KUKA.WorkVisual 5.0: Operating and programming instructions

KUKA.WorkVisual 5.0
1 Introduction
1.1 Target group
1.2 Representation of warnings and notes
1.3 Trademarks
1.4 Licenses
1.5 Terms used
2 Product description
2.1 Overview of WorkVisual
2.2 Additional software
2.3 Intended use of WorkVisual
3 Safety
4 Installation
4.1 PC system requirements
4.2 System requirements, robot controller
4.3 Installing WorkVisual
4.4 Uninstalling WorkVisual
4.5 Creating and starting a portable version
5 Graphical user interface
5.1 Overview of the graphical user interface
5.2 Displaying/hiding windows
5.3 Repositioning the windows
5.4 Displaying different views of the user interface
5.5 Displaying/hiding buttons
5.6 Button bar
5.7 Message window window
5.8 Project structure window
5.9 Cell configuration window
5.9.1 Repositioning objects
5.10 Resetting the graphical user interface
6 Operation
6.1 Starting WorkVisual
6.2 Opening a project
6.3 Creating a new project
6.3.1 Creating a new empty project
6.3.2 Creating a project with a template
6.3.3 Creating a project on the basis of an existing project
6.4 Saving project information
6.5 Saving the project
6.6 Closing the project
6.7 Closing WorkVisual
6.8 Importing device description files
6.9 Catalogs
6.9.1 Updating the DtmCatalog (catalog scan)
6.9.2 Inserting a catalog in a project
6.9.3 Adding a catalog
6.9.4 Removing a catalog from the project
6.9.5 Catalog descriptions (8.2)
6.9.6 Catalog descriptions (8.3 or higher)
6.10 Inserting an element in the project
6.11 Removing an element from the project
6.12 Inserting a robot controller
6.13 Setting the robot controller to active/inactive
6.14 Changing the values “Firmware version” and/or “Number of I/Os
6.15 Assigning a robot to the robot controller
6.16 Activating additional controller settings
6.16.1 Setting the cycle time of the Transfer application
6.16.2 Activating the brake test
6.16.3 Changing the number of TOOL and BASE coordinate systems
6.17 Configuring the brake test
6.18 Inserting a safety option and/or PROCONOS
6.19 Inserting hardware components
6.20 Inserting an external axis
6.21 Editing machine data for external axes (8.2)
6.22 Editing machine data (8.3 or higher)
6.23 Comparing kinematic systems (and accepting differences)
6.24 Updating machine data
6.25 Exporting kinematic systems to a catalog
6.26 Editing TOOL and BASE coordinate systems
6.26.1 Opening tool/base management
6.26.2 Configuring tool/base management
6.26.3 TOOL and BASE coordinate systems
6.26.4 Objects
6.26.5 Updating TOOL and BASE coordinate systems
6.26.6 Importing TOOL and BASE coordinate systems
6.26.7 Converting TOOL and BASE coordinate systems
6.26.8 Exporting objects to a catalog
6.26.9 Importing objects from a catalog
6.26.10 Copying and pasting measurement data
6.26.11 Displaying usages of TOOL and BASE coordinate systems
6.27 Comparing files
6.28 Copying data from a file to the project
6.28.1 Copying data from a DAT file to the project with WorkVisual
6.29 Defining cells online
6.29.1 Opening the cell definition
6.29.2 Configuring a cell definition
6.29.3 Editing cells
6.30 Option packages
6.30.1 Option profiles
6.30.2 Creating and activating an option profile
6.30.3 Installing an option package in WorkVisual
6.30.4 Updating an option package
6.30.5 Uninstalling the option package
6.30.6 Loading an option package from a robot controller
6.30.7 Inserting an option package in a project
6.30.8 Removing an option package from the project
6.30.9 Adding a device from an option package to the robot controller
6.30.10 Exporting files from an option package
6.31 Inspecting projects
6.31.1 Creating an inspection plan
6.31.2 Configuring a predefined inspection function
6.31.3 Executing an inspection plan
6.31.4 Inspecting multiple projects simultaneously
6.32 Managing updates
6.32.1 Opening the Update Manager
6.32.2 Adding a robot controller
6.32.3 Adding multiple robot controllers at the same time
6.32.4 Saving and loading the list of robot controllers
6.32.5 Entering user credentials
6.32.6 Displaying information about the update jobs
6.33 Making an update bundle
6.33.1 Creating an update bundle
6.33.2 Adding option packages to the update bundle and configuring them
6.33.3 Adding instructions to the update bundle and configuring them
6.33.4 Changing settings for the update bundles
6.34 Distributing updates over the network
6.34.1 Creating a rollout
6.34.2 Adding robot controllers to the rollout
6.34.3 Entering user credentials
6.34.4 Starting a rollout
6.34.5 Displaying information about the completed update job
6.35 Exporting a subproject
6.36 Importing a subproject
6.37 Changing predefined properties of WorkVisual
6.37.1 Configuring booting and saving characteristics
6.37.2 Configuring keyboard shortcuts
6.37.3 Changing the user interface language
6.37.4 Configuring additional editors
6.37.5 Configuring the comparison of kinematic systems
6.37.6 Configuring code generation
6.38 Print functions
7 Start-up
7.1 Establishing a connection to the robot controller
8 Safety configuration
8.1 Safety configuration in WorkVisual
8.2 Editing the local safety configuration
8.3 Parameters of the local safety configuration
8.3.1 “General” tab (8.2)
8.3.2 “General” tab (8.3 or higher)
8.3.3 “Axis monitoring” tab (8.3 or higher)
8.3.3.1 Parameter Braking time
8.3.3.2 Parameter: Maximum velocity T1
8.3.3.3 Checking the limits for the maximum axis velocity in T1 mode
8.4 Importing the safety configuration (SCG import)
8.5 Exporting the safety configuration (SCG export)
8.6 Importing a safety configuration (XML import)
8.7 Exporting the safety configuration (XML export)
8.8 Comparing the safety configuration
8.9 Resetting the safety configuration
9 Field bus configuration
9.1 Overview of field buses
9.2 Field bus set-up
9.2.1 Overview: field bus set-up
9.2.2 Inserting a field bus master in a project
9.2.3 Configuring the field bus master
9.2.4 Inserting devices manually into the bus
9.2.5 Configuring devices
9.2.6 Automatically inserting devices into the bus (Bus Scan)
9.3 Editing field bus signals
9.3.1 Signal Editor
9.3.2 Changing the bit width of signals
9.3.3 Swapping signals (reversing the byte order)
9.3.4 Changing the data type
9.3.5 Changing signal names
9.4 Mapping the bus I/Os
9.4.1 I/O Mapping window
9.4.2 Buttons in the I/O Mapping window
9.4.3 Mapping input to output
9.4.4 Mapping bus inputs to bus outputs by means of I/O linking (8.2)
9.4.5 Mapping bus inputs to bus outputs using the transfer application (8.3 or higher)
9.4.6 Multiple mapping or reverse mapping of signals via I/O linking
9.4.7 Searching for assigned signals
9.4.8 Grouping signals
9.4.9 Editing analog KRC signals
9.5 Exporting the bus configuration
10 Long texts
10.1 Displaying / editing long texts
10.2 Importing long texts
10.3 Exporting long texts
11 Configuring KUKA buses: controller bus, system bus, extension bus
11.1 Overview
11.2 Configuring the KUKA bus (8.2)
11.2.1 Inserting devices on the KUKA bus (8.2)
11.2.2 Checking the device settings
11.2.3 Connecting devices on the KUKA bus
11.2.4 “Topology” tab
11.2.5 Inserting the wagon driver configuration
11.3 Configuring the KUKA bus (8.3 or higher)
11.4 Assigning FSoE slave addresses
11.4.1 FSoE addresses
11.4.2 Determining the serial number for the Lenze KSP/KPP
11.4.3 Determining the serial number of the RDC
12 RoboTeam
13 Programming
13.1 Creating a program
13.2 Importing a program
13.3 Searching and replacing within files
13.4 KRL Editor
13.4.1 Opening a file in the KRL Editor
13.4.2 KRL Editor user interface
13.4.3 Zooming in/out
13.4.4 Configuring KRL Editor
13.4.5 Edit functions
13.4.5.1 General edit functions
13.4.5.2 Snippets – Fast entry of KRL instructions
13.4.5.3 Renaming a variable
13.4.5.4 Offsetting points
13.4.5.5 Modifying values of external axes
13.4.5.6 Modifying TOOL and BASE coordinate systems
13.4.5.7 Auto-complete
13.4.6 Folds
13.4.7 Jumping to the declaration of a variable
13.4.8 Displaying all uses of a variable
13.4.9 Quickfix correction
13.4.9.1 Correcting or automatically declaring undeclared variables
13.4.9.2 Removing unused variables
13.4.9.3 Standardizing the upper/lower case in a variable name
13.4.10 Creating user-specific snippets
13.5 Working online with the KRC Explorer
13.5.1 Opening the working directory in the KRC Explorer
13.5.2 KRC Explorer user interface
13.5.2.1 Button bar in KRC Explorer
13.5.2.2 Icons in KRC Explorer
13.5.3 Configuring KRC Explorer
13.5.4 General edit functions
13.5.5 Creating a new file with template
13.5.6 Transferring changes to the robot controller
13.5.7 Loading changes from the robot controller
13.5.8 Restoring the state of the robot controller
13.5.9 Comparing files
13.5.10 Copying data from a file to the working directory
13.5.11 Copying data from a DAT file to the working directory with WorkVisual
13.6 Debugging programs
13.6.1 Overview of the debugging mode
13.6.2 Starting the debugging mode
13.6.3 Monitoring variables
13.6.4 Ending the debugging mode
14 Transferring and activating a project
14.1 Generating code
14.2 Pinning a project
14.3 Assigning the robot controller to the real robot controller
14.4 Transferring the project to the robot controller
14.5 Activating a project
14.5.1 Activating a project (in WorkVisual)
14.6 Checking the safety configuration of the robot controller
14.7 Loading the project from the robot controller
14.8 Comparing projects (and accepting differences)
14.9 Copying data from a different project
14.10 Updating the project
15 Diagnosis
15.1 Project analysis
15.1.1 Analyzing a project automatically for errors
15.1.2 Configuring the project analysis function
15.2 Trace
15.2.1 Configuring and starting the trace recording
15.2.2 Importing a trace configuration
15.2.3 Exporting a trace configuration
15.2.4 Modifying default settings of the trace configuration
15.2.5 “Trace configuration” window
15.2.5.1 “General” tab
15.2.5.2 “Trigger” tab
15.2.5.3 “I/O” tab
15.2.5.4 “Configuration” tab
15.2.5.5 “Advanced configuration” tab
15.2.6 Importing a trace recording
15.2.7 Displaying a trace recording
15.2.8 “Trace Analysis (Oscilloscope)” window
15.2.8.1 “Channels” tab
15.2.8.2 “Oscilloscope” tab
15.2.9 Panning and zooming the oscilloscope display
15.2.10 Creating a screenshot of the oscilloscope display
15.3 Recording network traffic
15.4 Displaying messages and system logs of the robot controller
15.4.1 MessageLogs tab
15.4.2 “SystemLogs” tab
15.5 Displaying diagnostic data about the robot controller
15.5.1 Diagnostic data for the transfer application module
15.6 Displaying online system information
16 KUKA Service
16.1 Requesting support
16.2 KUKA Customer Support
Index
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