLAY GOTO JV9 CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN JVA CARTESIAN END OPERATION OUTLAY GOTO JVA CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN JVB CARTESIAN END OPERATION OUTLAY GOTOJVB CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN 37 es SA30 amp GOTO_JOINTS RSA 30 WRT Z 5 amp COMMENT amp COMMENT S A 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT S A30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT S A 30 amp GOTO JOINTS RS A 30 WRT Z5 amp COMMENT amp COMMENT S A 30 amp GOTO_JOINTS RS A 30 WRT Z5 amp COMM
38. KUKA SNH ALL P1 KOM BEGIN SEGMENT STARTUP INTERPOLATE PTP SYN KOM END SEGMENT STARTUP SWISTAT_D 0 PTP X 234 9 Y 11863 Z 1437 1 A 0 804 B 43 620 C 109 302 CTA RELEASE 70 KOM BEGIN SEGMENT STARTUP KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP WISTAT D 0 PTP X 42349 Y 11863 Z 1437 1 A 0 804 B 43 620 C 109 302 KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 X 255 6 Y 1182 0 Z 1437 1 A 40 196 B 43 620 C 109 302 TZU3 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 SWISTAT_D 0 PTP X 2142 Y 11902 Z 1437 1 1 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY Appendix 10 Robotics CTA KOM BEGIN OPERATION OUTLA Z U 30 WISTAT D 0 PTP X42762 Y 11773 Z 1437 1 A 4 1 196 B 4 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X4 193 4 Y 1193 7 Z4 1437 1 A 2 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 4296 7 Y 11723 Z4 1437 1 A 4 2 196 B 43 620 C 109 302 TZ U 3 0 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 172 5 Y 1196 9 Z 1437 1 A 3 804 43 620 C 109 302 TZ 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 3
39. T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 SWISTAT_D 56 LIN X 200 7 Y 7313 Z 1216 2 A 61 608 B 14 422 169 084 TZ U 30 WCH T 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 460 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 SWISTAT_D 56 LIN X 180 7 Y 7313 2 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 480 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 160 7 Y 7313 Z4 12162 A 61 608 B 14 422 C 169 084 TZU3 WCH T 5 Appendix 10 Robotics CTA END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 SWISTAT_D 24 LIN X 500 7 Y 7313 Z 12162 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA ZU30 SWISTAT_D 56 LIN X 140 7 7313 Z 1216 2 A 61 608 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 4520 7 Y 7313 Z4 12162 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 120 7 Y 7313 Z 1216
40. X 893 Y 7313 Z 1216 2 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 800 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 1593 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 4870 7 Y 7313 2 4 12162 A 61 608 B 14 422 C 169 084 RS A 30 WRTZS 67 Appendix 8 Robotics CTA END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA IN 2P 3N 5N 6N LIN X 2293 Y 7313 Z 4 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT 1N 2P 3N 5N 6P LIN X 940 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA 1N 2P 3N 4P 5N 6N LIN X 2993 Y 731 3 Z4 1216 2 A 61 608 B 14 422 C 169 084 RS A 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5N 6P LIN X 4 1010 7 Y 7313 Z4 12162 61 608 B 414 422 C 169 084 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 SWISTAT_T BAA IN
41. for the existing KUKA workcell model This report does not intend to replace the CTA user guide but should rather be used as an supple mentary to the CTA manual for the computer configuration existing on the TUE I want to thank my coaches and especially Henk van Rooij who helped a lot with the small computer problems that occurred and Anton Smals who helped with the robot and Eric Nicole for his long distance help CONTENTS Summary Preface Contents Chapter 1 Chapter 2 Chapter 3 Introduction Manual timing file generation method Empirical data collection method Setting up an options file Running CTA Creating an user program file Running COMMAND Translating the CSP file into SRCL language 6 Translating the german SRC file into the dutch SRC file Downloading the Robot program Downloading the options file Sending SRC files into the Robot Controller 3 10 Collecting the timing data 3 11 The timing file 3 12 Transferring the timing file back to the workstation Chapter 4 Conclusions and recommendations LITERATURE Appendices can be found as a supplement with the same WPA number Appendix 1 Appendix 2 Appendix 3 Appendix 4 Appendix 5 Appendix 6 Appendix 7 Appendix 8 Appendix 9 Appendix 10 Appendix 11 Appendix 12 Appendix 13 Appendix 14 BLD file DCI file DEV file CEL file CRD files of the KUKA OPT file Axis Constraints CEL file g
42. of an actual robot The robot is programed to make a series of movements from very small to very large These movements are timed by a connected PC After recording this timing data CTA processes them to create a timing file for that robot This timing file is then connected to the robot in the ROBOTICS package Manual timing file generation method This is method where the required robot data not timing data is entered in response to a series of prompts eliminating the need of collecting timing data from a set of robot motions An actual robot is not required for this method The timing file is as accurate as the data which is entered Perhaps this method is interesting for pre examining a certain robot McDonnell Douglas claims that in most cases the predicted cycle times using these two methods accurate within 5 of the observed time This prediction also goes for those cases where other moves and different loading conditions were used than the moves and loading conditions during the data collection This is due to the interpolation and the extrapolation algorithms which are used to generate accurate cycle time predictions The interpolation algorithm is used when a motion falls within the range of the tested motions The extrapolation algorithm is used to predict cycle times beyond the maximum or minimum limits of the tested motions and or speeds but such extrapolated values are often less reliable than the interpolated valu
43. of the Robot Controller 19 Robotics CTA With a PTP or a LIN statement the robot reaches a point in space However the configuration of the robot arm is not determined when only a cartesian position is given There are several arm con figurations possible reaching one certain point in space To reach a certain point in space with a certain arm configuration requires a statement containing the arm position together with the cartesian position of the point This statement is the WISTAT command The WISTAT command determines the robot work area and the robot arm configuration WISTAT T BAA 2N 3P 4N 5N 6P is such a WISTAT command BAA determines the robot work area BAA stands for Basic work Area and OVA stands for Overhead work Area 1P to 6P determines the robot arm configuration The total range of motion of a joint axis constraints is divided into a positive and a negative area with regard to the middle of the range The P stands for the positive side of the middle and the N stands for the negative side of the middle There are three ways to define the WISTAT statement they are all the same SWISTAT T OVA 1N 2N 4N SN is the text version SWISTAT_D 91 is the decimal version SWISTAT_H SA is the hexadecimal version It is advisable not to use the Text version of the WISTAT statement This can cause translation errors when translating it to a KUKA robot file It is better to use the WISTAT_D or the WISTAT_H stat
44. robot and one for straight line movement Run CTA on the workstation the HP and choose menu option 1 Generate sequence and cell You will be prompted to enter the name of the options file without extension If the options file is complete and correct messages will appear on your screen Reading options file Merging device Generating the sequence for joint 1 Generating the sequence for joint 2 Generating the sequence for joint 3 Generating the sequence for joint 4 Generating the sequence for joint 5 Generating the sequence for joint 6 Generating the sequence for straight line moves Generating cell See Appendix 4 and 5 After generating the cell the main menu is redisplayed Now you are ready with CTA on the workstation and can exit the main menu If the options file is not correct the message Error reading in options file appears and anything can be wrong See the remarks in chapter 3 1 11 Robotics CTA 33 Creating an User program file The user program file USR file see Appendix 6 is skeleton of your robot program and therefore the skeleton of the program that will be generated by COMMAND see Figure 3 4 Together with the sequences generated by the USR file will form a program which contains all the moves and the speed settings Also this program must contain statements for timing the moves In COMMAND the USR file together with the sequence SEO file will be processed into a CSP file
45. 0 757 7 942 5 Z 1437 1 50 804 B 43 620 C 109 302 00213 28000 RS 30 00214 28000 WRT 2 5 00215 28000 END OPERATION OUTLAY 00216 28000 OUTLA 00217 28000 5 30 00218 28100 5 00219 28000 PTP X 1144 8 389 7 Z 1437 1 A 59 196 B 43 620 C 109 302 00220 28000 RS A 30 0022128000 WRT 2 5 00222 28000 KOM END OPERATION OUTLAY 00223 28000 KOM BEGIN OPERATION OUTLA 00224 28000 5 30 00225 28100 5 00226 28000 PTP X 909 9 796 6 Z 1437 1 A 60 804 B 43 620 C 109 302 00227 28000 RS 30 00228 28000 WRT Z 5 00229 28000 END OPERATION OUTLAY 00230 28000 KOM BEGIN OPERATION OUTLA 00231 28000 5 A 30 00232 28100 5 00233 28000 X 1195 1 185 0 Z 1437 1 A 69 196 B 43 620 C 109 302 00234 28000 RS 30 00235 28000 WRT Z 5 00236 28000 KOM END OPERATION OUTLAY 00237 28000 BEGIN OPERATION OUTLA 00238 28000 5 A 30 00239 28100 5 00240 28000 X 1034 4 626 5 Z 1437 1 70 804 43 620 C 109 302 00241 28000 RS 30 00242 28000 WRT 2 5 00243 28000 END OPERATION OUTLAY 00244 28000 KOM BEGIN OPERATION OUTLA 00245 28000 S A 30 00246 28100 4 00247 28000 PTP X 1209 0 Y 25 4 Z 1437 1 A amp 79 196 B 43 620 C 109 302 00248 28000 RS A 30 00249 28000 WRT Z 5 00250 28000 KOM END OPERATION OUTLAY 57 Appendix 8 Robotics C
46. 0 00172 28000 WRT 2 5 00173 28000 KOM END OPERATION OUTLA Y 00174 28000 KOM BEGIN OPERATION OUTLA 00175 28000 5 30 00176 28100 5 00177 28000 X 796 6 909 9 Z 1437 1 A 29 196 B 43 620 109 302 00178 28000 RS 30 00179 28000 WRT Z 5 00180 28000 END OPERATION OUTLAY 00181 28000 BEGIN OPERATION OUTLA 00182 28000 5 30 00183 28100 5 00184 28000 389 7 Y 1144 8 Z 1437 1 A 30 804 B 43 620 C 109 302 00185 28000 RS A 30 00186 28000 WRT Z 5 00187 28000 END OPERATION OUTLAY 00188 28000 BEGIN OPERATION OUTLA 00189 28000 5 30 00190 28100 5 00191 28000 X 942 5 757 7 Z 1437 1 A 39 196 B 43 620 C 109 302 00192 28000 85 30 00193 28000 WRT Z 5 00194 28000 KOM END OPERATION OUTLAY 00195 28000 BEGIN OPERATION OUTLA 00196 28000 5 30 Appendix 8 Robotics CTA 00197 28100 5 00198 28000 X 582 5 Y 1059 7 Z 1437 1 A 40 804 B 43 620 C 109 302 00199 28000 RS 30 00200 28000 WRT Z 5 00201 28000 KOM END OPERATION OUTLAY 00202 28000 KOM BEGIN OPERATION OUTLA 00203 28000 S A 30 00204 28100 5 00205 28000 PTP X 1059 7 Y 582 5 Z 1437 1 A 49 196 B 43 620 C 109 302 00206 28000 RS A 30 00207 28000 WRT Z 5 00208 28000 END OPERATION OUTLAY 00209 28000 BEGIN OPERATION OUTLA 00210 28000 5 A 30 00211 28100 5 00212 2800
47. 0 140 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 150 0000 10 0000 134 0000 OUTLAY 27 Appendix 5 Robotics CTA GOTO JOINTS IN 85 0000 48 0000 50 0000 150 0000 10 0000 134 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 160 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 160 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 170 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 170 0000 10 0000 134 0000 OUTLAY Appendix 5 Robotics CTA Appendix 5 TIJSJ5 SEQ the sequence for axis 5 addi CTA Release 7 0 u BEGIN _SEGMENT STARTUP SET DEVICE MOTION MODE INTERPOLATE END SEGMENT STARTUP GOTO _JOINTS IN 85 0000 48 0000 50 0000 180 0000 2 0000 44 0000 NOP GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 3 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 1 0000 44 0000 OUTLAY GOTOJ OINTS IN 85 0000 48 0000 50 0000 180 0000 4 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 0 0000 44 0000 OUTLA Y GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 5 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 1 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 6 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 2 0000 44 0000 OUTLA Y GOTO JOINTS IN
48. 0 50 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 60 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 60 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 70 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 70 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 80 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 80 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 90 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 90 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 100 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 100 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 110 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 110 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 120 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 120 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 130 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 130 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 140 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 000
49. 0 00 530 260 0020 1022100 DATA 850 480 500 00 100 1340 0020 1032100 DATA 850 480 500 1800 20 440 0 020 1 0 20100 DATA 850 480 500 1800 100 450 0020 1 034 10 0 DATA 3201 313 12162 364 719 806 0 0 20 20 0 20 70 0 16 Appendix 3 Robotics CTA Appendix 3 The axis constraints The constraints of axis 1 are 160 degrees and 160 degrees but because of the welding thread support post the range from 0 degrees to 160 degrees is not usable Figure A3 1 Axis 1 159 degrees and 1 degree The constraints of axis 2 are 110 degrees and 19 degrees UU HH Figure A3 2 Axis 2 15 degrees 45 degrees and 105 degrees 17 Appendix 3 Robotics CTA The constraints of axis 3 are 5 degrees and 265 degrees Figure A3 3 Axis 3 10 degrees 130 degrees and 250 degrees The constraints of axis 4 are 250 degrees and 250 degrees Figure A3 4 Axis 4 170 degrees to 170 degrees Appendix 3 Robotics CTA The constraints of axis 5 are 135 degrees and 135 degrees Figure Am Axis 5 108 degrees 2 degrees and 112 degrees The constraints of axis 6 are 270 degrees and 270 degrees Figure A3 6 Axis 6 135 degrees to 225 degrees 19 Appendix 4 Robotics CTA Appendix 4 The CEL file TIJSS CEL generated by the CTA module PLACE Release 7 0 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KU
50. 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 DEVKUKA KUKA06 END CONTROL DISPLAY KUKA00 KUKA00 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 1 0000 00000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 00000 KUKA01 1 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 02 2 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 1 0000 0 0000 00000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 10000 0 0000 KUKA03 KUKA03 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 10 1 0000 0 0000 0 0000 1 0000 0 0000 0 0000 4 KUKA04 1 0000 0 0000 0 0000 1 0000 0 0000 0 0000 KUKA05 5 1 0000 0 0000 0 0000 1 0000 0 0000 0 0000 KUKA06 KUKAO06 1 0000 0 0000 0 0000 10000 0 0000 0 0000 END DISPLAY TPOINTS Appendix 1 Robotics CTA 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 WHITE H 0 0 S 0 000 1 1 TOLER 0 0500 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 WHITE H 0 0 S 0 000 1 1 1 1 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 END TPOINTS 11 Appendix 1 Robotics CTA 4 The CEL file The file containing the cell This cell was especially made for CTA containin
51. 0 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 54 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 36 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 55 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 35 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS TN 85 0000 65 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 25 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO _JOINTS IN 85 0000 75 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 15 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 85 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 5 0000 40 0000 0 0000 54 0000 226 0000 OUTLA Y GOTO JOINTS IN 85 0000 95 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 5 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 105 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO _ JOINTS IN 85 0000 15 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY Appendix 5 Robotics CTA Appendix 5 TIJSJ3 SEQ the sequence for axis 3 ee CTA Release 7 0 4496 SEGMENT STARTUP SET DEVICE MOTION MODE INTERPOLATE END SEGMENT STARTUP JOINTS IN 85 0000 40 0000 130 0000 0 0000 53 0000 226 0000 JOINTS IN 85
52. 0 TPT11 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT12 CARTESIAN S A30 amp GOTO TPOINT TPT12 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT12 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT13 CARTESIAN S A30 amp GOTO_TPOINT TPT13 CARTESIAN RS A 307 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT13 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT14 CARTESIAN SA30 amp GOTO TPOINT TPT14 CARTESIAN RS A 30 WRT Z 5 Appendix 7 Robotics CTA amp COMMENT END OPERATION OUTLAY KUKA00 TPT14 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT15 CARTESIAN SA 30 amp GOTO TPOINT TPT15 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT15 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKAOO TPT16 CARTESIAN SA30 amp GOTO TPOINT TPT16 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT16 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT17 CARTESIAN SA30 amp GOTO TPOINT 17 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT17 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT18 CARTESIAN 2 SA 30 amp GOTO TPOINT 18 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT18 CARTESIAN amp COMMENT BEGIN OPERATION
53. 0 TPT39 OUTLAY KUKA00 TPT40 OUTLAY 32 Appendix 5 Robotics CTA Appendix 6 Robotics CTA Appendix 6 The USR files The USR file for axis 1 to 6 are all the same except for the program names and sequence names FUNCTION ON HP91 WISTAT T LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN amp OPERATION OUTLAY S A 30 amp INC GOTO RS A 30 WRTZS amp END OPERATION amp REF SEQ TIJSJ1 GES ALL P1 amp INC SEG STARTUP amp INC GOTO amp INC SEQ TIJSJ1 ADD P1 KON 10 WRT Z 100 JMPADS lt little error in the software Figure A6 1 USR file for axis 1 FUNCTION ON HP97 WISTAT T LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN amp OPERATION OUTLAY S A 30 amp INC GOTO RS A 30 WRTZS amp END OPERATION amp REF SEQ TIJSJ7 GES BAN P1 amp INC SEG STARTUP amp INC GOTO amp INC SEQ TIJSJ7 ADD P1 KON 10 WRT Z 100 JMPADS lt little error in the software Figure A6 2 The USR file for straight line movement 33 Appendix 7 Robotics CTA Appendix 7 The CSP files generated by COMMAND The CSP files are very the same for all axis Therefore only the CSP files for axis 1 and the straight line movement are included CSP file for axis 1 amp BEGIN DEVICES amp KUKA 6 KUKA amp END DEVICES amp BEGIN LOCATIONS KUKA amp LOCATION JV CARTESIAN 234 9390 1186 2666 1437 0870 0 8036 43 6203 109 3018 EXTRA LOC 79 0000
54. 00 48 0000 50 0000 5 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 6 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 6 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 7 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 7 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 8 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 8 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 9 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 9 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 10 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 10 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 20 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 20 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 30 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 30 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 40 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 40 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 50 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 000
55. 000 50 0000 180 0000 10 0000 25 0000 OUTLAY GOTO JOINTS 85 0000 48 0000 50 0000 180 0000 10 0000 65 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 15 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 75 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 5 0000 OUTLAY GOTO JOINTS 85 0000 48 0000 50 0000 180 0000 10 0000 85 0000 OUTLAY GOTO _ JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 5 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 95 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 15 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 105 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 25 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 115 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 35 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 45 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 135 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 55 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 145 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 65 0000
56. 000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 230 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 20 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 240 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 10 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 250 0000 0 0000 53 0000 226 0000 OUTLAY Appendix 5 Robotics CTA Appendix 5 TIJSJA SEQ the sequence for axis 4 Release 7 0 22277 BEGIN SEGMENT STARTUP SET DEVICE MOTION MODE INTERPOLATE END SEGMENT STARTUP JOINTS IN 85 0000 48 0000 50 0000 0 0000 10 0000 134 0000 JOINTS IN 85 0000 48 0000 50 0000 1 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 1 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 2 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 2 0000 10 0000 134 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 3 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 3 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 4 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 4 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 5 0000 10 0000 134 0000 OUTLAY JOINTS IN 85 00
57. 0000 amp LOCATION JVT CARTESIAN 909 8675 796 5965 1437 0870 60 8036 43 6203 109 3018 EXTRA LOC 139 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVU CARTESIAN 1195 0799 184 9566 1437 0870 69 1964 43 6203 109 3018 EXTRA LOC 9 0000 60 0000 56 0000 10 0000 10 0000 125 0000 35 Appendix 7 Robotics CTA amp LOCATION JVV CARTESIAN 1034 3721 626 4976 1437 0870 70 8036 43 6203 109 3018 EXTRA LOC 149 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVW CARTESIAN 1209 0413 25 3768 1437 0870 79 1964 43 6203 109 3018 EXTRA LOC 1 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVX CARTESIAN 1127 4478 437 3628 1437 0870 80 8036 43 6203 109 3018 EXTRA LOC 159 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp END LOCATIONS amp BEGIN TOOL LOCATIONS KUKA amp END TOOL LOCATIONS amp BEGIN PROGRAM KUKAJ1 amp COMMENT MERGE CELL TUS WORLD FUNCTION ON HP91 WISTAT T LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1P2 BAW GR HLT UN amp ACTIVE DEVICE KUKA GES ALL P1 amp COMMENT BEGIN SEGMENT STARTUP amp SET DEVICE MOTION_ _MODE INTERPOLATE amp COMMENT END SEGMENT STARTUP amp GOTO_JOINTS JV CARTESIAN amp COMMENT CTA RELEASE 7 0 amp COMMENT BEGIN_SEGMENT STARTUP amp SET_DEVICE MOTION MODE INTERPOLATE amp COMMENT END SEGMENT STARTUP amp GOTO JOINTS JV CARTESIAN amp COM
58. 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 43 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 47 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 42 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 48 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 41 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 49 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 40 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 50 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 39 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 51 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 38 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 52 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 37 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 53 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 36 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 54 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 35 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 55 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0
59. 0000 40 0000 129 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 131 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 128 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 132 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 127 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 133 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 126 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 134 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 125 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 135 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 124 0000 0 0000 53 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 40 0000 136 0000 0 0000 53 0000 226 0000 OUTLA Y GOTO JOINTS IN 85 0000 40 0000 123 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 137 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 122 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 138 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 121 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40 0000 139 0000 0 0000 53 0000 226 0000 OUTLAY JOINTS IN 85 0000 40
60. 17 1 Y 1167 0 Z 1437 1 A 3 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU30 WISTAT D 0 PTP X4 151 6 Y 1199 8 Z 1437 1 A 4 804 B 43 620 C 109 302 TZ U 30 WCHTS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 4337 4 Y 1161 3 Z4 1437 1 A 4 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 0 PTP X 130 7 1202 2 Z 1437 1 A 5 804 B 43 620 C 109 302 TZ U 30 73 Appendix 10 Robotics CTA WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 7030 WISTAT_D 0 PTP X 357 7 Y 11552 Z 1437 1 A 5 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X4 109 7 Y 12043 Z 1437 1 A 6 804 B 443 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2 030 WISTAT D 0 PTP X 43778 11488 Z 1437 1 A amp 6 196 B 43 620 C 109 302 TZU30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 PTP 886 Y 1206 1 Z4 1437 1 A 7 804 B 443 620 109 302 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 X 43977 1142 0 Z 1437 1 A amp 7 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM B
61. 1920 X 796 6 909 9 Z 1437 1 A 29 196 B 43 620 C 109 302 1930 RSA30 1940 WRTZ5 1950 END OPERATION OUTLAY 19650 BEGIN OPERATION OUTLA 1970 SA30 198 0 WISTAT 2P 3N 5P 6P 1990 X 389 7 Y 1144 8 Z 1437 1 A 30 804 B 43 620 C 109 302 2000 RS A 30 2010 WRTZS5 2020 END OPERATION OUTLAY 203 0 KOM BEGIN OPERATION OUTLA 240 SA30 205 0 WISTAT_T BAA 1N 2P 3N 5P 6P 2060 PTP X 942 5 Y 757 7 Z 1437 1 A amp 39 196 B 43 620 C 109 302 207 0 RS A30 208 0 WRTZS5 51 Appendix 8 Robotics CTA KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 582 5 1059 7 Z 1437 1 A 40 804 B 43 620 C 109 302 RS A 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 1059 7 Y 582 5 Z 1437 1 A 49 196 B 43 620 C 109 302 RS A 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 757 7 Y 942 5 Z 1437 1 A 50 804 B 43 620 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 1144 8 Y 389 7 Z4 1437 1 A amp 59 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA 30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 909 9 Y 796
62. 2 A 61 608 B 14 422 C 169 084 TZU30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Z U30 WISTAT D 24 LIN X 4590 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 450 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU30 WISTAT D 24 LIN X 660 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 193 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 80 Appendix 10 Robotics CTA TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 24 LIN X 730 7 Y 7313 Z4 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 56 LIN 893 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 24 LIN X 4800 7 7313 Z 1216 2 A 61 608 B 414 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU30 WISTAT D 56 LIN X 1593 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WIS
63. 3768 1209 0413 1437 0870 10 8036 43 6203 109 3018 EXTRA LOC 89 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVK CARTESIAN 626 4976 1034 3721 1437 0870 19 1964 43 6203 109 3018 EXTRA LOC 59 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVL CARTESIAN 184 9566 1195 0799 1437 0870 20 8036 43 6203 109 3018 EXTRA LOC 99 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVM CARTESIAN 796 5965 909 8675 1437 0870 29 1964 43 6203 109 3018 EXTRA_LOC 49 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVN CARTESIAN 389 6701 1144 8066 1437 0870 30 8036 43 6203 109 3018 1 109 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVO CARTESIAN 942 4912 757 7170 1437 0870 39 1964 43 6203 109 3018 EXTRA_LOC 39 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVP CARTESIAN 582 5437 1059 7489 1437 0870 40 8036 43 6203 109 3018 EXTRA LOC 119 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVQ CARTESIAN 1059 7489 582 5437 1437 0870 49 1964 43 6203 109 3018 EXTRA LOC 29 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVR CARTESIAN 757 7170 942 4912 1437 0870 50 8036 43 6203 109 3018 EXTRA 129 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVS CARTESIAN 1144 8066 389 6701 1437 0870 59 1964 43 6203 109 3018 EXTRA LOC 19 0000 60 0000 56 0000 10 0000 10 0000 125
64. 3N 4P 5P 6P PTP X 46 5 1208 4 Z 1437 1 A 9 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 437 4 Y 11274 Z 1437 1 A 9 196 B 43 620 C 109 302 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 254 1209 0 Z 1437 1 A 10 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 SWISTAT_T BAA 1N 2P 3N 4P 5P 6P X 4626 5 1034 4 Z 1437 1 A 419 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5P 6P PTP 185 0 Y 1195 1 Z 1437 1 A 20 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 796 6 Y 909 9 Z 1437 1 A 29 196 B 43 620 C 109 302 RSA30 WRT Z 5 KOM END OPERATION OUTLAY 61 Appendix 8 Robotics CTA KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 389 7 Y 1144 8 Z 1437 1 A 30 804 B 443 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 942 5 Y 757 7 Z 1437 1 A 439 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM B
65. 47 7030 170 4697 187 5414 198 5465 210 4418 11 9107 23 8397 35 8251 48 1346 59 5170 71 7878 83 0113 94 7816 103 2985 120 6030 9 6207 19 2912 29 0292 38 8335 47 9494 57 7062 66 4728 77 6699 87 7605 104 0312 14 7626 29 7202 44 5471 59 5547 74 5681 89 2637 104 0526 117 0536 130 8112 144 5954 14 4857 29 0961 43 6559 58 2490 72 7630 87 3017 102 4829 115 4532 132 1807 144 0448 14 0913 28 2991 42 5324 56 9287 70 9537 84 8870 100 0598 113 2248 354 7448 372 0510 179 0765 376 7237 374 3593 419 7095 456 9751 423 1652 410 0351 408 8598 444 7992 439 0294 1677 7722 774 5982 755 2845 742 9110 710 8800 732 0033 715 7963 654 6669 732 3884 603 4160 216 7926 231 2254 75 2075 125 0274 162 7487 191 8844 214 8175 241 4964 253 0565 266 1037 289 8425 293 7101 349 2196 469 9942 537 8602 582 5465 580 1643 625 0907 641 3167 582 7220 620 0493 539 0150 129 7949 141 6039 17 8946 35 8609 53 9299 71 8617 90 0723 107 1702 125 3008 144 0406 158 3402 178 8294 166 5520 333 9252 501 2703 658 9147 910 3048 916 0662 1204 3011 11313131 11313131 1076 9231 87 Appendix 13 Robotics CTA Appendix 14 Robotics CTA Appendix 14 Correspondence The three letters that were send to the McDonnell Douglas Information Systems in Paris for help Mr Eric Nicole McDonnel Douglas Information Systems 106 Bureaux de la Colinne 92213 St Cloud France Eindhoven 17 07 1991
66. 57 70 9314 Appendix 7 Robotics CTA amp BEGIN PROGRAM KUKAJ7 amp COMMENT MERGE CELL TUSSTR WORLD FUNCTION ON HP97 WISTAT T LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN amp ACTIVE DEVICE KUKA GES BAN P1 amp COMMENT BEGIN SEGMENT STARTUP amp COMMENT WORKING TPOINT KUKAOG TPW amp SET DEVICE MOTION MODE INTERPOLATE amp COMMENT END SEGMENT STARTUP amp GOTO_TPOINT TPT CARTESIAN amp COMMENT PLACE RELEASE 7 0 amp COMMENT BEGIN SEGMENT STARTUP amp COMMENT WORKING TPOINT KUKAO6 TPW amp SET DEVICE MOTION MODE INTERPOLATE amp COMMENT END _SEGMENT STARTUP amp GOTO TPOINT TPT CARTESIAN amp SET DEVICE MOTION MODE STRAIGHT amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT1 CARTESIAN SA30 amp GOTO_TPOINT TPT1 CARTESIAN RSA 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT1 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT2 CARTESIAN S A30 amp GOTO TPOINT TPT2 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT2 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT3 CARTESIAN SA30 amp GOTO TPOINT TPT3 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT3 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT4 CARTESIAN 30 amp GOTO_TPOINT 4 CARTESIAN
67. 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV0 CARTESIAN 255 6065 1181 9857 1437 0870 0 1964 43 6203 109 3018 EXTRA 1 78 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV1 CARTESIAN 214 2001 1190 1862 1437 0870 1 8036 43 6203 109 3018 EXTRA 1 80 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV2 CARTESIAN 276 1960 1177 3447 1437 0870 1 1964 43 6203 109 3018 EXTRA LOC 77 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV3 CARTESIAN 193 3958 1193 7432 1437 0870 2 8036 43 6203 109 3018 EXTRA LOC 81 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV4 CARTESIAN 296 7015 1172 3451 1437 0870 21964 43 6203 109 3018 EXTRA LOC 76 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV5 CARTESIAN 172 5327 1196 9366 1437 0870 3 8036 43 6203 109 3018 EXTRA LOC 82 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV6 CARTESIAN 317 1165 1166 9884 1437 0870 3 1964 43 6203 109 3018 EXTRA 1 75 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV7 CARTESIAN 151 6170 1199 7655 1437 0870 4 8036 43 6203 109 3018 EXTRA LOC 83 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV8 CARTESIAN 337 4350 1161 2762 1437 0870 41964 43 6203 109 3018 EXTRA LOC 74 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JV9 CARTESIAN 130 6551 1202 2288 1437 0870 5 8036 43 6203 109 3018
68. 61 8732 40 8650 24 6050 167 4304 59 8752 6 1232 amp LOCATION TPT4 CARTESIAN 280 6674 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 67 3015 38 3989 22 1555 168 9374 58 8232 0 1895 amp LOCATION TPT5 CARTESIAN 380 6672 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 60 5936 41 5502 25 3053 167 0991 60 1607 7 5028 amp LOCATION TPT6 CARTESIAN Appendix 7 Robotics CTA 260 6674 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 68 7335 37 8573 21 6323 1693601 58 5824 13948 amp LOCATION TPT7 CARTESIAN 400 6672 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 59 3453 42 2606 26 0402 166 7855 60 4555 8 8403 amp LOCATION TPT8 CARTESIAN 240 6675 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 70 1939 37 3482 21 1454 169 8011 58 3506 3 0176 amp LOCATION TPT9 CARTESIAN 420 6671 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 58 1285 42 9949 26 8096 166 4892 60 7597 101358 amp LOCATION TPT10 CARTESIAN 220 6675 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 71 6816 36 8729 20 6949 170 2601 58 1278 4 6777 amp LOCATION 11 CARTESIAN 440 6671 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 56 9430 43 7521 27 6132 166 2099 61 0735 11 3894 amp LOCATION TPT12 CARTESIAN 200 6676 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 73 1953 36 4325 202813 1707367 579142 63734 amp LOCATION TPT13 CARTESIAN 460 6
69. 670 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 55 7886 44 5312 28 4509 165 9469 61 3972 12 6014 amp LOCATION TPT14 CARTESIAN 180 6676 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 74 7336 36 0283 19 9048 171 2306 57 7100 81030 amp LOCATION TPT15 CARTESIAN 480 6670 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 54 6649 45 3313 29 3225 165 7000 61 7310 13 7721 amp LOCATION TPT16 CARTESIAN 160 6676 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 76 2947 35 6613 19 5655 171 7409 57 5152 9 8644 amp LOCATION 17 CARTESIAN 500 6670 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 53 5717 46 1514 30 2280 165 4686 62 0754 14 9020 amp LOCATION TPT18 CARTESIAN 140 6677 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 77 8769 35 3328 19 2638 172 2670 57 3303 11 6554 amp LOCATION TPT19 CARTESIAN 520 6669 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA LOC 52 5084 46 9908 31 1672 165 2521 62 4305 15 9916 amp LOCATION TPT20 CARTESIAN 120 6677 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 79 4780 35 0436 18 9998 172 8079 57 1555 13 4735 amp LOCATION TPT21 CARTESIAN 590 6668 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA 49 0148 50 0701 34 7207 164 6045 63 7636 19 4971 amp LOCATION TPT22 CARTESIAN 50 6679 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 85 1985 343531 18 3758 174 8015
70. 7913 22 1 9724 23 25 9882 24 0 7835 TPT25 28 7441 TPT26 3 5394 TPT27 31 5000 28 7913 28 6 2953 28 7913 29 34 2559 28 7913 TPT30 9 0512 28 7913 TPT31 37 0118 28 7913 TPT32 28 7913 28 7913 28 7913 28 7913 28 7913 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 47 8819 0 7104 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 0 7020 0 0507 Appendix 4 Robotics CTA 0 6579 0 6879 0 6579 0 6879 0 3065 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 0 6579 0 6879 0 3065 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879
71. 85 0000 48 0000 50 0000 180 0000 7 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 3 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 8 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 4 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 9 0000 44 0000 OUTLAY GOTO_JOINTS IN 85 0000 48 0000 50 0000 180 0000 5 0000 44 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 10 0000 44 0000 OUTLAY JOINTS IN 85 0000 48 0000 50 0000 180 0000 6 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 11 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 7 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 12 0000 44 0000 OUTLA Y GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 8 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 22 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 18 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 32 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 28 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 42 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 38 0000 44 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 50 0000 180 0000 52 0000 44 0000 OUTLAY
72. ADD P1 KON 10 WRT Z 100 JMP AD 5 amp END PROGRAM 47 Appendix 8 Robotics CTA Appendix 8 The LIS SRC and SRL files generated by the postprocessor The LIS SRC and SRL files for the different axis are very long and very the same Therefor only the LIS file and SRL file of axis 1 are included and for axis 1 and the straight line movement the SRC file is included The KUKAJ1 LIS file 10 20 KOM SRCL TRANSLATOR OUTPUT 30 KOM 40 50 21 OCT 1991 17 03 09 03 60 KOM CSP FILE KUKAJ1 70 KOM RFILE KUKAJ1 80 KOM 90 KOM 100 110 120 DEF HP91 130 ORI VAR 140 KOM MERGE CELL TUS WORLD 150 WISTAT T 160 LAD P1 KON 10 170 LAD P2 KON 100 180 DEFADS 190 VGL P1 P2 20 0 BAW GR 210 HLT UN 220 ACT DEVICE KUKA 23 0 GES ALL P1 24 0 KOM BEGIN SEGMENT STARTUP 25 0 INTERPOLATE PTP SYN 260 KOM END SEGMENT STARTUP 27 0 WISTAT_T BAA 1N 2P 3N 4P 5P 6P 28 0 PTP X 234 9 Y 1186 3 Z 1437 1 0 804 B 43 620 C 109 302 29 0 KOM CTA RELEASE 7 0 300 KOM BEGIN SEGMENT STARTUP 310 INTERPOLATE PTP SYN 32 0 KOM END SEGMENT STARTUP 330 WISTAT T BAA 1N 2P 3N 5P 6P 340 PTP X 234 9 1186 3 Z 1437 1 0 804 B 43 620 C 109 302 35 0 KOM BEGIN OPERATION OUTLA 36 0 SA30 37 0 SWISTAT 1N 2P 3N SP 6P 38 0 PTP X 255 6 1182 0 Z 1437 1 0 196 B
73. AN RSA 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT33 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT34 CARTESIAN S 30 amp GOTO TPOINT TPT34 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT34 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT35 CARTESIAN SA 30 amp GOTO_TPOINT TPT35 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT35 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT36 CARTESIAN S A 30 amp GOTO TPOINT TPT36 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT36 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT37 CARTESIAN S A 30 amp GOTO TPOINT TPT37 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT37 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT38 CARTESIAN SA30 amp GOTO TPOINT TPT38 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT38 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT39 CARTESIAN S A 30 amp GOTO TPOINT TPT39 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT39 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT40 CARTESIAN S A 30 amp GOTO TPOINT TPT40 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT40 CARTESIAN
74. EGIN OPERATION OUTLA 2030 WISTAT D 0 PTP X 67 6 1207 4 Z 1437 1 A 8 804 B 443 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 203 WISTAT D 0 PTP X 417 6 Y 1134 9 Z4 1437 1 A 4 8 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 0 74 Appendix 10 Robotics CTA PTP X 46 5 Y 1208 4 Z 1437 1 A 9 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Z U 30 WISTAT D 0 PTP X 4374 1127 4 Z 1437 1 A 49 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU30 WISTAT D 0 f PTP X 25 4 1209 0 Z 1437 1 A 10 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 7030 WISTAT D 0 X 626 5 Y 1034 4 Z4 1437 1 A 19 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 7030 WISTAT D 0 PTP X 185 0 Y 1195 1 Z 1437 1 A 20 804 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 SWISTAT_D 0 PTP X 796 6 Y 909 9 Z 1437 1 A 29 196 B 43 620 C 109 302 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 7030 WISTAT D 0 PTP X 389 7 Y 1144 8 Z 1437 1 A 30 804 B 43 620 109 302 TZ U 30 WCH T 5
75. EGIN OPERATION OUTLA SA 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP 582 5 1059 7 Z 1437 1 A 40 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 SWISTAT_T BAA IN 2 3N 5P 6 PTP X 1059 7 Y 582 5 Z 1437 1 A 49 196 B 43 620 C 109 302 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 SWISTAT_T BAA 1N 2P 3N 4P 5P 6P PTP 7577 942 5 Z 1437 1 A 50 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 1144 8 389 7 Z 1437 1 A 59 196 B 43 620 C 109 302 RS 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT 1N 2P 3N 5P 6P X 909 9 Y 796 6 Z 1437 1 A 60 804 B 43 620 C 109 302 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT_T BAA 1N 2P 3N 4P 5P 6P PTP X 1195 1 Y 185 0 Z 1437 1 A 69 196 B 43 620 C 109 302 RSA 30 62 Appendix 8 Robotics CTA WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2 3N 4P 5P 6P PTP 1034 4 Y 626 5 Z 4 1437 1 A 70 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA SA30 WISTAT T BAA 2P 3N 4P 5P 6P PTP X41209 0 Y 425 4 Z 1437 1 A 79 196 B 43 620 C 109 302 RS A 30
76. EM REPRESENTATIONS NUMBER OF COORDINATE SYSTEMS 2 KUKACART CARTESIAN JOINTS JOINTS World to Robot Base Transformation Translations 0 0000 0 0000 0 0000 Rotations 0 0000 0 0000 0 0000 DEG t Link Names Number of Links 7 Part Names Number of Parts 7 t gt to N m 2 Appendix 1 Robotics CTA Appendix 1 Robotics CTA 2 The KUKA DCI file The file containing the kinematics and the axis constraints of the KUKA robot BEGIN HEADER ROBOT LINKS 7 END HEADER BEGIN KINEMATICS 6 00000 1 00000 1 00000 1 00000 1 00000 1 00000 1 00000 1 00000 0 00000 0 00000 0 00000 0 00000 1 00000 0 00000 0 00000 0 00000 0 00000 1 00000 30 51000 0 00000 1 00000 2 00000 3 00000 4 00000 5 00000 6 00000 AXIS AXIS2 AXIS3 AXIS4 AXIS5 AXIS6 14 00000 1 00000 3 00000 6 00000 9 00000 1100000 13 00000 2 0000 3 0000 14 7500 1 0000 3 0000 999 9900 2 0000 3 0000 15 7600 1 0000 2 0000 40 0000 1 0000 2 0000 999 9900 2 0000 30000 31 5000 1 0000 20000 40 0000 1 0000 2 0000 999 9900 2 0000 10000 243200 1 0000 1 0000 999 9900 2 0000 1 0000 7 1800 10000 2 0000 999 9900 2 0000 10000 5 5780 1 0000 1 0000 999 9900 END KINEMATICS BEGIN JOINT CONSTRAINTS 6 1 0000 0 0000 160 0000 0 0000 2 0000 45 5000 645000 0 0000 3 0000 130 0000 135 0000 0 0000 4 0000 0 0000 250 0000 0 0000 5 0000 0 0000 135 0000 0 0000 6 0000 00000 270 0000 00000 END JOINT_CONSTRAINTS
77. ENT amp COMMENT S A30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT Appendix 7 Robotics CTA JVC CARTESIAN END OPERATION OUTLAY GOTO JVC CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVD CARTESIAN END OPERATION OUTLAY GOTOJVD CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVE CARTESIAN END OPERATION OUTLAY GOTOJVE CARTESIAN BEGIN OPERATION OUTLAY GOTOJJOINTS CARTESIAN JVF CARTESIAN END OPERATION OUTLAY GOTOJVF CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVG CARTESIAN END OPERATION OUTLAY GOTOJVG CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVH CARTESIAN END OPERATION OUTLAY GOTOJVH CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN JVI CARTESIAN END OPERATION OUTLAY GOTO JVI CARTESIAN BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN JVJ CARTESIAN END OPERATION OUTLAY GOTOJVJ CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN JVK CARTESIAN END OPERATION OUTLAY GOTOJVK CARTESIAN BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN 38 ee S A 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT S A30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30
78. EXTRA LOC 84 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVA CARTESIAN 357 6507 1155 2103 1437 0870 5 1964 43 6203 109 3018 EXTRA LOC 73 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVB CARTESIAN 109 6534 1204 3259 1437 0870 6 8036 43 6203 109 3018 EXTRA LOC 85 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVC CARTESIAN 377 7574 1148 7925 1437 0870 6 1964 43 6203 109 3018 EXTRA LOC 72 0000 60 0000 56 0000 10 0000 10 0000 125 0000 34 Appendix 7 Robotics CTA amp LOCATION JVD CARTESIAN 88 6183 1206 0562 1437 0870 7 8036 43 6203 109 3018 EXTRA LOC 86 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVE CARTESIAN 397 7490 1142 0248 1437 0870 7 1964 43 6203 109 3018 EXTRA LOC 71 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVF CARTESIAN 67 5562 1207 4192 1437 0870 8 8036 43 6203 109 3018 EXTRA 1 87 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVG CARTESIAN 417 6195 1134 9092 1437 0870 81964 43 6203 109 3018 EXTRA LOC 70 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVH CARTESIAN 46 4736 1208 4143 1437 0870 9 8036 43 6203 109 3018 EXTRA LOC 88 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVI CARTESIAN 437 3628 1127 4478 1437 0870 9 1964 43 6203 109 3018 EXTRA 1 69 0000 60 0000 56 0000 10 0000 10 0000 125 0000 amp LOCATION JVJ CARTESIAN 25
79. GMENT STARTUP GOTO _TPOINT SET DEVICE MOTION MODE STRAIGHT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT GOTO_TPOINT KUKA00 TPT1 OUTLAY KUKA00 TPT2 OUTLAY KUKA00 TPT3 OUTLAY KUKA00 TPT4 OUTLAY KUKA00 TPTS OUTLAY KUKA00 TPT6 OUTLAY KUKA00 TPT7 OUTLAY KUKA00 TPT8 OUTLAY KUKA00 TPT9 OUTLAY KUKA00 TPT10 OUTLAY KUKA00 TPT11 OUTLAY KUKA00 TPT12 OUTLAY KUKA00 TPT13 OUTLAY KUKA00 TPT14 OUTLAY KUKA00 TPT15 OUTLAY KUKA00 TPT16 OUTLAY KUKA00 TPT17 OUTLAY KUKA00 TPT18 OUTLAY KUKA00 TPT19 OUTLAY KUKA00 TPT20 OUTLAY KUKA00 TPT21 OUTLAY KUKA00 TPT22 OUTLAY KUKA00 TPT23 OUTLAY KUKA00 TPT24 OUTLAY KUKA00 TPT25 OUTLAY KUKA00 TPT26 OUTLAY KUKA00 TPT27 OUTLAY KUKA00 TPT28 OUTLAY KUKA00 TPT29 OUTLAY KUKA00 TPT30 OUTLAY KUKA00 TPT31 OUTLAY KUKA00 TPT32 OUTLAY KUKA00 TPT33 OUTLAY KUKA00 TPT34 0UTLAY KUKA00 TPT35 OUTLAY KUKA00 TPT36 OUTLAY KUKA00 TPT37 OUTLAY KUKA00 TPT38 OUTLAY KUKA0
80. H ingave geheugen F Falsch boleaans vals GES Geschwindigkeits Anweisung SNH snelheids instruktie GL Gleich 0 GL gelijk aan 8 GR groesser 0 GR groter dan 9 GRF Greifer Anweisung GRP grijper instruktie HLT Halte Anweisung HLT geprogrammeerde halt instruktie HP Hauptprogramm HP hoofdprogramma IA Impulsausgeng IU impulsuitgang KL Kleiner 0 KL kleiner dan 0 KON Konstant KON konstant LAD Lade Anweisung LAD taad instruktie LIN Lineare Bewegungs Anweisung LIN lineaire bewegings instruktie M Merker T tussengeheugen op 1 MT Multiplikation vermenigvuldigen MW M Wort MW parsmeterwoord M NB Nicht Bitspeicher NB bitgeheugen op 0 NBE Nicht Bearbeiten NAF niet afwerken NE Nicht Eingang NI niet ingang NM Nicht Merker NT tussengeheugen op 0 NOP Leerbetehl NUL nuloperatie instruktie NPK Nullpunktkorrektur Anweisung NPK nulpuntkorrektie instruktie Tafelnummer NR tabelhummer 0 ODER Anweisung 0 bolesanse OF instruktie ORI Orientierungs Anweisung ORI orienterings instruktie OV Override OV overloop P Parameter P parameter PAU Peripherie Ausgabe Anweisung PUI periferie uitgave instruktie PNO Pendeln Anweisung PNO pendelen instruktie POS Aktuelle Position laden AAN ingave door aanleren POS Ist position uebernehmen POS positie overnemen PRG laden per Programm NUM numerische ingave PTP PTP Bewegungs Anweisung PTP punt tot punt bewegings instr PW parameterwoord RDL Restdurchlaufzahl loeschen RAU rest door
81. In order of Professor Coaches Author The ROBOTICS Cycle Time Analyzer The first WPA Nr 1193 M C Willems TUE WPA Prof Dr Ir A C H van der Wolf Ing J J M Schrauwen F Soers M C Willems Eindhoven 8 november 1991 ONDERZOEKOPDRACHT TECHNISCHE UNIVERSITEIT EINDHOVEN 28 juni 1991 Faculteit Werktuigbouwkunde Vakgroep WPA Student J P Melio M C Willems Hoogleraar Prof dr ir A C H van der Wolf Begeleiders 3 Ing J J M Schrauwen F G J Soers Start Juni 1991 Einde Augustus 1991 Titel De module van Robotics Onderwerp Binnen het Robotica pakket Robotics van McDonnell Douglas is een module CTA Cycle Time Analysis aanwezig Deze module wordt gebruikt om werkelijke snelheden en versnellingen aan het model toe te voegen zodat off line pro grammeren nauwkeuriger wordt Binnen de CTA module kan de cyclustijd op twee manieren worden aangepast Door het terugkoppelen van de werkelijke snelheden en versnellingen verkregen door metingen aan de robot Snelheden en versnellingen worden geschat aan de hand van technische specificaties van de fabrikant i Opdracht Onderzoek de bruikbaarheid van deze module en schrijf een beknopte handlei ding Bij het onderzoek wordt gebruik gemaakt van de bestaande configuratie van de gemodelleerde Kuka cell Fb arg Prof dr ir A C H van der J J M Schrauwen F G J Soers Robotics CTA SUMMARY Off line programmin
82. KAO04 KUKAQ3 10000 00000 0 0000 243200 0 0000 10000 00000 0 0000 0 0000 0 0000 10000 0 0000 05 KUKA04 10000 00000 0 0000 7 1800 0 0000 10000 00000 0 0000 0 0000 00000 10000 00000 KUKA06 KUKA05 10000 00000 00000 5 5780 0 0000 10000 00000 0 0000 0 0000 00000 10000 0 0000 TOORTS KUKA06 1 0000 0 0000 0 0000 0 0000 0 0000 0 7071 0 7071 0 0000 0 0000 0 7071 0 7071 0 0000 END CONTROL DEVKUKA KUKA06 END CONTROL DISPLAY KUKA00 KUKA00 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA01 KUKA0i MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 1 0000 0 0000 0 0000 0 0000 0 0000 10000 00000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA02 1 0000 0 0000 0 0000 KUKA03 Appendix 4 Robotics CTA KUKA02 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA03 MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 10000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA04 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA05 MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 0 0000 00000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA06 O
83. LOCATION TPT35 CARTESIAN 1080 6683 731 2816 1216 2041 61 6076 EXTRA LOC 323138 77 6815 amp LOCATION TPT36 CARTESIAN 439 3337 731 2816 12162041 61 6076 EXTRA_LOC 122 1358 43 1601 amp LOCATION TPT37 CARTESIAN 1150 6682 731 2816 1216 2041 61 6076 144223 169 0842 EXTRA_LOC 30 7217 83 1060 82 5216 163 1280 82 9713 amp LOCATION TPT38 CARTESIAN 509 3336 731 2816 1216 2041 61 6076 EXTRA LOC 126 1260 45 9204 amp LOCATION TPT39 CARTESIAN 1220 6681 731 2816 1216 2041 61 6076 EXTRA LOC 29 2658 89 6114 amp LOCATION TPT40 CARTESIAN 579 3334 731 2816 1216 2041 61 6076 14 4223 169 0842 EXTRA LOC 129 7484 489200 33 3737 190 4949 59 2082 amp END LOCATIONS 14 4223 169 0842 182221 176 9057 56 2402 14 4223 169 0842 18 5402 179 0506 56 0071 14 4223 169 0842 19 3271 181 1625 55 9382 14 4223 169 0842 53 3378 163 3171 70 8715 14 4223 169 0842 20 5757 183 1743 56 0398 14 4223 169 0842 59 2995 163 2152 73 2469 14 4223 169 0842 24 4156 186 7047 56 7667 14 4223 169 0842 73 5795 163 1419 79 1437 14 4223 169 0842 26 9840 188 1720 57 3964 14 4223 169 0842 29 9717 189 4327 58 2082 14 4223 169 0842 93 7357 163 0811 87 8997 amp BEGIN TOOL_LOCATIONS KUKA amp END TOOL LOCATIONS 42 26 7065 25 1727 33 4142 27 4078 39 9796 29 2805 46 2666 30 8133 52 1679 32 0186 57 6112 32 8930 62 5572 33 4012 33 42
84. Long Acc Max Vel Max Vel Max Vel Max Vel Max Vel Max Vel Max Vel Jt 1 Speed 1 Jt 1 Speed 2 Jt 1 Speed m Jt 2 Speed 1 Jt n Speed m Strt Speed 1 Strt Speed m Robotics CTA 3 12 Transferring the timing file back to the workstation After the TIM file has been generated on the PC it must be transferred to the workstation This is the same procedure as downloading a robot program but then in the other way around From the PC via STARTNET to your VAX user directory Then copy the TIM file to the PLACE system library in order for all PLACE users to access it In addition be sure that the necessary CRD files are also in the PLACE system library Each time during a PLACE session a device is merged into a cell PLACE searches for a TIM file with the same name as the robot s DCI file If a TIM file is found its cycle time model is used whenever that device is moved Whenever a TIM file is being used the symbol f appears after the device name in the joints display window 27 Robotics CTA Chapter 4 CONCLUSIONS AND RECOMMENDATIONS Running CTA in it self was and is not a big problem Because this was the first time CTA has been performed many often small problems occurred Some problems have occurred trying to run the options file There was no information about the use of lower and uppercase characters Using lower case characters caused empty sequences Wri
85. MENT BEGIN OPERATION OUTLAY GOTOJOINTS CARTESIAN SA30 amp GOTO_JOINTS JV0 CARTESIAN RS A 30 WRT Z 5 amp COMMENT END OPERATION OUTLAY GOTO JVO CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN SA30 amp GOTO_JOINTS JV1 CARTESIAN RS A 30 WRTZS5 amp COMMENT END_OPERATION OUTLAY GOTO JV1 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN SA30 amp GOTO JOINTS JV2 CARTESIAN RS A 30 WRT Z5 amp COMMENT END OPERATION OUTLAY GOTO JV2 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY GOTO JOINTS CARTESIAN 36 SA 30 amp GOTO_JOINTS RSA 30 WRT Z 5 amp COMMENT amp COMMENT SA 30 amp GOTO_JOINTS RS A 30 WRT 25 amp COMMENT amp COMMENT SA 30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT S A 30 amp GOTO_JOINTS RS A 30 WRT Z5 amp COMMENT amp COMMENT SA 30 amp GOTO_JOINTS RS A 30 WRT Z5 amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT SA30 amp GOTO JOINTS RS A 30 WRTZS amp COMMENT amp COMMENT Appendix 7 Robotics CTA JV3 CARTESIAN END OPERATION OUTLAY GOTO JV3 CARTESIAN BEGIN OPERATION OUTLAY
86. N OPERATION OUTLA ZU30 WISTAT D 24 LIN X 4360 7 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 4280 7 Y 7313 Z 1216 2 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 4380 7 Y 7313 Z4 12162 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 SWISTAT_D 56 LIN X 260 7 7313 Z 1216 2 A 61 608 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Z U 30 WISTAT D 24 LIN X 400 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 56 LIN X 42407 Y 7313 Z 12162 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 78 Appendix 10 Robotics CTA ZU 30 SWISTAT_D 24 LIN X 420 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 2207 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 END OPERATION OUTLAY BEGIN OPERATION OUTLA ZU 30 SWISTAT_D 24 LIN X 440 7 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH
87. OUTLAY KUKAOO TPT19 CARTESIAN S A 30 amp GOTO TPOINT TPT19 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT19 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT20 CARTESIAN S A 30 amp GOTO TPOINT TPT20 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT20 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT21 CARTESIAN SA 30 amp GOTO_TPOINT TPT21 CARTESIAN RS A 30 WRT 27 5 amp COMMENT END OPERATION OUTLAY KUKA00 TPT21 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT22 CARTESIAN SA30 amp GOTO TPOINT 22 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT22 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT23 CARTESIAN S A 30 amp GOTO TPOINT TPT23 CARTESIAN RS A 30 WRTZS 45 Appendix 7 Robotics CTA amp COMMENT END OPERATION OUTLAY KUKA00 TPT23 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT24 CARTESIAN 30 amp GOTO TPOINT TPT24 CARTESIAN RS A 30 WRT 2 5 amp COMMENT END OPERATION 24 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT25 CARTESIAN SA30 amp GOTO TPOINT TPT25 CARTESIAN RS A 30 WRTZS amp COMMENT END OPERATION OUTLAY KUKA00 TPT25 CARTESIAN amp COMMENT BEGIN OPERATION OUTLAY KUKA00 TPT26 CARTESIAN S A30
88. RANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 00000 0 0000 10000 00000 0 0000 0 0000 10000 0 0000 TOORTS MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 1 0000 0 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 END DISPLAY TPOINTS WORLD 4 TPT1 46 1024 WHITE R 1 0000 G 1 0000 B 1 0000 16 5354 25 9606 0 7193 0 6947 0 0000 0 0000 0 0000 1 0000 14 0640 27 8080 0 7678 0 6406 0 0013 0 0115 0 0158 0 9998 14 0640 27 0720 0 7592 0 6509 0 0013 0 0117 0 0156 0 9998 19 5081 60 2362 0 9063 0 4226 0 0000 0 0000 0 0000 1 0000 WHITE R 1 0000 G 1 0000 B 1 0000 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 28 7913 47 8819 0 7104 0 7020 0 0507 0 6579 0 6879 0 3065 21 TPT6 10 2402 28 7913 TPT7 15 7520 28 7913 TPT8 9 4528 28 7913 TPT9 16 5394 28 7913 TPT10 8 6654 28 7913 TPT11 17 3268 28 7913 TPT12 7 8780 28 7913 TPT13 18 1142 28 7913 14 7 0906 28 7913 15 18 9016 28 7913 16 6 3031 28 7913 17 19 6890 28 7913 18 5 5157 28 7913 19 20 4764 28 7913 20 4 7283 28 7913 21 23 2323 28
89. RATION OUTLAY KOM BEGIN OPERATION OUTLA 5 30 WISTAT 1N 2P 3N 5P 6P PTP X 276 2 Y 11773 Z 1437 1 A 41 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2 3N 5P 6P X 4193 4 1193 7 Z 1437 1 A 2 804 B 443 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 296 7 Y 1172 3 Z 1437 1 A 42 196 B 443 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 172 5 Y 1196 9 Z 1437 1 A 3 804 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P X 317 1 1167 0 Z 1437 1 A 43 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 151 6 Y 1199 8 Z 1437 1 A 4 804 B 43 620 C 109 302 59 Appendix 8 Robotics CTA RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 337 4 Y 11613 Z 1437 1 A 4 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 130 7 Y 12022 Z 1437 1 A 5
90. ROBOTICS Program a certain movement in ROBOTICS and predict the cycle time Send the program to the robot and measure the real cycle time Do this for different loading conditions Make a small guide for the different steps in making an off line robot program containing also technical information like DNC sending mode information 9600 E 8 2 and how to change it STARTNET ETHERNET explanations HP VAX connections A SRCL postprocessor which operates under UNIX is needed to postprocess the programs on the HP workstation Find out whether this postprocessor is available or has to be written Try to program other robot types with ROBOTICS Use the PLACE system library where a lot of robot are available On the TUE are a few other robot s mostly ASEA s Make a program for such a robot When you want to program one of the ASEA s you will need the ABB OLP compiler This compiler is the last step in sending the robot program to the robot The compiler is not yet available on the TUE and has to be ordered first 28 Robotics CTA Connect the PC of the Robot Controller to Ethernet Try to actually weld a product off line Use for example the existing DAF products which are transported to the robot by the transport system Model one or a few products in UNIGRAPHICS and place them in PLACE Make a sequence that welds a product an send it to the robot You can increase the difficulty by changing the position of the product by turning the
91. SAME AS JOINTS NAMES J1 J2 J3 J4 JS 56 END NAMES OV tA Q Q 14 Appendix 1 Robotics CTA 6 The KUKACART CRD file The file for defining a cartesian position of the robot COORDINATE SYSTEM NAME KUKACART COORDINATE SYSTEM TYPE MATRIX UNITS ROTATIONS DEG TRANSLATIONS MM DEFINITION XYZ ANGLES ANGLES RZRY RX TOOL RY 90 0 RZ 180 0 NUMBER OF PARAMETERS 6 ORDER 1 2 P2 3 P3 4 P4 5 1 P5 180 0 6 1 P6 180 0 END ORDER INVERSE 1 2 P2 3 P3 4 P4 5 1 P5 180 0 1 P6 180 0 END INVERSE LIMITS 4 HI 1800 LO 1800 UNITS DEG 5 HI 900 LO 900 UNITS DEG 6 HI 1800 LO 180 0 UNITS END LIMITS mot u x Appendix 2 Robotics CTA Appendix 2 The OPT file DEVICE NAME KUKA DCI NAME KUKA JOINT CRD NAME JOINTSM STRAIGHT CRD NAME KUKACART OUTPUT NAME TUSJ CELL OR DEVICE CELL CELL TIS NUMBER OF JOINTS 6 NUMBER OF JOINT SPEEDS 10 MIN JOINT SPEED 0 00 MAX JOINT SPEED 100 0 JOINT SPEED FACTOR 10 0 JOINT SPEED UNITS PCNT MIN STRAIGHT SPEED 0 0 MAX STRAIGHT SPEED 100 0 STRAIGHT SPEED FACTOR 10 0 CONVERSION FACTOR 1 0 STRAIGHT SPEED UNITS M MIN FOR LOOP TRUE DATA 790 600 560 100 100 1250 0020 1014100 DATA 850 450 400 00 540 260 0 020 1010100 DATA 850 400 130
92. SJ2 SEQ the sequence for axis 2 ne CTA Release 70 9 BEGIN SEGMENT STARTUP SET DEVICE MOTION MODE INTERPOLATE END _ SEGMENT STARTUP GOTO JOINTS IN 85 0000 45 0000 40 0000 0 0000 54 0000 226 0000 GOTO JOINTS IN 85 0000 46 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 44 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 47 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 43 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 48 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 42 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 49 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS TN 85 0000 41 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 50 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO_JOINTS IN 85 0000 40 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO_JOINTS IN 85 0000 51 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 39 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 52 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO J OINTS IN 85 0000 38 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO_JOINTS IN 85 0000 53 0000 40 0000 0 0000 54 0000 226 0000 OUTLAY GOTO JOINTS IN 85 0000 37 0000 4
93. T T BAA 1N 2P 3N SP 6P PTP X4 337 4 Y 1161 3 Z4 1437 1 A amp 4 196 B 4 43 620 C 109 302 RS A 30 WRTZS END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 49 149 0 Appendix 8 Robotics CTA PTP X 130 7 1202 2 Z 1437 1 A 5 804 B 43 620 109 302 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT 1N 2P 3N 5P 6P PTP X 357 7 1155 2 Z 1437 1 A 4 5 196 B 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X 4109 7 Y 1204 3 Z 1437 1 A 6 804 B 43 620 109 302 RSA 30 WRT Z 5 END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 377 8 11488 Z4 1437 1 A 46 196 B 43 620 C 109 302 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A 30 WISTAT T BAA 1N 2P 3N 4P 5P 6P PTP X 88 6 Y 1206 1 Z4 1437 1 A 7 804 43 620 C 109 302 RS A 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1 2P 4P 5P 6P X 43977 Y 1142 0 Z 1437 1 A 4 7 196 B 43 620 C 109 302 RS A 30 WRTZS KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA SA30 WISTAT T BAA 1N 2P 3N 5P 6P PTP X467 6 Y 1207 4 Z 1437 1 A 8 804 B 43 620 C 109 302 RS A 30 WRT Z 5
94. TA 00251 28000 KOM BEGIN OPERATION OUTLA 00252 28000 5 A 30 0025328100 5 00254 28000 PTP X 1127 4 Y 437 4 Z 1437 1 A 80 804 B 43 620 C 109 302 00255 28000 RS A 30 00256 28000 WRT Z 5 00257 28000 END OPERATION OUTLAY 00258 28000 ADD P1 KON 10 00259 28000 WRT Z 100 00260 28000 JMP AD 5 00261 28000 END HP91 00262 22150 Appendix 8 The KUKAJ1 SRC file KOM 21 0CT 1991 17 03 09 03 CSP FILE KUKAJ1 KUKAJ1 KOM KOM KOM KOM DEF HP91 ORI VAR MERGE CELL TI SS WORLD LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN KOM ACT DEVICE KUKA GES ALL Pi KOM BEGIN SEGMENT STARTUP KOM INTERPOLATE PTP SYN KOM END SEGMENT STARTUP SWISTAT_T BAA 1N 2P 3N 4P SP 6P PTP X 234 9 1186 3 Z 1437 1 A 0 804 43 620 C 109 302 KOM CTA RELEASE 7 0 KOM BEGIN SEGMENT STARTUP KOM INTERPOLATE PTP SYN END SEGMENT STARTUP WISTAT T BAA 1N 2P 4P 5P 6P Appendix 8 Robotics CTA PTP X 234 9 Y 1186 3 Z 1437 1 A 0 804 B 43 620 C 109 302 KOM BEGIN OPERATION OUTLA SA30 SWISTAT_T BAA 1N 2 3N 4P 5P 6P X 255 6 1182 0 Z 1437 1 A 0 196 B 43 620 C 109 302 RSA 30 WRT Z 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA S A30 WISTAT T BAA IN 2P 3N 4P 5P 6P PTP X 42142 Y 11902 Z 1437 1 A 1 804 B 43 620 109 302 RS A 30 WRT Z 5 KOM END OPE
95. TAT D 24 LIN X 870 7 Y 7313 Z4 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 SWISTAT_D 56 LIN X 2293 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY BEGIN OPERATION OUTLA 2030 WISTAT D 24 LIN X 940 7 Y 7313 Z 4 1216 2 A 61 608 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU3 81 Appendix 10 Robotics CTA WISTAT D 56 LIN X 299 3 Y 7313 Z 1216 2 A 61 608 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT 0 24 LIN 10107 Y 7313 Z 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA 2030 WISTAT D 56 LIN 3693 Y 7313 Z4 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA Z U 30 SWISTAT D 24 LIN X 1080 7 Y 7313 Z 4 1216 2 A 61 608 B 14 422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 56 LIN X 4393 731 3 Z 1216 2 61 608 14422 C 169 084 TZ U 30 WCH T 5 KOM END OPERATION OUTLAY KOM BEGIN OPERATION OUTLA ZU 30 WISTAT D 24 LIN X 1150 7 Y 731 3 Z4 1216 2 A 61 608 B 14 422 C 169 084 TZU 30 WCH T 5 KOM END OPERATION OUTLAY
96. TLAY 00132 28000 KOM BEGIN OPERATION OUTLA 00133 28000 S 30 00134 28100 5 00135 28000 X 417 6 1134 9 Z 1437 1 A 8 196 B 43 620 109 302 00136 28000 RS 30 00137 28000 WRT 2 5 00138 28000 KOM END OPERATION OUTLAY 00139 28000 BEGIN OPERATION OUTLA 00140 28000 S 30 00141 28100 5 00142 28000 PTP X 46 5 Y 1208 4 Z 1437 1 A 9 804 B 43 620 C 109 302 55 Appendix 8 Robotics CTA 00143 28000 RS 30 00144 28000 WRT 2 5 00145 28000 END OPERATION OUTLAY 00146 28000 KOM BEGIN OPERATION OUTLA 00147 28000 S 30 00148 28100 5 00149 28000 PTP X 437 4 1127 4 Z 1437 1 A 9 196 43 620 C 109 302 00150 28000 RS 30 00151 28000 WRT Z 5 00152 28000 KOM END OPERATION OUTLAY 00153 28000 KOM BEGIN OPERATION OUTLA 00154 28000 5 A 30 00155 2810 5 00156 28000 PTP X 25 4 Y 1209 0 Z 1437 1 A 10 804 B 43 620 C 109 30 00157 28000 RS A 30 00158 28000 WRT Z 5 00159 28000 END OPERATION OUTLAY 00160 28000 BEGIN OPERATION OUTLA 00161 28000 5 30 00162 28100 5 00163 28000 PTP X 626 5 1034 4 Z 1437 1 A 19 196 B 43 620 109 302 00164 28000 RS A 30 00165 28000 WRT Z 5 00166 28000 KOM END OPERATION OUTLAY 00167 28000 KOM BEGIN OPERATION OUTLA 00168 28000 S A 30 00169 2810 5 00170 28000 PTP 185 0 1195 1 Z 1437 1 A 20 804 B 43 620 C 109 302 00171 28000 85 A 3
97. Y GOTO JOINTS IN 70 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 88 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 69 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 89 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 59 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 99 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 49 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 109 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 39 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 119 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 29 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 129 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO_JOINTS IN 19 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 139 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY GOTO JOINTS IN 9 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 149 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 1 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY JOINTS IN 159 0000 60 0000 56 0000 10 0000 10 0000 125 0000 OUTLAY Appendix 5 Robotics CTA Appendix 5 TIJ
98. and ready to run the CTA module which is on PC must be executed Make sure you a directory which contains the OPT file and has room for the separate timing data files that CTA creates Type CTA Now you prompted to enter the name of the OPT file If CTA finds it the main menu is displayed Figure 3 9 Cycle Time Analyzer main menu Robotics CTA begin the timing process select option 1 on the menu If the FOR LOOP parameter in the OPT file is TRUE the following menu is then displayed Figure 3 10 CTA startup menu FOR LOOP TRUE If the FOR LOOP parameter in the OPT file is FALSE the following menu is then displayed Figure 3 11 CTA startup menu FOR LOOP FALSE In order to create the TIM file see Appendix 13 the timing data must be collected for all joints 23 Robotics CTA including the straight line at all speeds The above menus show that there are several ways to organize the timing data collection Select one of the valid menu items Press any other key to go back to the main menu Depending on which menu item you select CTA will either instruct you which program to run on your robot or ask you to enter the joint and or speed which you want to time You should always visually check at the beginning of a timing session to make sure the PC is in fact timing the robot move This is easily done by watching the light on the ROBOT PC interface box and make sure it comes on w
99. ase 7 0 DEVICE NAME KUKA DEVICE TYPE ROBOT UNITS MILLIMETERS 9404966 Constant Translation along Z axis Amount 374 6500 ettette Variable Rotation about Z axis Joint Name AXIS1 Joint Constraints High Value 160 0000 DEG Low Value 160 0000 DEG Home Position 0 0000 DEG Joint Speed 136 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK Constant Translation along Z axis Amount 400 3040 MM Constant Rotation about Y axis Amount 40 0000 DEG Variable Rotation about Y axis Joint Name AXIS2 Joint Constraints High Value 110 0000 DEG Low Value 19 0000 DEG Home Position 0 0000 DEG Appendix 1 Robotics CTA Joint Speed 97 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK ettette Constant Translation along Z axis Amount 800 1000 MM Constant Rotation about Y axis Amount 40 0000 DEG 0459966 Variable Rotation about Y axis Joint Name AXIS3 Joint Constraints High Value 5 0000 DEG Low Value 265 0000 DEG Home Position 0 0000 DEG Joint Speed 148 0000 DEG SEC Joint Acceleration 0 0000 DEG SEC SEC END OF LINK Constant Translation along X axis Amount 617 7280 Variable Rotation about X axis Joint Name AXIS4 Joint Constraints High Value
100. ata lines specify the robot s starting positions for each sequence of moves They also indicate the number and the length of the test moves Each joint axis is tested with two sets of moves The set of short moves might cover one tenth of the total range of motion of a joint The set of long moves should cover the whole range of motion To determine the range of motion axis constraints see Appendix 3 see the BLD file or examine it in PLACE There must be a data line for each joint of the robot The first data line represents the first joint the second line the second joint etc The last data line if you have six joints the seventh is reserved for the straight line movement Robotics CTA The columns on each data line are reserved for initial position values The first column is for the angle of the first joint etc So the third column of the second line is for the angle of the third joint in the starting position for the testing movements for the second joint Positions values for any joint which not exists should be set to zero see column 7 The first seven columns together form the starting positions called the initial position of the robot for the test moves The initial position of the joint that will be tested must be in the starting position near the middle of its range of motion The other joint angles could have the value which you like them to have They form the position of the robot during the test Columns number eight to
101. below HP91 WISTAT T BAA 1N 2P 3N 4P 5P 6P gt WISTAT D 0 HP92 WISTAT T BAA IN 2P 3N 5N 6P gt WISTAT D 24 WISTAT T BAA 1N 2N 3N 5N 6P gt WISTAT_D 114 HP93 WISTAT T BAA 1N 2P 3N 4P 5N 6P gt WISTAT 0 116 WISTAT T BAA 1N 2P 4P 5N 6P gt WISTAT D 48 HP94 WISTAT T BAA 1N 2P 3N 4P 5P 6P WISTAT D 0 HP95 WISTAT T BAA 1N 2P 3N 5P 6P gt WISTAT D 56 WISTAT T BAA 1N 2P 3N 5N 6P gt WISTAT D 40 HP96 WISTAT T BAA 1N 2P 3N 4P 5P 6N gt WISTAT D 56 WISTAT T BAA 1N 2P 5P 6P gt WISTAT D 24 HP97 WISTAT T BAA 1N 2P 3N 5N 6P gt WISTAT D 24 WISTAT T BAA 1N 2P 3N 5N 6N gt WISTAT_D 56 Remark Always check if the program that you just entered into the Robot Controller does exactly what you want it to do If you run it immediately serious accidents can happen 21 Robotics CTA 3 10 Collecting the timing data In order to use the PC to time the robot moves it is necessary to connect a Robot Controller output Controller output port number 30 see Appendix 11 via the ROBOT PC interface see Appendix 12 to the communications port on the PC The interface changes the Robot Controller I O signal to an interrupt that can be received by the PC for schematic of the interface see appendix 11 Ansicht Anschlu seite Stecker Figure 3 8 Robot Controller PC connection Once the robot is setup
102. ds into dutch KUKA commands see Appendix 10 You can do this yourself or you can write a program in the VAX editor which has the correct substitute commands see appendix 9 It is a very simple program due to the fact that the translation consists of simple ASCII transformations 16 Robotics CTA 3 7 Downloading the robot program dutch SRC file Downloading the robot program is only possible from the VAX because the VAX is connected to Ethernet and is able to communicate with PC s The actual downloading from the VAX to the PC that is connected to the Robot Controller is simple The VAX is connected to the PC that is connected to the Robot Controller If this is not the case in the vicinity of that PC will be another PC that is connected to Ethernet You will use a communications program probably PCSA which operates under DOS After you have logged in on the VAX via STARTNET you can copy the files that you need using the normal DOS commands from a virtual drive D which is your user directory To login type Service lt username gt userid lt username gt password lt password gt As you copy the files that you need onto your PC or onto your diskettes you can change the names of the robot programs at the same time You can only send files into the Robot Controller that begin with HP HoofdProgramma followed by two digits for example HP01 or HP99 which are the lower and upper limits Remark Not all number
103. e sure that they are copied to the right directory on the VAX An old release of ROBOTICS is running on the VAX This old release is located in a directory ROBOTICS Postprocessing of KUKA files is a module of ROBOTICS release 6 0 Remark One way to copy the files to this directory is this one First you login on the VAX under ROBOT userid lt ROBOT gt password lt ROBOT gt Now you are logged in to the VAX on a terminal You in the directory ROBOTICS UG_U SERS ROBOTICS You choose the menu option 8 gt exit to go to DCL VMS level Now you have to login on the host You type set host tue0 You will be prompted to login again on the host userid lt ROBOT gt password lt ROBOT gt Again choose number 8 from the menu to go to DCL VMS level After the appears you type FTP Now you are in FTP File Transfer Package the prompt will be FTP gt You type the copy command FTP gt voodoo users username filename extension This means that you will copy from the HP which is called voodoo from the directory which has your username the file with the filename filename extension to the directory on the VAX that you are in now When you typed it right you must enter your userid and your password for the HP don t type ROBOT here Now the file you wanted is in UG USERS ROBOTICS and is ready for postproces sing To leave FTP you must type exit Now you have to logo
104. e upper left corner of your screen The Robot Controller must be in EXTERN BEDRIJF For more information see Robot manual Extern Bedrijf is under the A key on the control panel 5 Tasten f r Betriebsartenwahl Start Stop und Override 6 Testen f r Dsten Ein Ausgabe Steuertasten fr Ar zeige Quittung Taste f r Meldungen und Cursor Steuertasten 7 Schalter f r Steuerung EIN AUS 8 Anschius f r Programmier Handger t 9 NOT AUS Taster 10 Schlisseischsiter f r Bedienfeld EINAU D Figure 3 7 Control panel When EXTERN BEDRIJF is found using the arrow keys the connection is still not open You have to press the key V for change veranderen Now press the lt K key to change the IN UIT and press the key to accept You will hear a beep from the PC for changing from DNC to DNC ON Use the menu options on the PC screen to send To stop the EXTERN BEDRIJF on the Robot Controller use the key STOP under the emergency stop Now the program is loaded and the Controller is free again A serious error occurred during the sending of the first SRC files The translation Eprom which translates the ASCH robot commands into machine commands was an old version and had a translation error The Z U command did not work This Eprom was replaced by a new and better one Then another error occurred The WISTAT wrist status statement of ROBOTICS was not identical to the WISTAT statement
105. eleven represent a number of moves and two move distances The first group of moves columns eight and nine are the short moves for example you can define twenty moves increasing by one degree per step by 20 1 0 In this case the joint will move in a sequence from Zero starting position to 1 2 43 4 5 19 20 The second group of moves column ten and eleven are usually the longer moves The number of moves should be chosen so that the whole range of motion can be used and no joint limits will be exceeded The group of moves long and short will be run for each speed setting The last data line specifies a set of straight line moves CTA creates a cell outputname s which contains tpoints that are used as end points of the straight line moves Again short and long moves All the tpoints are defined by changing the X position of the initial position from the data statement The first seven columns represents the position and the orientation of the initial tpoint the tpoint which will be in the middle of the testing range Column eight until eleven are again the number and the length of the short and long moves Remarks You better not write an options file in an editor yourself This causes many errors which are hard to detect Better is to copy an existing and working OPT file to your directory and edit it Always use capitals upper case characters for the names you type Lowercase characters will cause e
106. ements because numbers are dis translated properly The decimal and the hexadecimal wrist status are determined as follows 0 N 1 The parameters transformed into 075 and 15 The first axis IN will be the least significant bit first bit the second axis 2N the second bit 2 the third axis 3P the third bit 22 etc The work area parameters will be the 64 bit 2 Decimal OVA IN 2N 3P 4 5 6P 1 0 1 1 0 1 1 25 2 2 2 2 2 2 64 32 16 8 4 2 1 4 0 6 8 0 2 1 Hexadecimal OVA IN 2N 3P 4N SN 6P 1 0 1 1 0 1 2 2 212 2 2 z 4 2 1148 4 2 1 lo 4 118 0 2 1 1 I I Robotics CTA When entered the dutch robot programs SRC files in the Robot Controller and started these programs the robot reached the right cartesian positions but with the wrong arm configurations changed the arm configurations manually on the Robot Controller control panel so that the robot moves to the positions with the right arm configuration When comparing the two programs the postprocessed and translated ROBOTICS program and the manually changed working robot program which performs the same movement I found that only the WISTAT statements were not the same So probably ROBOTICS has an error in defining the wrist status This error is maybe in the BUILD BLD file For the seven robot programs I changed the WISTAT commands To avoid a long list of robot programs only the changed commands are summed up
107. enerated by the CTA module SEQ files generated by CTA USR files CSP files generated by COMMAND LIS files SRL files SRC files generated by the postprocessor Translation german dutch file for the VAX SRC files dutch Controller output port 30 ROBOT PC interface schematic TIM file Correspondence Robotics CTA pesas 14 16 17 5 19 8 BB BSOPRHSBERDPEXIE Robotics CTA Chapter 1 INTRODUCTION Off line programming of production machines is becoming increasingly important nowadays More and more off line programming software packages are developed With these software packages you can make a model of your production machine It is very important that this software model imitates the real production machine very accurately ROBOTICS is such a off line programming software package and CTA is a module of ROBOTICS for dynamic calibration of a robot model The module determines the accelerations and velocities for tbe whole work area of a real robot and stores these in a data file This data file is then connected to the robot model in the software package In this report the Cycle Time Analyzer CTA 2 3 is examined It is used to predict accurate cycle times for the KUKA robot workcell model FALC 5 A shortcoming of this cycle times determination is that the position of the robot during the movement tests can be chosen It is difficult to say whether you determined the robot s cycle times in
108. es Of course the overall accuracy is always a function of the amount of timing data number of test moves Its advisable to use a range as big as possible from 1 degree to the joint constrains for each joint CTA consists of a software module that runs on a workstation and another software module that runs on an IBM PC or compatible A hardware Robot PC interface is used to connect the Robot Controller I O ports to the PC The PC is used to time the robot motions on the shop floor The interface converts the Robot Controller output signal to an interrupt which can be received by the PC The PC times the moves during the test motions of the robot When all the axes are tested the separate timing data is processed into a timing file TIM file The processed timing data are then transferred from the PC to the workstation using a communications package Once located in the proper directory on the workstation it can be used by PLACE to predict accurate cycle times for that robot Each time during a PLACE session a device is merged into a cell PLACE searches for a TIM file with the same name as the robot s DCI file If a TIM file is found its cycle time model is used whenever that device is moved Whenever a TIM file is being used the symbol 1 appears after the device name in the joints display window Remark To use CTA it is necessary to have some experience with the Robot Controller and with PLACE Robotics CTA Chapter 2 MANUAL TIMING
109. ff two times or you can open another window under ROBOT to get back to the login menu In this login menu you choose option five COMMAND ROBOTICS release 6 0 is started The function keys are enabled now so you have to use the arrow keys and the spacebar You choose option seven Postprocessing with the arrow keys and select with the spacebar Now choose option one postprocessing from a Command Source Program file Type the name of that CSP file and give a few returns if you want the SRC file SRL file and the LIS file to have the same name as the CSP file Now the postprocessing starts If there are errors or warnings they are given at the top of the screen Give an ENTRY COMPLETE E by pressing the spacebar and the ROBOTICS menu appears again Leave ROBOTICS if you want to look in the LIS file where the errors and the warnings are listed or postprocess another file If the SRC SRL and the LIS files are correct you better copy them to your own directory on the VAX and remove them from the ROBOTICS directory you can do this by typing copy tue0 dua0 ug_users robotics filename if you are in your own directory Robotics CTA 3 6 Translating the German SRC file into the Dutch SRC file The robot dependent program the SRC file which you have made by postprocessing a CSP file is in german The KUKA robot which is situated in the Mechanization Laboratory works with the dutch language You have to translate all the german KUKA comman
110. g of production machines is becoming increasingly important nowadays Many software programs are developed for off line programming It is important that the software models of the production machines which you are modeling imitate the real production machines very accurately ROBOTICS is such an off line program package and this program has a module Cycle Time Analyzer for the dynamic calibration of a robot With CTA the total work area for every axis for the whole speed range of a robot is examined and stored in a file The file is then connected to the robot in the software package to predict accurate cycle times during a simulation The following actions are necessary to run the Cycle Time Analyzer Write an options file This file is the basis of your test It contains the initial positions of the robot for every axes and the number and lengths of the test moves It also contains the initial position of the robot the number and length of the straight line movement Run CTA on the HP workstation CTA creates a cell and seven sequences six sequences for the six different axes and one for the straight line move The cell contains the robot a device and the tpoints for the straight line move These sequences perform the moves which are tested Write an USR file The USR file is the skeleton of your robot program It contains the commands to turn a signal line ON and OFF This signal is used to determine the time of a test mo
111. g only the KUKA robot PLACE Release 7 0 WORLD WORLD 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 00 WORLD 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 10000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 14 7500 0 7660 0 0000 0 6428 0 0000 0 0000 1 0000 0 0000 0 0000 0 6428 0 0000 0 7660 15 7600 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA05 KUKAO4 10000 0 0000 00000 7 1800 0 0000 10000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 KUKA0 05 1 0000 0 0000 0 0000 5 5780 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 TOORTS KUKA06 10000 0 0000 0 0000 0 0000 0 0000 0 7071 0 7071 0 0000 0 0000 0 7071 0 7071 0 0000 END CONTROL KUKA DEVKUKA KUKA END CONTROL DISPLAY KUKA00 00 ORANGE R 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 10000 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 10000 0 0000 KUKA01 KUKA01 MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 10000 0 0000 0 0000 0 0000 0 0000 10000 00000 0 0000 Appendix 1 Robotics CTA 0 0000 1 0000 0 0000 KUKA 2 ORANGEj 1 0000 G 0 5294 B 0 0000 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000 1 0000 0 0000 0 0000 0 0000 10000 0 0000 MEDIUMFORESTGREEN R 0 1961 G 0 5059 B 0 2941 TOLER 0 0500 TRANSP 1 0000 0 0000 0 0000 0 0000
112. he following actions are necessary to run the Cycle Time Analyzer Write an options file This file is the basis of your test It contains the initial positions of the robot for every axes and the number and lengths of the test moves It also contains the initial position of the robot the number and length of the straight linc movement Run CTA on the HP workstation CTA creates a cell and seven sequences six sequences for the six different axes and one for the straight line move The cell contains the robot a device and the tpoints for the straight line move These sequences perform the moves which are tested Write an USR file The USR file is the skeleton of your robot program It contains the commands to turn a signal line ON and OFF This signal is used to determine the time of a test move It also contains the commands of a loop to automatically cycle through the different robot speeds during the tests Run COMMAND on the HP workstation In COMMAND the USR files and the sequences are processed into CSP files Run COMMAND on the VAX In COMMAND on the VAX the CSP files are postprocessed into robot programs SRC files These are in german Translate them to dutch in an editor on the VAX Change if necessary the WISTAT commands Download the SRC files Download the dutch SRC files to the Robot Controller via a communications program and ethernet Use DNC to send them into the Robot Controller The names of the pr
113. hen the robot starts a move and shuts off when it is finished The PC will display the duration of the movements as they are determined CTA stores the timing data in a file with a DAT extension Once all the timing data has been collected for each joint and straight line set at all speeds the TIM file can be generated Select on the main menu item 2 GENERATE TIMING FILE After this input CTA processes all timing data which are stored in the DAT files and creates the TIM file CTA displays informational messages while processing the timing data Remarks It is recommended that you select ONE JOINT AT ALL SPEEDS so each joint is tested and then the comparable straight line options Doing each one of these processes separately helps you to keep things a little more organized The timing of all the movements at all speeds and for all joints will take about four hours Robotics CTA 3 11 The timing file The timing file TIM file see Appendix 13 is set up to contain timing parameters for each joint of a robot over several speed settings The TIM file for the KUKA contains timing data for ten speed settings from 10 to 10096 at 10 intervals Therefore for the six axes KUKA there are sixty sets of data for joint interpolated motion Also included is data for straight line motion for each of the ten speed settings The TIM file is formatted as follows Line 1 contains seven pieces of information to joint motion Min Jt Spd
114. iming parameters during a PLACE session This method is not further investigated because of the reasons mentioned above and because we do have an actual robot Perhaps this method is interesting for pre examining a robot If you do not have an actual robot but want to know whether the robot which you are interested in can handle the wanted tasks you run this manual timing file generation and use the timing file in a PLACE simulation Robotics CTA Chapter 3 EMPIRICAL DATA COLLECTION METHOD Using the Empirical Data Collection Method of CTA you can generate timing parameters from a physical robot and use these parameters in PLACE CTA requires you to make an options file OPT file This OPT file is the basis of your test It contains the position of the robot before doing the test moves this is called the initial position and it contains how many moves the robot must make and how big angles these moves are CTA then creates a cell and a set of sequences that perform the moves This cell contains the device which is tested and it contains a series of tpoints for the straight line movement The sequences which CTA creates are for each axis the movements of the robot The robot will move from its starting position with increasing angles until the moves are so large that they will exceed axis constraints These sequences are translated with COMMAND into a set of robot programs A program for each joint which contains the different moves and a loo
115. int and in case of the 8 Robotics CTA straight line motion the prefix and the character s The name of the cell made by CTA will have the prefix and the character s followed by the extension CEL CELL OR DEVICE lt CELL DEVICE gt If the entry is cell it means that a cell see Appendix 1 containing a robot device has already been defined in PLACE If the entry is device it means that a cell containing this robot must be created by CTA before the timing sequences can be produced CELL NAME name If the previous entry is cell then the name of the existing cell must be entered If the entry was device this field is ignored NUMBER OF JOINTS n The number of joints of the robot See the BLD file see Appendix 1 CRD file or the DEV file that you use for this number The maximum is 7 NUMBER OF SPEEDS lt n gt The test sequences that CTA makes will be tested at different speeds Here you must enter how many speed changes you want It is recommended to use at least ten speeds in order to have good accuracy MIN JOINT SPEED n The lowest speed in robot units to be used for joint moves usually zero MAX JOINT SPEED lt n gt The highest speed in robot units to be used for joint moves often 100 when the speed units are in percents JOINT SPEED FACTOR lt gt The step between the joint speeds The range from maximum joint speed to minimum joint speed is divided by the ch
116. itten It is a very simple program due to the fact that the translation consists of simple ASCII transformations The translation program is for every axis the same except for the filenames and the file length The translation programs must bave a filename followed by the extension COM if you want them to be executable You can run them on the VAX by typing FILENAME without extension EDIT USERS USERNAME FILENAME SRC SUBSTITUTE HLT UN HLT OV 1 300 SUBSTITUTE GES SNH 1 300 SUBSTITUTE RS A TZ U 1 300 SUBSTITUTE S A Z U 1 300 SUBSTITUTE BAW VIN 1 300 SUBSTITUTE JMP SPG 1 300 SUBSTITUTE ADD OPT 1 300 EXIT HP91 SAVE EXIT Figure A9 1 TIJS COM translation program 70 Appendix 9 Robotics CTA A Ausgang U uitgang ACH eine Achse PTP AS een as bij PTP D AD Adresse adres ADD Addition OPT optellen ALL alle Achsen PTP ALL alle assen bij PTP ANF Antang IN inschakelen ARI Arithmetik Anweisung ARI arithmetische instruktie AUF oetnen OP openen AUS Ausschalten UIT uitschakelen N 8 Bitspeicher B bitgeheugen op 1 BAN Bahn BAN bij baansturing BAW Bedingte Anweisung VIN voorwaardelijke instructie BE Bedingt VW voorwaardelijk BEA Bearbeiten AFW atwerken BES Beschleunigungs Anweisung VSN versnellings instruktie BS Bandsynchronisation Anweisung BS bandsynchronisatie instruktie DEF Definitions Anweisung DEF definitie instruktie DIV Division DEL delen E Eingang I ingang EIN Einschalten IN inschakelen ESP Eingangsspeicher IG
117. loop aantal uitwissen RS Ruecksetz Anweisung 2 terugzet instruktie S Setz Anweisung z zet instruktie SF Sensorfunktions Anweisung SF sensorfunktie instruktie SPG Sprung Anweisung SPG sprong instruktie SUB Subtraktion AFT attrekken Transterieren Anweisung VO boleaanse verbindings instr TXT Textausgabe Anweisung TXT tekst uitgave instruktie u UND Anweisung E boleaanse EN instruktie UES Ueberschleif Anweisung LUW luswerkings instruktie UG Ungleich 87 OG ongelijk aan UN Unbedingt OV onvoorwaardelijk UNT Unterbrechungs Anweisung onderbrekings instruktie UNT Unterbrechen onderbreken UP Unterprogramm OP onderprogramma VAR Variabel VAR variabel VGL Vergleich VGL vergelijken VSP Variabelenspeicher VGH variabelen geheugen V2 Verzweigung attakking w Wahr w boleaans waar WRT Warte Anweisung WCH wachten instruktie W2K Werkzeugkorrektur Anweisung WTK werktuigkorrektie instruktie 2 Zeit T tijd in 0 1 s ZU Schliessen SL sluiten ZY Zyklus 71 CY cyclus Appendix 10 Robotics CTA Appendix 10 The SRC files dutch Only the dutch SRC files for axis 1 and the straight line are included due to the fact that all the SRC files are very long and alike The HP91 file KOM 21 0CT 1991 17 03 09 03 KOM CSP FILE KUKAJ1 KOM RFILE KUKAJ1 KOM KOM KOM KOM DEF HP91 ORI VAR KOM MERGE CELL TUS WORLD LAD P1 KON 10 LAD P2 KON 100 KOM DEF AD 5 VGL P1 P2 VIN GR HLT OV KOM ACT DEVICE
118. manipulator Robotics CTA LITERATURE 1 BUILD user guide McDonnell Douglas Corporation Release 7 0 1991 2 Cycle Time Analyzer user guide McDonnell Douglas Corporation Release 6 0 1990 Cycle Time Analyzer user guide McDonnell Douglas Corporation Release 7 0 1991 4 COMMAND user guide McDonnell Douglas Corporation Release 7 0 1991 5 An evaluation of the McDonnell Douglas Robotics 7 0 software H J Van Veldhoven Eindhoven 7 June 1991 WPA number 1089 The ROBOTICS Cycle Time Analyzer The first time Appendices of WPA Nr 1193 M C Willems In order of TUE WPA Professor Prof Dr Ir A C H van der Wolf Coaches Ing J J M Schrauwen F Soers Author M C Willems Eindhoven 8 november 1991 Robotics CTA SUMMARY Off line programming of production machines is becoming increasingly important nowadays Many software programs are developed for off line programming It is important that the software models of the production machines which you are modeling imitate the real production machines very accurately ROBOTICS is such an off line program package and this program has a module Cycle Time Analyzer for the dynamic calibration of a robot With CTA the total work area for every axis for the whole speed range of a robot is examined and stored in a file The file is then connected to the robot in the software package to predict accurate cycle times during a simulation T
119. mpty sequences The straight line move will cause problems sometimes The position and orientation of the tpoints are not in degrees The position and orientation of the tpoints given with respect to the father frame world in this case The values can be made visible in the move text window during a move tpoint or during a move tpoint group simulation The tpoints will be connected to the frame that is the lowest in the connection tree closest to the world frame KUKA00 During the actual movement to these tpoints the tpoints will be aligned by the tpoint of the frame that is the highest in the connection tree gt KUKA06 The tool TOORTS which is moved by the robot is not a frame TOORTS is defined in the cell as something that is connected to the last frame KUKA06 The connection tree can be found in PLACE under FILE MANAGEMENT The maximum straight line speed is not the same everywhere It depends on the position in space of the movement The absolute maximum is 100 meters per minute The actual maximum straight linc speed which can be reached in a specific situation is not predictable and can only be found by trial and error Give a certain speed and look whether or not error messages appear 10 Robotics CTA 3 2 Running CTA Once the OPT file has been prepared run the Cycle Time Analyzer from the ROBOTICS menu to automatically generate the cell and sequences CTA generates a separate sequence for each jost of the
120. ms Appendix 14 Robotics CTA Mr Eric Nicole McDonnel Douglas Information Systems 106 Bureaux de la Colinne 92213 St cloud France Eindhoven 09 09 1991 Dear Eric We have run in to two problems this time The first one is a CTA one The last data line in the optionsfile is for straight line movement The data represents the position and the rotation of the reference tpoint for straight line movement Every time i give the reference tpoint a certain position and rotation for example 000000 CTA makes a sequence and a cell where the position of the reference tpoint is good 0 O 0 but the rotation is not the same The tpoint is rotated about the Y axis by 90 degrees This is not happening if you create a tpoint with the option position in PLACE I can t find out why this happens The second problem is a tranlation problem When we write a USR file containing commands like pause delay speed etc the trans lation to SRCL language fails because of translation errors on those commands We don t know what the syntax must be for com mands that have no amp or in front of the command Perhaps we need the operational description manual for our translator I hope you can help us and send us the operation description manual Best regards 7 Tijs Willems
121. ograms which are send to the Robot Controller must exist of the characters HP and a two digit number Run CTA on the The CTA PC module will cycle you through the determination of the timing data of all axes and the straight line movement and will produce the timing file TIM file Transfer the TIM file back to the workstation Place the TIM file is the system library in order for all users to access it Running CTA in it self was and is not a big problem But many small problems had to be sorted out before the actual CTA was performed This was due to the fact that it was the first time CONTENTS Summary Contents Appendix 1 BLD file DCI file DEV file CEL file CRD files of the KUKA Appendix 2 OPT file Appendix 3 Axis Constraints Appendix 4 CEL file generated by the CTA module Appendix 5 SEQ files generated by CTA Appendix 6 USR files Appendix 7 CSP files generated by COMMAND Appendix 8 LIS files SRL files SRC files generated by the postprocessor Appendix 9 Translation german dutch file for the VAX Appendix 10 SRC files dutch Appendix 11 Controller output port 30 Appendix 12 ROBOT PC interface schematic Appendix 13 TIM file Appendix 14 Correspondence Robotics CTA 16 17 BOB R 85 5 FN 2 LE Appendix 1 Robotics CTA Appendix 1 Appendix 1 1 The KUKA BLD file The file which was made of the KUKA robot in the BUILD module BUILD Rele
122. ors 5 V 500 mA Connection to robot controller Connection to PC RS 232 plug socket RO o4 M Figure A12 1 Schematic of the ROBOT PC interface box 85 Appendix 13 The TIM file Appendix 13 Robotics CTA The TIM file is generated by the CTA PC module and is called KUKA TIM 0 000 100 000 6 10 10 000 PCNT JOINTSM 0 000 100 000 10 000 n KUKACART 0 4930 0 1942 0 1719 0 1749 0 1717 0 1791 0 1787 0 1696 0 1730 0 1624 0 0000 0 1619 0 2210 0 1667 0 1973 0 1791 0 1899 0 1732 0 1754 0 1721 0 3377 0 2184 0 1979 0 1780 0 1808 0 1867 0 1626 0 1644 0 1564 0 1709 0 2601 0 1344 0 1723 0 1964 0 1902 0 2155 0 2140 0 2171 0 2194 0 2277 338 9094 303 2808 241 9583 249 5066 236 3820 256 4912 251 4872 242 5858 242 6495 233 2699 27 0738 150 0807 214 6317 158 0626 180 8275 169 6835 174 9723 161 5632 160 1404 159 8953 1613 3207 552 9589 426 7161 342 0509 326 6325 350 9213 308 5967 306 9101 299 8480 317 0256 305 2716 168 8941 241 4610 298 2966 287 1251 324 4430 329 1176 335 7048 340 1445 354 5379 5951 9175 162 9586 249 0397 340 8550 304 5757 335 6162 321 9691 359 0689 118 3111 118 5800 123 6593 124 0682 78 5094 121 1171 152 9034 173 1385 187 3997 203 4747 216 1540 228 7865 234 1499 245 2443 64 0144 102 0510 132 3292 156 1046 178 0605 192 1660 204 0398 222 2580 224 6018 237 7392 59 2741 98 3732 127 1524 1
123. osen number of speeds to get the speed intervals max joint speed min joint speed number of speeds JOINT SPEED UNITS lt name gt The units in which the joint speeds are expressed PCNT MM SEC INCH SEC MIN STRAIGHT SPEED lt n gt The lowest speed in robot units to be used for straight line moves usually zero MAX STRAIGHT SPEED lt n gt The highest speed in robot units to be used for straight line moves The highest straight line speed depends on were the straight line move is performed STRAIGHT SPEED FACTOR lt n The step between the straight line speeds max straight line speed min straight line speed number of speeds CONVERSION FACTOR lt n gt This is a number which when divided by the robot s own straight line speed converts it into inches per second when you use mm sec use 1 0 STRAIGHT LINE SPEED UNITS lt name gt The unit in which the robots straight line speeds are expressed FOR LOOP lt TRUE FALSE gt If true then the robot s native language can be used to create a loop in each test program to automatical ly cycle through the entire range of speeds for that sequence of motions If false the operator will be prompted by CTA to manually change the robot speed and has to be rerun once for each speed DATA lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt lt n gt The data is divided into lines and columns The d
124. p to cycle through the different speeds Ni WORKSTATION WI ME gt M a Ss 1 l SI E ME n Timing Signal 6 4 INTERFACE C 2 Robot FH Robot Program Controller Files K L z 2 3 Figure 3 1 CTA components and organization The following steps are required to generate a timing file Robotics CTA 3 1 Setting up an options file The main purpose of the options file filename OPT is to define how the robot will move while the timing data are being collected The order of the data must always be the same The options file as I defined it for the KUKA is shown DEVICE NAME KUKA DCI NAME KUKA JOINT CRD NAME JOINTSM STRAIGHT CRD NAME KUKACART OUTPUT NAME TUSJ CELL OR DEVICE CELL CELL NAME TDS NUMBER OF JOINTS 6 NUMBER OF JOINT SPEEDS 10 MIN JOINT SPEED 0 00 MAX JOINT SPEED 100 0 JOINT SPEED FACTOR 10 0 JOINT SPEED UNITS PCNT MIN STRAIGHT SPEED 0 0 MAX STRAIGHT SPEED 100 0 STRAIGHT SPEED FACTOR 10 0 CONVERSION FACTOR 1 0 STRAIGHT SPEED UNITS M MIN FOR LOOP TRUE DATA 790 600 560 100 100 1250 0020 1014100 DATA 850 450 400 00 540 260 0020 1010100 DATA 850 400 1300 00 53 0 260 0020 1022100 DATA 85 0 480 500 00 100 1340 0020 1032100 DATA 850 480 500 1800 20 440 0020 1020100 DATA 850 480 500
125. s between 0 and 99 are available for you Ask the robot manager which number you can use Perhaps an other communications program is operational when you must download a program Then this paragraph is not correct Figure 3 5 Robot system IR 161 15 25 and PC 17 Robotics CTA 3 8 Downloading the Options file It is essential that the PC connected to the Robot Controller has its own copy of the OPT file which is used to make the robot programs This is necessary to correctly associate each timing measurement with the corresponding robot movement It is advisable to place the OPT file in the same directory on the PC where the CTA PC module is placed Downloading the OPT file is similar to downloading the robot programs Print LJ250 BUILD H P 9000 PLACE 370 SRX ADJUST COMMAND CTA KUKA 161 15 25 ETHERNET Figure 3 6 Computer structure WPA CAD center 18 Robotics CTA 3 9 Sending SRC files to the Robot Controller The sending of files from the PC to the Robot Controller is done with DNC DNC stands for Direct Numerical Control and is a product of KUKA DNC is developed for off line programming DNC starts up by typing DNC Probably it does not matter where you are on the PC otherwise you have to start it from C You must enter where the files which DNC must send are Before you can send a file the DNC communication line must be open Whether the DNC is ON or OFF is in th
126. sequence that is automatically generated by CTA A delay of 10 0 seconds is inserted between speed changes to give the user time to look at the robot and PC to see if things are working properly and the next speed setting is displayed on the KUKA control panel before continuing When the entire speed range has been completed the loop will be exited HLT UN and the program will stop Remark Which symbol or amp you must use in front of some commands depends on the definition of this symbol in the CSP DAT file If you do not find this file which is probably in the directory usr disk2 simroot cmd csp lib you can always find out which symbol it must be by trying The postprocessor on the VAX wants the symbol amp in front of the commands Robotics CTA 3 4 Running COMMAND Now you have for each joint and for the straight line move an USR file and a sequence and a cell In COMMAND normally the USR file the sequence and the cell are transformed into the Robot Program File SRL file the Source Robot Program SRC file and the Error Message File LIS file See Appendix 8 Figure 3 4 COMMAND components and organization However the postprocessor is still not available for UNIX which runs on the workstation the HP The postprocessor runs on the VAX under VMS Therefore COMMAND only makes the Command Source Program file CSP file When COMMAND is started up we choose option two Execute CSP In the next screen
127. the right position of the robot Another shortcoming is the welding thread support post This post is blocking the movement of the first axis from 0 degree to 160 degrees So only half of the total range of the first axis is used for the movement test Achse 6 Achse 1 Figure 4 1 The KUKA robot with the different axes ROBOTICS is a software package designed by McDonnell Douglas for off line programming of Robots and Robot cells The package consists of five modules BUILD PLACE COMMAND ADJUST and CTA With BUILD 1 you can build a device robot or manipulator etc consisting of separate parts which are modelled in UNIGRAPHICS In PLACE you place the devices together in a cell and in PLACE you can also simulate moves and operations When you have made moves and or operations which you want to use for the real robot you save them in a sequence In COMMAND 4 you can translate these sequences into SRCL language which is the language that is used by the real robot In ADJUST you calibrate the dimensions and the position of the modelled robot and other devices In CTA 2 3 you calibrate the speeds and accelerations of the modelled robot Robotics CTA The ROBOTICS module Cycle Time Analyzer is a software package that aids PLACE in accurately predicting robot work cell cycle times CTA is based on two methods Empirical data collection method With this method timing data is collected for a representative set of robot motions
128. ting an OPT file from scratch instead of editing an existing one Writing an options file from scratch in an editor caused non traceable errors There was very little information about the syntax of the data for the straight line movement The values of the position of the robot for straight motion are in the movetext window Some problems occurred writing an user file There was little information in the CTA manual about the use of or amp in front of the lines It was hard to find out what the syntax of the USR file should be Little information on functions which had to be used Some problems occurred trying to send SRC files into the Robot Controller A translation error in the postprocessor JMP instead of SPG There were differences in syntax on the Robot Controller and the robot program manual due to an old Eprom in the Robot Controller Some commands were not executable because of hardware errors on the Robot Controller translation Eprom During the testing of the actual robot programs which were entered in the Robot Controller a problem occurred the WISTAT command wrist status of ROBOTICS was not equal to the SWISTAT command of the Robot Controller All the programs had to be checked in the Robot Controller and all WISTAT commands had to be edited in an editor or at the robot Recommendations The documentation of ROBOTICS and the FALC need a lot of attention Test a few cycle times on the robot and in
129. ve It also contains the commands of a loop to automatically cycle through the different robot speeds during the tests Run COMMAND on the HP workstation In COMMAND the USR files and the sequences are processed into CSP files Run COMMAND on the COMMAND on the the CSP files postprocessed into robot programs SRC files These are in german Translate them to dutch in an editor on the VAX Change if necessary the WISTAT commands Download the SRC files Download the dutch SRC files to the Robot Controller via a communications program and ethernet Use DNC to send them into the Robot Controller The names of the programs which are send to the Robot Controller must exist of the characters HP and a two digit number Run on the CTA PC module will cycle you through the determination of the timing data of all axes and the straight line movement and will produce the timing file TIM file Transfer the TIM file back to the workstation Place the TIM file is the system library in order for users to access it Running CTA in it self was and is not a big problem But many small problems had to be sorted out before the actual CTA was performed This was due to the fact that it was the first time Robotics CTA PREFACE On 28 june 1991 I got the research assignment examine the McDonnell Douglas ROBOTICS Cycle Time Analyzer and write a simple user guide for our situation Do this
130. xcept for the sequence name in the amp REF SEQ statement Here you must give the name of the sequence matching USR file for the same joint FUNCTION ON HP91 WISTAT T LAD P1 KON 10 LAD P2 KON 100 DEF AD 5 VGL P1 P2 BAW GR HLT UN amp OPERATION OUTLAY SA30 amp INC_GOTO RSA 30 WRT Z 5 amp END_OPERATION amp REF SEQ 5 1 GES ALL P1 amp INC SEG STARTUP amp INC GOTO amp INC SEQ TIJSJ1 ADD P1 KON 10 WRT Z 100 JMP AD 5 Figure 3 3 The USR file for joint 1 Robotics CTA The FUNCTION ON HP91 statement gives this program the name HP91 The lines LAD P1 KON 10 to HLT UN are part of the for loop that automatically cycles through the set of speeds The parameter P1 is given the value 10 and as long as P1 is smaller than 100 the program can continue At the end of the program P1 is increased with 10 75 before jumping back to the beginning of the program This jumping back is not really to the beginning of the program but to the address 5 With the statement OPERATION OUTLAY the definition of the operation begins The statements S A 30 and RS A 30 turns the Robot Controller output port 30 on and off The statement GES ALL P1 sets the robot program speed to the variable P1 The SEQ STARTUP statement puts the robot into the correct motion mode joint interpolated in preparation for the initialization move and the timed moves STARTUP is a program segment within each test
131. you will be prompted to type the name of the USR file and the name of the CEL file The CSP file is now created Be sure that you have the COMMAND CSP Release 9 0 main menu on your screen If this is not the case select CSP in the option Select Translator on the COMMAND menu The preprocessor has checked the CSP file for syntax errors but you have to check it yourself for other errors See if all the locations which are in your sequence are in the CSP file They are at the top See if every operation is tagged with the name OUTLAY see appendix 7 You can remove the first line PREFIX CHAR amp This line will cause an unnecessary error during postprocessing The postprocessor on the VAX wants the symbol amp to be in front of the commands If this is not the case you must change The in front of those lines into amp This can easily be done in an editor When you have written your USR files right this problem will not occur Now the CSP file can be postprocessed on the VAX When the postprocessor is available for the workstation the next steps are not necessary 14 Robotics CTA 3 5 Translating the CSP file into SRCL language Because the translator postprocessor for the KUKA robot is running only on the VAX VMS system the translation has to be done on the VAX All the CSP files six for the different joints and one for the straight line have to be copied from the HP to the VAX There are several ways to do this but you must b

The ROBOTICS Cycle TIme Analyzer. The first "time".

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The ROBOTICS Cycle TIme Analyzer. The first &quot;time&quot;.

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The ROBOTICS Cycle TIme Analyzer. The first "time".