KUKA Sunrise.OS 1.11

KUKA Sunrise.OS 1.11 KUKA Sunrise.Workbench 1.11
1 Introduction
1.1 Target group
1.2 Industrial robot documentation
1.3 Representation of warnings and notes
1.4 Trademarks
1.5 Terms used
2 Product description
2.1 Overview of the robot system
2.2 Overview of the software components
2.3 Overview of KUKA Sunrise.OS
2.4 Overview of KUKA Sunrise.Workbench
2.5 Intended use of the system software
3 Safety
3.1 Legal framework
3.1.1 Liability
3.1.2 Intended use of the industrial robot
3.1.3 EC declaration of conformity and declaration of incorporation
3.2 Safety functions
3.2.1 Terms used
3.2.2 Personnel
3.2.3 Workspace, safety zone and danger zone
3.2.4 Safety-oriented functions
3.2.4.1 EMERGENCY STOP device
3.2.4.2 Enabling device
3.2.4.3 “Operator safety” signal
3.2.4.4 External EMERGENCY STOP device
3.2.4.5 External safety stop 1 (path-maintaining)
3.2.4.6 External enabling device
3.2.4.7 External safe operational stop
3.2.5 Triggers for safety-oriented stop reactions
3.2.6 Non-safety-oriented functions
3.2.6.1 Mode selection
3.2.6.2 Software limit switches
3.3 Additional protective equipment
3.3.1 Jog mode
3.3.2 Labeling on the industrial robot
3.3.3 External safeguards
3.4 Safety measures
3.4.1 General safety measures
3.4.2 Transportation
3.4.3 Start-up and recommissioning
3.4.4 Manual mode
3.4.5 Automatic mode
3.4.6 Maintenance and repair
3.4.7 Decommissioning, storage and disposal
3.4.8 Safety measures for “single point of control”
3.5 Applied norms and directives
4 Installing KUKA Sunrise.Workbench
4.1 PC system requirements
4.2 Installing Sunrise.Workbench
4.3 Uninstalling Sunrise.Workbench
5 Operation of KUKA Sunrise.Workbench
5.1 Starting Sunrise.Workbench
5.2 Overview of the user interface of Sunrise.Workbench
5.2.1 Repositioning the views
5.2.2 Closing views and files
5.2.3 Displaying different perspectives on the user interface
5.2.4 Toolbar – Programming perspective
5.3 Creating a Sunrise project with a template
5.4 Creating a new robot application
5.4.1 Creating a new Java package
5.4.2 Creating a robot application with a package
5.4.3 Creating a robot application for an existing package
5.5 Setting the robot application as the default application
5.6 Creating a new background task
5.6.1 Creating a background task with a package
5.6.2 Creating a background task for an existing package
5.7 Workspace
5.7.1 Creating a new workspace
5.7.2 Switching to an existing workspace
5.7.3 Switching between the most recently opened workspaces
5.7.4 Archiving projects
5.7.5 Loading projects from archive to the workspace
5.7.6 Loading projects from the directory to the workspace
5.8 Sunrise projects with referenced Java projects
5.8.1 Creating a new Java project
5.8.1.1 Inserting robot-specific class libraries in a Java project
5.8.2 Referencing Java projects
5.8.3 Canceling the reference to Java projects
5.9 Renaming an element in the Package Explorer
5.9.1 Renaming a project or Java package
5.9.2 Renaming a Java file
5.10 Removing an element from Package Explorer
5.10.1 Deleting an element from a project
5.10.2 Removing a project from Package Explorer
5.10.3 Deleting a project from the workspace
5.11 Activating the automatic change recognition
5.12 Displaying release notes
6 Operating the KUKA smartPAD
6.1 KUKA smartPAD control panel
6.1.1 Front view
6.1.2 Rear view
6.1.3 Disconnecting and connecting the smartPAD
6.2 KUKA smartHMI user interface
6.2.1 Navigation bar
6.2.2 Status display
6.2.3 Keypad
6.2.4 Station level
6.2.5 Robot level
6.3 Calling the main menu
6.4 Setting the user interface language
6.5 Changing user group
6.6 CRR mode – controlled robot retraction
6.7 Changing the operating mode
6.8 Activating the user keys
6.9 Resuming the safety controller
6.10 Coordinate systems
6.11 “Override” window
6.12 “Jogging type” window
6.13 Jogging the robot
6.13.1 “Jogging options” window
6.13.2 Setting the jog override
6.13.3 Axis-specific jogging with the jog keys
6.13.4 Cartesian jogging with the jog keys
6.13.4.1 Null space motion
6.14 Manually guiding the robot
6.15 Frame management
6.15.1 “Frames” view
6.15.2 Teaching frames
6.15.3 Teaching frames with the hand guiding device
6.15.4 Manually addressing frames
6.16 Program execution
6.16.1 Selecting a robot application
6.16.2 Setting the program run mode
6.16.2.1 Program run modes
6.16.3 Setting the manual override
6.16.4 Starting a robot application forwards (manually)
6.16.5 Starting a robot application forwards (automatically)
6.16.6 Resetting a robot application
6.16.7 Repositioning the robot after leaving the path
6.16.8 Stopping a background application manually
6.16.9 Starting a background application manually
6.17 Display functions
6.17.1 Displaying the end frame of the motion currently being executed
6.17.2 Displaying the axis-specific actual position
6.17.3 Displaying the Cartesian actual position
6.17.4 Displaying axis-specific torques
6.17.5 Displaying an I/O group and changing the value of an output
6.17.6 Displaying information about the robot and robot controller
6.18 Backup Manager
6.18.1 Overview of Backup Manager
6.18.2 Backing up data manually
6.18.3 Restoring data manually
6.18.4 Configuring the network path for restoration
7 Start-up and recommissioning
7.1 Switching the robot controller on/off
7.1.1 Switching on the robot controller and starting the System Software
7.1.2 Switching off the robot controller
7.2 smartPAD software update
7.3 Performing a PDS firmware update
7.4 Position mastering
7.4.1 Mastering axes
7.4.2 Manually unmastering axes
7.5 Calibration
7.5.1 Tool calibration
7.5.1.1 TCP calibration: XYZ 4-point method
7.5.1.2 Defining the orientation: ABC 2-point method
7.5.1.3 Defining the orientation: ABC world method
7.5.2 Calibrating the base: 3-point method
7.6 Determining tool load data
8 Brake test
8.1 Overview of the brake test
8.2 Creating the brake test application from the template
8.2.1 Adapting the brake test application for testing against the minimum brake holding torque
8.2.2 Changing the motion sequence for torque value determination
8.2.3 Changing the starting position for the brake test
8.3 Programming interface for the brake test
8.3.1 Evaluating the torques generated and determining the maximum absolute value
8.3.2 Polling the evaluation results of the maximum absolute torques
8.3.3 Creating an object for the brake test
8.3.4 Starting the execution of the brake test
8.3.5 Evaluating the brake test
8.3.5.1 Polling the results of the brake test
8.4 Performing a brake test
8.4.1 Evaluation results of the maximum absolute torques (display)
8.4.2 Results of the brake test (display)
9 Project management
9.1 Sunrise projects – overview
9.2 Frame management
9.2.1 Creating a new frame
9.2.2 Designating a frame as a base
9.2.3 Moving a frame
9.2.4 Deleting a frame
9.2.5 Displaying/editing frame properties
9.2.6 Properties view for frames in application data
9.2.6.1 “General” tab
9.2.6.2 “Transformation” tab
9.2.6.3 “Redundancy” tab
9.2.6.4 “Teach information” tab
9.2.6.5 “Measurement” tab
9.2.7 Inserting a frame in a motion instruction
9.3 Object management
9.3.1 Geometric structure of tools
9.3.2 Geometric structure of workpieces
9.3.3 Creating a tool or workpiece
9.3.4 Creating a frame for a tool or workpiece
9.3.5 Displaying/editing frame properties
9.3.6 Properties view for frames in object templates
9.3.6.1 “General” tab
9.3.6.2 “Transformation” tab
9.3.6.3 “Safety” tab
9.3.6.4 “Measurement” tab
9.3.7 Defining a default motion frame
9.3.8 Load data
9.3.8.1 Entering load data
9.3.9 Safety-oriented tools
9.3.9.1 Configuring a safety-oriented tool
9.3.9.2 Tool properties – Load data tab
9.3.9.3 Tool properties – Safety tab
9.3.10 Safety-oriented workpieces
9.3.10.1 Configuring a safety-oriented workpiece
9.3.10.2 Workpiece properties – Load data tab
9.3.11 Copying object templates
9.4 User administration
9.4.1 Changing the password
9.5 Project synchronization, overview
9.5.1 Transferring the project to the robot controller
9.5.2 Synchronizing a project
9.6 Loading the project from the robot controller
9.7 Converting the safety configuration to a new software version
10 Station configuration and installation
10.1 Station configuration overview
10.2 “Software” tab
10.2.1 Eliminating errors in the software catalog
10.3 “Configuration” tab
10.3.1 IP address range for KUKA Line Interface (KLI)
10.3.2 Manual guidance support
10.3.3 General safety settings
10.3.4 Configuration parameters for calibration
10.3.5 Configuration parameters for Backup Manager
10.4 “Installation” tab
10.4.1 Installing system software on the robot controller
10.5 Software options
10.5.1 Installing a software option
10.5.2 Installing or updating the virus scanner
10.5.3 Installing a language package
10.5.4 Uninstalling a software option
11 Bus configuration
11.1 Configuration and I/O mapping in WorkVisual – overview
11.2 Overview of field buses
11.3 Creating a new I/O configuration
11.4 Opening an existing I/O configuration
11.5 Creating Sunrise I/Os
11.5.1 “Create I/O signals” window
11.5.2 Creating an I/O group and inputs/outputs within the group
11.5.3 Editing an I/O group
11.5.4 Deleting an I/O group
11.5.5 Changing an input/output of a group
11.5.6 Deleting an input/output of a group
11.5.7 Exporting an I/O group as a template
11.5.8 Importing an I/O group from a template
11.6 Mapping the bus I/Os
11.6.1 I/O Mapping window
11.6.2 Buttons in the “I/O Mapping” window
11.6.3 Mapping Sunrise I/Os
11.7 Exporting the I/O configuration to the Sunrise project
12 External control
12.1 Overview of external controller
12.2 Configuring the external controller via the I/O system
12.3 Configuring the external controller via the UDP interface
12.4 External controller input signals
12.5 External controller output signals
12.6 Signal diagrams
12.7 Configuring the external controller in the project settings
12.7.1 Input/output parameters of the I/O interface
12.7.2 Input/output parameters of the UDP interface
12.8 Formatting of the UDP data packets
12.8.1 Status messages of the robot controller
12.8.2 Controller messages of the external client
12.9 External control via UDP – Start-up example
12.9.1 Starting up the external controller
12.9.2 Programming the external controller
12.10 Configuring the signal outputs for a project that is not externally controlled
12.10.1 Output parameters of the I/O interface
12.10.2 Output parameters of the UDP interface
13 Safety configuration
13.1 Overview of safety configuration
13.2 Safety concept
13.3 Permanent Safety Monitoring
13.4 Event-driven Safety Monitoring
13.5 Atomic Monitoring Functions
13.5.1 Standard AMFs
13.5.2 Parameterizable AMFs
13.5.3 Extended AMFs
13.5.4 Availability of the AMFs depending on the kinematic system
13.6 Worst-case reaction times of the safety functions in the case of a single fault
13.6.1 Worst-case reaction times of the LBR iiwa monitoring functions
13.6.2 Worst-case reaction times of the KMP 400 monitoring functions
13.7 Deactivation of safety functions via an input
13.8 Safety configuration (SafetyConfiguration.sconf file)
13.8.1 Overview of safety configuration and start-up
13.8.2 Opening the safety configuration
13.8.2.1 Evaluating the safety configuration
13.8.2.2 Overview of the graphical user interface for the safety configuration
13.8.3 Configuring the safety functions of the PSM mechanism
13.8.3.1 Opening the Customer PSM table
13.8.3.2 Creating safety functions for the PSM mechanism
13.8.3.3 Deleting safety functions of the PSM mechanism
13.8.3.4 Editing existing safety functions of the PSM mechanism
13.8.4 Configuring the safe states of the ESM mechanism
13.8.4.1 Adding a new ESM state
13.8.4.2 Opening a table for an ESM state
13.8.4.3 Deleting an ESM state
13.8.4.4 Creating a safety function for the ESM state
13.8.4.5 Deleting a safety function of an ESM state
13.8.4.6 Editing an existing safety function of an ESM state
13.8.4.7 Deactivating the ESM mechanism
13.8.4.8 Switching between ESM states
13.8.5 Mapping safety-oriented tools
13.9 Activating the safety configuration
13.9.1 Deactivating the safety configuration
13.9.2 Restoring the safety configuration
13.10 Using and parameterizing the AMFs
13.10.1 Evaluating the safety equipment on the KUKA smartPAD
13.10.2 Evaluating the operating mode
13.10.3 Evaluating the motion enable
13.10.4 Monitoring safe inputs
13.10.5 Manual guidance with enabling device and velocity monitoring
13.10.5.1 Monitoring of enabling switches on hand guiding devices
13.10.5.2 Monitoring functions during manual guidance
13.10.5.3 Velocity monitoring during manual guidance
13.10.6 Evaluating the position referencing
13.10.7 Evaluating the torque referencing
13.10.8 Velocity monitoring functions
13.10.8.1 Defining axis-specific velocity monitoring
13.10.8.2 Defining Cartesian velocity monitoring
13.10.8.3 Direction-specific monitoring of Cartesian velocity
13.10.9 Monitoring spaces
13.10.9.1 Defining Cartesian workspaces
13.10.9.2 Defining Cartesian protected spaces
13.10.9.3 Defining axis-specific monitoring spaces
13.10.10 Monitoring the tool orientation
13.10.11 Standstill monitoring (safe operational stop)
13.10.12 Activation delay for safety function
13.10.13 Monitoring of forces and torques
13.10.13.1 Axis torque monitoring
13.10.13.2 Collision detection
13.10.13.3 TCP force monitoring
13.10.13.4 Direction-specific monitoring of the external force on the TCP
13.11 Example of a safety configuration
13.11.1 Task
13.11.2 Requirement
13.11.3 Suggested solution for the task
13.12 Position and torque referencing
13.12.1 Position referencing
13.12.2 Torque referencing
13.12.3 Creating an application for position and torque referencing
13.12.4 External position referencing
13.12.4.1 Configuring the input for external position referencing
13.13 Safety acceptance overview
13.13.1 Checklist – System safety functions
13.13.2 Checklist for tool selection table
13.13.3 Checklists for safety-oriented tools
13.13.3.1 Pickup frame for fixed tools
13.13.3.2 Pickup frame for activatable tools
13.13.3.3 Tool orientation
13.13.3.4 Tool-specific velocity component
13.13.3.5 Geometry data of the tool
13.13.3.6 Load data of the tool
13.13.4 Checklist for safety-oriented workpieces
13.13.5 Checklist for rows used in the PSM tables
13.13.6 Checklists for ESM states
13.13.6.1 Used ESM states
13.13.6.2 Non-used ESM states
13.13.7 Checklists for AMFs used
13.13.7.1 AMF smartPAD Emergency Stop
13.13.7.2 AMF smartPAD enabling switch inactive
13.13.7.3 AMF smartPAD enabling switch panic active
13.13.7.4 AMF Hand guiding device enabling inactive
13.13.7.5 AMF Hand guiding device enabling active
13.13.7.6 AMF Test mode
13.13.7.7 AMF Automatic mode
13.13.7.8 AMF Reduced-velocity mode
13.13.7.9 AMF High-velocity mode
13.13.7.10 AMF Motion enable
13.13.7.11 AMF Input signal
13.13.7.12 AMF Standstill monitoring of all axes
13.13.7.13 AMF Axis torque monitoring
13.13.7.14 AMF Axis velocity monitoring
13.13.7.15 AMF Position referencing
13.13.7.16 AMF Torque referencing
13.13.7.17 AMF Axis range monitoring
13.13.7.18 AMF Cartesian velocity monitoring
13.13.7.19 AMF Cartesian workspace monitoring / Cartesian protected space monitoring
13.13.7.20 AMF Collision detection
13.13.7.21 AMF TCP force monitoring
13.13.7.22 Base-related TCP force component AMF
13.13.7.23 AMF Time delay
13.13.7.24 AMF Tool orientation
13.13.7.25 AMF Tool-related velocity component
13.13.8 Checklists – General safety settings
13.13.8.1 smartPAD unplugging allowed
13.13.8.2 Allow muting via input
13.13.8.3 Allow external position referencing
13.13.9 Creating a safety configuration report
14 Basic principles of motion programming
14.1 Overview of motion types
14.2 PTP motion type
14.3 LIN motion type
14.4 CIRC motion type
14.5 SPL motion type
14.6 Spline motion type
14.6.1 Velocity profile for spline motions
14.6.2 Modifications to spline blocks
14.6.3 LIN-SPL-LIN transition
14.7 Manual guidance motion type
14.8 Approximate positioning
14.9 Orientation control with LIN, CIRC, SPL
14.9.1 CIRC – reference system for the orientation control
14.9.2 CIRC – combinations of reference system and type for the orientation control
14.10 Redundancy information
14.10.1 Redundancy angle
14.10.2 Status
14.10.3 Turn
14.11 Singularities
14.11.1 Kinematic singularities
14.11.2 System-dependent singularities
15 Programming
15.1 Java Editor
15.1.1 Opening a robot application in the Java Editor
15.1.2 Structure of a robot application
15.1.3 Edit functions
15.1.3.1 Renaming a variable
15.1.3.2 Auto-complete
15.1.3.3 Templates – Fast entry of Java statements
15.1.3.4 Creating user-specific templates
15.1.3.5 Extracting methods
15.1.4 Displaying Javadoc information
15.1.4.1 Configuration of the Javadoc browser
15.2 Symbols and fonts
15.3 Data types
15.3.1 Declaration
15.3.2 Initialization
15.3.2.1 Primitive data types
15.3.2.2 Complex data types
15.3.3 Dependency Injection
15.3.3.1 Dependency injection for Sunrise types
15.3.3.2 Dependency injection for dedicated types
15.4 Polling individual values of a vector
15.5 Network communication via UDP and TCP/IP
15.6 Motion programming: PTP, LIN, CIRC
15.6.1 Synchronous and asynchronous motion execution
15.6.2 PTP
15.6.3 LIN
15.6.4 CIRC
15.6.5 LIN REL
15.6.6 MotionBatch
15.7 Motion programming: spline
15.7.1 Programming tips for spline motions
15.7.2 Creating a CP spline block
15.7.3 Creating a JP spline block
15.7.4 Using spline in a motion instruction
15.8 Motion parameters
15.8.1 Programming axis-specific motion parameters
15.9 Programming manual guidance
15.9.1 Axis-specific limits for manual guidance
15.10 Using tools and workpieces in the program
15.10.1 Integrating tools and workpieces
15.10.2 Attaching tools and workpieces to the robot
15.10.2.1 Attaching a tool to the robot flange
15.10.2.2 Attaching a workpiece to other objects
15.10.2.3 Detaching objects
15.10.3 Moving tools and workpieces
15.10.4 Integrating dedicated object classes with dependency injection
15.10.5 Commanding load changes to the safety controller
15.11 Using inputs/outputs in the program
15.11.1 Integrating an I/O group
15.11.2 Reading inputs/outputs
15.11.3 Setting outputs
15.12 Polling axis torques
15.13 Reading Cartesian forces and torques
15.13.1 Polling external Cartesian forces and torques
15.13.2 Polling forces and torques individually
15.13.3 Checking the reliability of the calculated values
15.14 Polling the robot position
15.14.1 Polling the axis-specific actual or setpoint position
15.14.2 Polling the Cartesian actual or setpoint position
15.14.3 Polling the Cartesian setpoint/actual value difference
15.15 HOME position
15.15.1 Changing the HOME position
15.16 Polling system states
15.16.1 Polling the HOME position
15.16.2 Polling the mastering state
15.16.3 Polling “ready for motion”
15.16.3.1 Reacting to changes in the “ready for motion” signal
15.16.4 Polling the robot activity
15.16.5 Polling the state of safety signals
15.16.5.1 Polling the referencing state
15.16.5.2 Reacting to a change in state of safety signals
15.17 Changing and polling the program run mode
15.18 Changing and polling the override
15.18.1 Reacting to an override change
15.19 Conditions
15.19.1 Complex conditions
15.19.2 Axis torque condition
15.19.3 Force condition
15.19.3.1 Condition for Cartesian force from all directions
15.19.3.2 Condition for normal force
15.19.3.3 Condition for shear force
15.19.4 Force component condition
15.19.5 Condition for Cartesian torque
15.19.5.1 Condition for Cartesian torque from all directions
15.19.5.2 Condition for torque
15.19.5.3 Condition for tilting torque
15.19.6 Torque component condition
15.19.7 Path-related condition
15.19.8 Condition for Boolean signals
15.19.9 Condition for the range of values of a signal
15.20 Break conditions for motion commands
15.20.1 Defining break conditions
15.20.2 Evaluating the break conditions
15.20.2.1 Polling a break condition
15.20.2.2 Polling the robot position at the time of termination
15.20.2.3 Polling a terminated motion (spline block, MotionBatch)
15.21 Path-related switching actions (Trigger)
15.21.1 Programming triggers
15.21.2 Programming a path-related switching action
15.21.3 Evaluating trigger information
15.22 Monitoring processes (Monitoring)
15.22.1 Listener for monitoring conditions
15.22.2 Creating a listener object to monitor the condition
15.22.3 Registering a listener for notification of change in state
15.22.4 Activating or deactivating the notification service for listeners
15.22.5 Programming example for monitoring
15.23 Blocking wait for condition
15.24 Recording and evaluating data
15.24.1 Creating an object for data recording
15.24.2 Specifying data to be recorded
15.24.3 Starting data recording
15.24.4 Ending data recording
15.24.5 Polling states from the DataRecorder object
15.24.6 Example program for data recording
15.25 Defining user keys
15.25.1 Creating a user key bar
15.25.2 Adding user keys to the bar
15.25.3 Defining the function of a user key
15.25.4 Labeling and graphical assignment of the user key bar
15.25.4.1 Assigning a text element
15.25.4.2 Assigning an LED icon
15.25.5 Identifying safety-critical user keys
15.25.6 Publishing a user key bar
15.26 Message programming
15.26.1 Programming user messages
15.26.2 Programming user dialogs
15.27 Program execution control
15.27.1 Pausing an application
15.27.2 Pausing motion execution
15.27.3 FOR loop
15.27.4 WHILE loop
15.27.5 DO WHILE loop
15.27.6 IF ELSE branch
15.27.7 SWITCH branch
15.27.8 Examples of nested loops
15.28 Continuing a paused application in Automatic mode (recovery)
15.29 Error treatment
15.29.1 Handling of failed motion commands
15.29.2 Handling of failed synchronous motion commands
15.29.3 Handling of failed asynchronous motion commands
16 Background tasks
16.1 Using background tasks
16.2 Cyclic background task
16.3 Non-cyclic background task
16.4 Data exchange between tasks
16.4.1 Declaring task functions
16.4.2 Implementing task functions
16.4.3 Creating the providing task
16.4.4 Using task functions
17 Programming with a compliant robot
17.1 Sensors and control
17.2 Available controllers – overview
17.3 Using controllers in robot applications
17.3.1 Creating a controller object
17.3.2 Defining controller parameters
17.3.3 Transferring the controller object as a motion parameter
17.4 Position controller
17.5 Cartesian impedance controller
17.5.1 Calculation of the forces on the basis of Hooke’s law
17.5.2 Parameterization of the Cartesian impedance controller
17.5.2.1 Representation of Cartesian degrees of freedom
17.5.2.2 Defining controller parameters for individual degrees of freedom
17.5.2.3 Controller parameters specific to the degrees of freedom
17.5.2.4 Controller parameters independent of the degrees of freedom
17.6 Cartesian impedance controller with overlaid force oscillation
17.6.1 Overlaying a simple force oscillation
17.6.2 Overlaying superposed force oscillations (Lissajous curves)
17.6.3 Parameterization of the impedance controller with overlaid force oscillation
17.6.3.1 Controller parameters specific to the degrees of freedom
17.6.3.2 Controller parameters independent of the degrees of freedom
17.7 Static methods for impedance controller with superposed force oscillation
17.7.1 Overlaying a constant force
17.7.2 Overlaying a simple force oscillation
17.7.3 Overlaying a Lissajous oscillation
17.7.4 Overlaying a spiral-shaped force oscillation
17.8 Axis-specific impedance controller
17.8.1 Parameterization of the axis-specific impedance controller
17.8.2 Methods of the axis-specific impedance controller
17.9 Holding the position under servo control
18 Diagnosis
18.1 Field bus diagnosis
18.1.1 Displaying general field bus errors
18.1.2 Displaying the error state of I/Os and I/O groups
18.2 Displaying the protocol
18.2.1 “Protocol” view
18.2.2 Filtering log entries
18.3 Display of error messages (Applications view)
18.4 Displaying messages of the virus scanner
18.5 Collecting diagnostic information for error analysis at KUKA
18.5.1 Creating a diagnosis package with the smartHMI
18.5.2 Creating a diagnosis package with the smartPAD
18.5.3 Creating a diagnosis package with Sunrise.Workbench
18.5.4 Loading existing diagnosis packages from the robot controller
19 Remote debugging
19.1 Debugging session sequence
19.1.1 Remote debugging of tasks
19.1.2 Starting the debugging session
19.1.3 Ending the debugging session
19.2 Debugging tasks
19.2.1 Remote debugging of a robot application
19.2.2 Remote debugging of a background task
19.3 Fundamentals of remote debugging
19.3.1 Overview of user interface – “Debugging” perspective
19.3.2 Break points
19.3.2.1 Creating and deleting break points
19.3.2.2 Deactivating and activating break points
19.3.2.3 Editing the properties of the break points
19.3.2.4 Overview of the “Break points” view
19.3.2.5 Conditional break point
19.3.2.6 Suspend thread property
19.3.3 Command pointer
19.3.4 Overview of the “Debugging” view
19.3.5 Overview of the toolbar in the “Debugging” view
19.3.5.1 Continuing execution (Resume)
19.3.5.2 Jump into the method (Step in)
19.3.5.3 Executing a method completely (Step over)
19.3.5.4 Terminating the executed method (Step back)
19.3.5.5 Executing code sections again (Back to frame)
19.3.5.6 Defining the code section to be executed (Execution to line)
19.3.5.7 Pausing debugging (Pause)
19.3.6 Variables view
19.3.6.1 Displaying and modifying variables
19.3.6.2 Expanded context help for variables
19.3.7 Monitoring processes
19.3.7.1 Adding new monitoring expressions
19.3.7.2 Deleting monitoring expressions
19.3.7.3 Evaluating monitoring expressions
19.3.8 Modifying source code
19.3.8.1 Impermissible modification of the source code
19.3.8.2 Permissible modification of the source code
20 Appendix
20.1 Compatibility and migration of projects
20.1.1 Modified task functions – adapting the programming
21 KUKA Service
21.1 Requesting support
21.2 KUKA Customer Support
Index