About Kuka KRC Translators

This section provides basic information about the Kuka KRC translator. The information includes:

Controller Profiles

Every robot controller has certain profiles each of which define characteristics of different aspects of the controller. By default, controllers by the name Default are defined for Motion, Tool, Accuracy and Object Profile.

Please see Device Task Definition: Workbench Description: Robot Controller Toolbar for more information on controller profiles.

Action Libraries

Action libraries consist of a sequence of activities that can be used to perform specific operations such as spot welding. The following action  libraries are provided for Kuka KRC controller:

  • KukaSpot action library
  • KukaServoGun action library
  • KukaGripper action library

Please see Device Task Definition: Workbench Description: Action Library Toolbars for more details.

Robot Parameter Data

Robot parameter data informs the translator about the user's special requirements. See Robot Parameter Map section for supported parameters.

The following procedure describes how to define device parameters.
Open the KukaStart.CATProcess file.

  1. Right-click robot KR125-2.1 in the PPR tree and select Properties. The properties dialog box opens.

  2. Click the Define other properties button.
    The Define Other Properties dialog box opens.

  3. Select the type of parameter from the list and click the New Parameter of type button.
    The newly created parameter appears in box listing the parameters (for example, in the dialog box above, ProgramFileEncoding has been added).

  4. In the Edit name and value field, enter a name and value as required.

  5. Or instead, you can skip steps 3-4 and import parameters from a .txt file using External properties. The .txt file must have the following format:

    parameter_name         parameter_value
    ....                           .....

Program Logic/IO

Input/Output signals are used to communicate between resources and synchronize multiple resource simulations.

Please see Workcell Sequencing: Workbench Description: IO Management Toolbar for more details.

Weld Guns

Kuka translators support servo and non-servo weld guns.

A servo weld gun is defined using Set Tool as an external axis of a robot, and used with KukaServoGun action library .

A non-servo weld gun is simply defined as robot-mount (Snap) or pedestal (Fixed TCP) tool, and not as an external axis. KukaSpot action library is used on non-servo weld guns. Refer to Spot Welding Application section for details.

Special Considerations

Kuka translators support Kuka Multi-Controller Robot Cooperation application (KIR). A system environment variable KUKA_TAG_ATTRIBUTE needs to be set.

For details see Kuka KIR Application section.

Syntax Map

Please refer to the Robot Command Syntax Map worksheet in the KRL_V5_XML.xls file.

Robot Parameter Map

Refer to the Parameter Data worksheet in the KRL_V5_XML.xls file.

Spot Welding Application

  • Non-servo Gun Spot Welding

    The table below shows the syntax map for V5 Kuka Spot action and KRL commands:

    V5 Kuka Spot Action KRL Command
    KukaSpotWeld Kuka spot fold
    KukaSpotRetract Kuka retract fold

  • Servo Gun Spot Welding

    The table below shows the syntax map for V5 Kuka Servo Gun action and KRL commands:

    V5 Kuka Servo Gun Action KRL Command
    KukaServoGunCouple ;FOLD ServoGun Couple= 1;%{PE}% ...
    EG_CHANGING(#COUPLE,1)
    ;ENDFOLD
    KukaServoGunDecouple ;FOLD ServoGun Decouple= 1;%{PE}% ... EG_CHANGING(#DECOUPLE,1)
    ;ENDFOLD
    KukaServoGunInit Kuka servo gun init fold
    KukaServoGunTipDress Kuka servo gun tip dress fold
    KukaServoGunWeld Kuka servo gun weld fold

Please see Device Task Definition: Workbench Description: Action Library Toolbars for more details.

Gripper Application

The table below shows the syntax map for V5 Kuka Gripper action and KRL commands:

V5 Kuka Gripper Action KRL Command
KukaGripperOpen ;FOLD SET GRP 1 State= OPN GDAT1;%{PE}% ...
H50(GRP,1,1,GGDAT1)
;ENDFOLD
KukaGripperClose ;FOLD SET GRP 1 State= CLO GDAT1;%{PE}% ...
H50(GRP,1,2,GGDAT1)
;ENDFOLD
KukaGripperCheck ;FOLD CHECK GRP 1 State= OPN ...
TRIGGER WHEN DISTANCE=0 DELAY=0 DO H50 ...
;ENDFOLD

Please see Device Task Definition: Workbench Description: Action Library Toolbars: Creating a Drop Action for more details.

Kuka KIR Application

The following procedure describes how to create a KIR application.
Open the Kir.CATProcess file.

  1. Simulate RobotTask.1 of robot KR125-2.1.

  2. Copy the template and config files (KukaKIR\vorgabe.dat, vorgabe.src and $testconfig.dat) to a folder and set the parameters to point to them, as illustrated below:

  3. Download the task in Part Coordinates.

    Notice that, the original config file $testconfig.dat has been renamed to $testconfig0.dat before information pertaining to the current CATProcess is written into the file specified by the parameter ConfigFile.

  4. Save the created robot program files.

  5. Upload the saved program and simulate the task created.