KUKA Sunrise.OS 1.16: Operating and Programming Instructions for System Integrators

KUKA Sunrise.OS 1.16 KUKA Sunrise.Workbench 1.16
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
1.6 Licenses
2 Product description
2.1 Overview of the industrial robot
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 General
3.1.1 Liability
3.1.2 EC declaration of conformity and declaration of incorporation
3.1.3 Terms in the “Safety” chapter
3.2 Personnel
3.3 Workspace, safety zone and danger zone
3.4 Triggers for safety-oriented stop reactions
3.5 Safety functions
3.5.1 Safety-oriented functions
3.5.1.1 EMERGENCY STOP device
3.5.1.2 Enabling device
3.5.1.3 “Operator safety” signal
3.5.1.4 External EMERGENCY STOP device
3.5.1.5 External safety stop 1 (path-maintaining)
3.5.1.6 External enabling device
3.5.1.7 External safe operational stop
3.5.2 Non-safety-oriented functions
3.5.2.1 Mode selection
3.5.2.2 Velocity monitoring in T1
3.5.2.3 Software limit switches
3.6 Additional protective equipment
3.6.1 Jog mode
3.6.2 Labeling on the industrial robot
3.6.3 External safeguards
3.7 Safety measures
3.7.1 General safety measures
3.7.2 IT security
3.7.3 Transportation
3.7.4 Start-up and recommissioning
3.7.5 Manual mode
3.7.6 Automatic mode
3.7.7 Maintenance and repair
3.7.8 Decommissioning, storage and disposal
3.7.9 Safety measures for “single point of control”
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 perspectives
5.2.4 Toolbar of the Programming perspective
5.3 Creating a Sunrise project with a template
5.4 Sunrise applications
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
5.4.4 Creating a new background application
5.4.4.1 Creating a background application with a package
5.4.4.2 Creating a background application for an existing package
5.4.5 Setting the robot application as the default application
5.5 Workspace
5.5.1 Creating a new workspace
5.5.2 Switching to an existing workspace
5.5.3 Switching between the most recently opened workspaces
5.5.4 Archiving projects
5.5.5 Loading projects from archive to the workspace
5.5.6 Loading projects from the directory to the workspace
5.6 Sunrise projects with referenced Java projects
5.6.1 Creating a new Java project
5.6.1.1 Inserting robot-specific class libraries in a Java project
5.6.2 Referencing Java projects
5.6.3 Canceling the reference to Java projects
5.7 Renaming an element in the Package Explorer
5.7.1 Renaming a project or Java package
5.7.2 Renaming a Java file
5.8 Removing an element from Package Explorer
5.8.1 Deleting an element from a project
5.8.2 Removing a project from Package Explorer
5.8.3 Deleting a project from the workspace
5.9 Activating the automatic change recognition
5.10 Displaying release notes
6 Operating the KUKA smartPAD
6.1 KUKA smartPAD teach pendant
6.1.1 smartPAD
6.1.1.1 Front of smartPAD
6.1.1.2 Rear of smartPAD
6.1.2 smartPAD-2
6.1.2.1 Front of smartPAD-2
6.1.2.2 Rear of smartPAD-2
6.2 Disconnecting and connecting the smartPAD
6.2.1 Disconnecting the smartPAD
6.2.2 Connecting the smartPAD
6.3 Update of the smartPAD software
6.4 KUKA smartHMI user interface
6.4.1 Navigation bar
6.4.2 Status display
6.4.3 Keypad
6.4.4 Station level
6.4.5 Robot level
6.5 Calling the main menu
6.6 Setting the user interface language
6.7 User groups
6.7.1 Changing user group
6.8 CRR mode – controlled robot retraction
6.9 Changing the operating mode
6.10 Activating the user keys
6.11 Resuming the safety controller
6.12 Coordinate systems
6.13 “Override” window
6.14 “Jogging type” window
6.15 Jogging the robot
6.15.1 “Jogging options” window
6.15.2 Setting the jog override
6.15.3 Axis-specific jogging with the jog keys
6.15.4 Cartesian jogging with the jog keys
6.15.4.1 Null space motion
6.16 Manually guiding the robot
6.17 Frame management
6.17.1 “Frames” view
6.17.2 Creating a frame
6.17.3 Reteaching frames
6.17.4 Teaching a frame with the hand guiding device
6.17.5 Manually addressing frames
6.18 Program execution
6.18.1 Selecting a robot application
6.18.2 Setting the program run mode
6.18.2.1 Program run modes
6.18.3 Setting the manual override
6.18.4 Starting a robot application forwards (manually)
6.18.5 Starting a robot application forwards (automatically)
6.18.6 Resetting a robot application
6.18.7 Repositioning the robot after leaving the path
6.18.8 Starting/stopping a background application manually
6.18.8.1 Stopping a background application manually
6.18.8.2 Starting a background application manually
6.19 Display functions
6.19.1 Displaying the end frame of the motion currently being executed
6.19.2 Displaying the axis-specific actual position
6.19.3 Displaying the Cartesian actual position
6.19.4 Displaying axis-specific torques
6.19.5 Displaying an I/O group and changing the value of an output
6.19.6 Displaying information about the robot and robot controller
6.20 Backup Manager
6.20.1 “Backup Manager” view
6.20.2 Backing up data manually
6.20.3 Restoring data manually
6.20.4 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
7.1.2 Switching the robot controller off
7.2 Performing a PDS firmware update
7.3 Position mastering
7.3.1 Performing mastering without a tool
7.3.2 Mastering with tool: Teach offset
7.3.3 Performing mastering with a tool
7.3.4 Checking mastering
7.3.5 Manually unmastering axes
7.4 Calibration
7.4.1 Tool calibration
7.4.1.1 TCP calibration: XYZ 4-point method
7.4.1.2 Defining the orientation: ABC 2-point method
7.4.1.3 Defining the orientation: ABC world method
7.4.2 Base calibration: 3-point method
7.5 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 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 torques and determining the maximum absolute value
8.3.2 Requesting the evaluation result of the maximum absolute torques
8.3.3 Creating an object for the brake test
8.3.4 Starting execution of the brake test
8.3.5 Evaluating the brake test
8.3.5.1 Requesting the result of the brake test
8.4 Performing a brake test
8.4.1 Evaluation results of the maximum absolute torques (display)
8.4.2 Result of the brake test (display)
9 Project management
9.1 Overview of a Sunrise project
9.2 Frame management
9.2.1 Creating a frame for an application
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
9.2.5.1 Frame properties – General tab
9.2.5.2 Frame properties – Transformation tab
9.2.5.3 Frame properties – Redundancy tab
9.2.5.4 Frame properties – Teach information tab
9.2.5.5 Frame properties – Measurement tab
9.2.6 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 Entering load data
9.3.5 Displaying/editing object properties
9.3.5.1 Object properties – General tab
9.3.5.2 Object properties – Load data tab
9.3.6 Creating a frame for a tool or workpiece
9.3.7 Displaying/editing frame properties
9.3.7.1 Frame properties – General tab
9.3.7.2 Frame properties – Transformation tab
9.3.7.3 Frame properties – Measurement tab
9.3.7.4 Frame properties – Safety tab
9.3.8 Defining a default motion frame
9.3.9 Copying an object template
9.3.10 Configuring a safety-oriented tool
9.3.10.1 Tool properties – Load data tab
9.3.10.2 Frame properties – Transformation tab
9.3.10.3 Frame properties – Safety tab
9.3.10.4 Tool properties – Safety tab
9.3.11 Safety-oriented use of workpieces
9.3.11.1 Entering workpiece load data
9.3.11.2 Workpiece properties – Load data tab
9.3.11.3 Configuring the mass of the heaviest workpiece
9.4 User administration
9.4.1 Overview of Sunrise.RolesRights
9.4.2 Changing and activating the password
9.5 Project synchronization
9.5.1 Transferring a project to the robot controller
9.5.2 Updating the project
9.6 Loading the project from the robot controller
10 Station configuration and installation
10.1 Station configuration overview
10.2 Adapting the network settings
10.3 “Software” tab
10.3.1 Eliminating errors in the software catalog
10.4 “Configuration” tab
10.4.1 IP address range for KUKA Line Interface (KLI)
10.4.2 Handguiding Support
10.4.3 General safety settings
10.4.4 I/O handling: disable I/O access in EMERGENCY STOP
10.4.5 Show confirmation dialog on installation
10.4.6 Configuration parameters for calibration
10.4.7 Media flange
10.4.8 Configuration parameters for Backup Manager
10.5 “Installation” tab
10.5.1 Installing system software on the robot controller
10.6 Loading an old project and converting the safety configuration
10.7 Option packages
10.7.1 Installing the option package
10.7.2 Installing or updating the virus scanner
10.7.3 Installing a language package
10.7.4 Uninstalling the option package
10.7.4.1 Instructions for uninstallation of safety options
10.7.4.2 Removing an option package from the robot controller
11 Bus configuration
11.1 Overview: Configuration and I/O mapping in WorkVisual
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 Safety concept
13.2 Safety-oriented reactions
13.2.1 Time response of safety-oriented outputs
13.3 Safety interfaces
13.4 Permanent Safety Monitoring
13.5 Event-driven Safety Monitoring
13.6 Atomic Monitoring Functions
13.6.1 Standard AMFs
13.6.2 Parameterizable AMFs
13.6.3 Extended AMFs
13.6.4 Availability of the AMFs depending on the kinematic system
13.7 Worst-case reaction times of the safety functions in the case of a single fault
13.7.1 Worst-case reaction times of the LBR iiwa monitoring functions
13.8 Deactivation of safety functions via an input
13.9 Safety configuration (SafetyConfiguration.sconf file)
13.9.1 Overview: Safety configuration and start-up
13.9.2 Opening the safety configuration
13.9.2.1 Evaluating the safety configuration
13.9.2.2 Overview of the graphical user interface for the safety configuration
13.9.3 Configuring the safety functions of the PSM mechanism
13.9.3.1 Opening the Customer PSM table
13.9.3.2 Creating safety functions for the PSM mechanism
13.9.3.3 Deleting safety functions of the PSM mechanism
13.9.3.4 Editing existing safety functions of the PSM mechanism
13.9.4 Configuring the safe states of the ESM mechanism
13.9.4.1 Creating a new ESM state
13.9.4.2 Creating a safety function for the ESM state
13.9.4.3 Editing an existing safety function of an ESM state
13.9.4.4 Deleting a safety function of an ESM state
13.9.4.5 Deleting an ESM state
13.9.4.6 Deactivating the ESM mechanism
13.9.4.7 Switching between ESM states
13.9.5 Mapping safety-oriented tools
13.10 Activating the safety configuration
13.10.1 Activating the safety configuration
13.10.2 Restoring the safety configuration
13.10.3 Deactivating the safety configuration
13.11 Using and parameterizing the AMFs
13.11.1 Evaluating the safety equipment on the KUKA smartPAD
13.11.2 Evaluating the operating mode
13.11.3 Evaluating the motion enable
13.11.4 Monitoring of safety-oriented inputs
13.11.5 Manual guidance with enabling device and velocity monitoring
13.11.5.1 Monitoring of enabling switches on hand guiding devices
13.11.5.2 Monitoring functions during manual guidance
13.11.5.3 Velocity monitoring during manual guidance
13.11.6 Evaluating the position referencing
13.11.7 Evaluation of axis torque referencing
13.11.8 Velocity monitoring functions
13.11.8.1 Defining axis-specific velocity monitoring
13.11.8.2 Defining Cartesian velocity monitoring
13.11.8.3 Direction-specific monitoring of Cartesian velocity
13.11.9 Monitoring spaces
13.11.9.1 Defining Cartesian workspaces
13.11.9.2 Defining Cartesian protected spaces
13.11.9.3 Defining axis-specific monitoring spaces
13.11.10 Monitoring the tool orientation
13.11.11 Standstill monitoring (safe operational stop)
13.11.12 Activation delay for safety function
13.11.13 Monitoring of forces and axis torques
13.11.13.1 Axis torque monitoring
13.11.13.2 Collision detection
13.11.13.3 TCP force monitoring
13.11.13.4 Direction-specific monitoring of the external force on the TCP
13.12 Example of a safety configuration
13.12.1 Task
13.12.2 Requirements
13.12.3 Suggested solution for the task
13.13 Position and axis torque referencing
13.13.1 Position referencing with internal mastering sensors in kinematic systems
13.13.2 Axis torque referencing
13.13.3 Creating a referencing application
13.13.4 External position referencing
13.13.4.1 Configuring the input for external position referencing
13.14 Safety acceptance overview
13.14.1 Basic properties of the safety configuration
13.14.2 Tool selection table
13.14.3 Safety-oriented tools
13.14.3.1 Pickup frame of fixed tools
13.14.3.2 Pickup frames of activatable tools
13.14.3.3 Tool orientation
13.14.3.4 Points and orientation for tool-related velocity component
13.14.3.5 Geometry data of the tool
13.14.3.6 Load data of the tool
13.14.4 Rows used in Customer PSM table
13.14.5 Rows used in the ESM states
13.14.5.1 Non-used ESM states
13.14.6 AMFs used in PSM tables and ESM states
13.14.6.1 AMF smartPAD Emergency Stop
13.14.6.2 AMF smartPAD enabling switch inactive
13.14.6.3 AMF smartPAD enabling switch panic active
13.14.6.4 AMF Hand guiding device enabling inactive
13.14.6.5 AMF Hand guiding device enabling active
13.14.6.6 AMF Test mode
13.14.6.7 AMF Automatic mode
13.14.6.8 AMF Reduced-velocity mode
13.14.6.9 AMF High-velocity mode
13.14.6.10 AMF Motion enable
13.14.6.11 AMF Input signal
13.14.6.12 Standstill monitoring of all axes AMF
13.14.6.13 Axis torque monitoring AMF
13.14.6.14 AMF Axis velocity monitoring
13.14.6.15 AMF Position referencing
13.14.6.16 AMF Torque referencing
13.14.6.17 Axis range monitoring AMF
13.14.6.18 Cartesian velocity monitoring AMF
13.14.6.19 AMF Cartesian workspace monitoring / Cartesian protected space monitoring
13.14.6.20 Collision detection AMF
13.14.6.21 TCP force monitoring AMF
13.14.6.22 Base-related TCP force component AMF
13.14.6.23 AMF Time delay
13.14.6.24 Tool orientation AMF
13.14.6.25 Tool-related velocity component AMF
13.14.7 General safety settings
13.14.7.1 smartPAD unplugging allowed
13.14.7.2 Allow muting via input
13.14.7.3 Allow external position referencing
13.14.7.4 Mass of the heaviest workpiece
13.14.8 Creating a safety configuration report
14 KUKA Sunrise.SafetyVisualization
14.1 Overview of KUKA Sunrise.SafetyVisualization 1.0
14.1.1 3D visualization
14.1.1.1 Visualizing the monitoring spaces
14.1.1.2 Filter settings
14.1.2 Color coding
14.1.3 Highlighting monitoring spaces
14.1.4 Orbiting, zooming, panning the 3D visualization
15 Basic principles of motion programming
15.1 Overview of motion types
15.2 PTP motion type
15.3 LIN motion type
15.4 CIRC motion type
15.5 SPL motion type
15.6 Spline motion type
15.6.1 Velocity profile for spline motions
15.6.2 Modifications to spline blocks
15.6.3 LIN-SPL-LIN transition
15.7 Manual guidance motion type
15.8 Approximate positioning
15.9 Orientation control with LIN, CIRC, SPL
15.9.1 Orientation control reference system for CIRC
15.9.2 Combination of reference system and orientation type for CIRC
15.10 Redundancy information
15.10.1 Redundancy angle
15.10.2 Status
15.10.3 Turn
15.11 Singularities
15.11.1 Kinematic singularities
15.11.2 System-dependent singularities
16 Programming
16.1 Java Editor
16.1.1 Opening a robot application in the Java Editor
16.1.2 Structure of a robot application
16.1.3 Edit functions
16.1.3.1 Renaming variables
16.1.3.2 Auto-complete
16.1.3.3 Templates – Fast entry of Java statements
16.1.3.4 Creating user-specific templates
16.1.3.5 Extracting methods
16.1.4 Displaying Javadoc information
16.1.4.1 Configuration of the Javadoc browser
16.2 Symbols and fonts
16.3 Data types
16.3.1 Declaration
16.3.2 Initialization
16.3.2.1 Primitive data types
16.3.2.2 Complex data types
16.3.3 Dependency injection
16.3.3.1 Dependency injection for Sunrise types
16.3.3.2 Dependency injection for dedicated types
16.4 Requesting individual values of a vector
16.5 Network communication via UDP and TCP/IP
16.6 Motion programming: PTP, LIN, CIRC
16.6.1 Synchronous and asynchronous motion execution
16.6.2 PTP
16.6.3 LIN
16.6.4 CIRC
16.6.5 LIN REL
16.6.6 MotionBatch
16.7 Motion programming: spline
16.7.1 Programming tips for spline motions
16.7.2 Creating a CP spline block
16.7.3 Creating a JP spline block
16.7.4 Using spline in a motion instruction
16.8 Overview of motion parameters (PTP, LIN, CIRC, SPL, Spline)
16.8.1 Programming axis-specific motion parameters
16.9 Programming manual guidance
16.9.1 Overview of motion parameters (manual guidance)
16.9.2 Axis limitation for manual guidance
16.9.3 Velocity limitation for manual guidance
16.10 Using tools and workpieces in the program
16.10.1 Integrating tools and workpieces
16.10.2 Attaching tools and workpieces to the robot
16.10.2.1 Attaching a tool to the robot flange
16.10.2.2 Attaching a workpiece to other objects
16.10.2.3 Detaching objects
16.10.3 Moving tools and workpieces
16.10.4 Integrating dedicated object classes with dependency injection
16.10.5 Transferring workpiece load data to the safety controller
16.11 Using inputs/outputs in the program
16.11.1 Integrating an I/O group
16.11.2 Reading inputs/outputs
16.11.3 Setting outputs
16.12 Requesting axis torques
16.13 Reading Cartesian forces and torques
16.13.1 Requesting external Cartesian forces and torques
16.13.2 Requesting forces and torques individually
16.13.3 Checking the reliability of the calculated values
16.14 Requesting the robot position
16.14.1 Requesting the axis-specific robot position
16.14.2 Requesting the Cartesian actual or setpoint position
16.14.3 Requesting the Cartesian setpoint/actual value difference
16.15 HOME position
16.15.1 Changing the HOME position
16.16 Requesting system states
16.16.1 Requesting the HOME position
16.16.2 Requesting the mastering state
16.16.3 Checking “ready for motion”
16.16.3.1 Reacting to changes in the “ready for motion” signal
16.16.4 Checking the robot activity
16.16.5 Requesting the state of safety signals
16.16.5.1 Requesting the referencing state
16.16.5.2 Reacting to a change in state of safety signals
16.17 Changing and requesting the program run mode
16.18 Changing and requesting the override
16.18.1 Reacting to an override change
16.19 Overview of conditions
16.19.1 Complex conditions
16.19.2 Axis torque condition
16.19.3 Force condition
16.19.3.1 Condition for Cartesian force from all directions
16.19.3.2 Condition for normal force
16.19.3.3 Condition for shear force
16.19.4 Force component condition
16.19.5 Condition for Cartesian torque
16.19.5.1 Condition for Cartesian torque from all directions
16.19.5.2 Condition for torque
16.19.5.3 Condition for tilting torque
16.19.6 Torque component condition
16.19.7 Path-related condition
16.19.8 Distance condition
16.19.8.1 Distance component condition
16.19.9 Condition for Boolean signals
16.19.10 Condition for the range of values of a signal
16.20 Break conditions for motion commands
16.20.1 Defining break conditions
16.20.2 Evaluating the break conditions
16.20.2.1 Requesting a break condition
16.20.2.2 Requesting the robot position at the time of termination
16.20.2.3 Requesting a terminated motion (spline block, MotionBatch)
16.21 Path-related switching actions (trigger)
16.21.1 Programming triggers
16.21.2 Programming a path-related switching action
16.21.3 Evaluating trigger information
16.22 Monitoring of processes
16.22.1 Listener for monitoring conditions
16.22.2 Creating a listener object to monitor the condition
16.22.3 Registering a listener for notification of change in state
16.22.4 Activating or deactivating the notification service for listeners
16.22.5 Programming example for monitoring
16.23 Blocking wait for condition
16.24 Recording and evaluating data
16.24.1 Creating an object for data recording
16.24.2 Specifying data to be recorded
16.24.3 Starting data recording
16.24.4 Ending data recording
16.24.5 Requesting states from the DataRecorder object
16.24.6 Example program for data recording
16.25 Defining user keys
16.25.1 Creating a user key bar
16.25.2 Adding user keys to the bar
16.25.3 Defining the function of a user key
16.25.4 Labeling and graphical assignment of the user key bar
16.25.4.1 Assigning a text element
16.25.4.2 Assigning an LED icon
16.25.5 Identifying safety-critical user keys
16.25.6 Publishing a user key bar
16.26 Message programming
16.26.1 Programming user messages
16.26.2 Programming user dialogs
16.27 Program execution control
16.27.1 Pausing an application
16.27.2 Terminating an application
16.27.3 Pausing motion execution
16.27.4 Canceling a motion command
16.27.5 FOR loop
16.27.6 WHILE loop
16.27.7 DO WHILE loop
16.27.8 IF ELSE branch
16.27.9 SWITCH branch
16.27.10 Examples of nested loops
16.28 Continuing a paused application in Automatic mode (recovery)
16.29 Error treatment
16.29.1 Handling of failed motion commands
16.29.2 Handling of failed synchronous motion commands
16.29.3 Handling of failed asynchronous motion commands
16.29.4 Unhandled exceptions
17 Background tasks
17.1 Using background tasks
17.2 Cyclic background task
17.3 Non-cyclic background task
17.4 Data exchange between tasks
17.4.1 Declaring task functions
17.4.2 Implementing task functions
17.4.3 Creating the providing task
17.4.4 Using task functions
18 KUKA Sunrise.EnhancedVelocityControl
18.1 Overview of KUKA Sunrise.EnhancedVelocityControl 1.0
18.1.1 “Brake” safety reaction
18.1.2 Cartesian velocity limitation via application
18.1.2.1 Setting and deactivating velocity limitation
18.1.2.2 Requesting information about velocity limitation functions
19 KUKA Sunrise.StatusController
19.1 Overview of KUKA Sunrise.StatusController
19.1.1 Predefined status groups
19.1.2 Creating status and status groups
19.1.3 Using the IStatusController interface
19.1.4 Setting and deleting the status via the status monitor
19.1.5 Implementing a status listener
20 Programming with a compliant robot
20.1 Sensors and control
20.2 Overview of controllers
20.3 Using controllers in robot applications
20.3.1 Creating a controller object
20.3.2 Defining controller parameters
20.3.3 Transferring the controller object as a motion parameter
20.4 Position controller
20.5 Cartesian impedance controller
20.5.1 Calculation of the forces on the basis of Hooke’s law
20.5.2 Parameterization of the Cartesian impedance controller
20.5.2.1 Representation of Cartesian degrees of freedom
20.5.2.2 Defining controller parameters for individual degrees of freedom
20.5.2.3 Controller parameters specific to the degrees of freedom
20.5.2.4 Controller parameters independent of the degrees of freedom
20.6 Cartesian impedance controller with overlaid force oscillation
20.6.1 Overlaying a simple force oscillation
20.6.2 Overlaying superposed force oscillations (Lissajous curves)
20.6.3 Parameterization of the impedance controller with overlaid force oscillation
20.6.3.1 Controller parameters specific to the degrees of freedom
20.6.3.2 Controller parameters independent of the degrees of freedom
20.7 Static methods for impedance controller with superposed force oscillation
20.7.1 Overlaying a constant force
20.7.2 Overlaying a simple force oscillation
20.7.3 Overlaying a Lissajous oscillation
20.7.4 Overlaying a spiral-shaped force oscillation
20.8 Axis-specific impedance controller
20.8.1 Parameterization of the axis-specific impedance controller
20.8.2 Methods of the axis-specific impedance controller
20.9 Holding the position under servo control
21 Diagnosis
21.1 Field bus diagnosis
21.1.1 Displaying general field bus errors
21.1.2 Displaying the error state of I/Os and I/O groups
21.2 Displaying a log
21.2.1 “Log” view
21.2.2 Filtering log entries
21.3 Displaying error messages
21.4 Displaying messages of the virus scanner
21.5 Collecting diagnostic information for error analysis at KUKA
21.5.1 Creating a diagnosis package with the smartHMI
21.5.2 Creating a diagnosis package with the smartPAD
21.5.3 Creating a diagnosis package with Sunrise.Workbench
21.5.4 Loading existing diagnosis packages from the robot controller
22 Remote debugging
22.1 Debugging session sequence
22.1.1 Remote debugging of tasks
22.1.2 Starting the debugging session
22.1.3 Ending the debugging session
22.2 Debugging tasks
22.2.1 Remote debugging of a robot application
22.2.2 Remote debugging of a background task
22.3 Fundamentals of remote debugging
22.3.1 Overview of user interface – “Debugging” perspective
22.3.2 Break points
22.3.2.1 Creating and deleting break points
22.3.2.2 Deactivating and activating break points
22.3.2.3 Editing the properties of the break points
22.3.2.4 Overview of the “Break points” view
22.3.2.5 Conditional break point
22.3.2.6 Suspend thread property
22.3.3 Command pointer
22.3.4 Overview of the “Debugging” view
22.3.5 Overview of the toolbar in the “Debugging” view
22.3.5.1 Continuing execution (Resume)
22.3.5.2 Jump into the method (Step in)
22.3.5.3 Executing a method completely (Step over)
22.3.5.4 Terminating the executed method (Step back)
22.3.5.5 Executing code sections again (Back to frame)
22.3.5.6 Defining the code section to be executed (Execution to line)
22.3.5.7 Debugging: pausing threads (Pause)
22.3.6 Variables view
22.3.6.1 Displaying and modifying variables
22.3.6.2 Advanced context help for variables
22.3.7 Monitoring processes
22.3.7.1 Adding new monitoring expressions
22.3.7.2 Deleting monitoring expressions
22.3.7.3 Evaluating monitoring expressions
22.3.8 Modifying source code
22.3.8.1 Impermissible modification of the source code
22.3.8.2 Permissible modification of the source code
23 Appendix
23.1 Compatibility and migration of projects
23.1.1 Modified task functions – adapting the programming
24 KUKA Service
24.1 Requesting support
24.2 KUKA Customer Support
Index
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
R
S
T
U
V
W
X