Professional Documents
Culture Documents
KR C2
Fast Measurement
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.1 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Basic theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Activating Fast Measurement in robot type KR 2000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Upgrading other robot types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Start--up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Connection of measuring sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Connector pin allocation X33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4 Connection examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 Fast Measurement with one DSE and one RDC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2 Fast Measurement with two DSEs and two RDC2s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.1 System definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2 Checking the connected measuring inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.1 Viewing individual measuring inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.2 Viewing all measuring inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2.3 Cyclical display of the measuring inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 MeasureTech . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.1 Single--robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.1.1 Program structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.1.1.2 Program creation and reference measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.1.1.3 Switching to measurement mode with the correction function active . . . . . . . . . . . . . . . . . . . 29
6.1.1.4 Reteaching points without a master component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1.1.5 Work envelope monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1.2 Two--robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.1.2.1 Measuring robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1 Introduction
1.1 General
This documentation describes the product “Fast Measurement”. The Fast Measurement
function package is a technology package for recording robot position data using fast
measuring inputs and digital sensors to measure components and subsequently correct
application programs.
The Fast Measurement function package is used to program search commands in the KR C2
for measuring components using digital sensors. The Fast Measurement option consists
essentially of an adapter kit, in the form of a modified connection cover on the RDC housing
in the base of the robot, and the familiar software packages MeasureTech and TouchSense.
The Fast Measurement option is generally ordered along with the robot, but can also be
retrofitted if required (KR C2 only). Compared with conventional digital inputs, the measuring
inputs have significantly shorter switching times thus resulting in greater accuracy and
reproducible measurement results. The new functions also allow the possibility of connecting
the measuring sensors directly to the base of the robot instead of in the robot controller.
1.2.2 Hardware
-- RDC2
-- KUKA robot controller KR C2
All important procedural steps are recapitulated in tabular form at the end of each chapter.
For information about the technology packages MeasureTech and TouchSense, refer to
the relevant documentation modules.
Information about the robot controller can be found in the operating and programming
handbooks supplied with the robot.
2 Basic theory
2.1 Functional description
The output signal of a digital proximity sensor (e.g. when the sensor passes over the edge
of a component) is read in the RDC in the base of the robot and transferred to the DSE in
the robot controller. In the robot program, an interrupt routine triggers a reaction,
e.g. detection of the robot position at the time the signal changed. Further evaluations and
calculations are made in the software technology packages MeasureTech and TouchSense;
a detailed description of these, however, goes beyond the scope of this documentation.
For information about the technology packages MeasureTech and TouchSense, refer to
the relevant documentation modules.
The Fast Measurement function usually calculates a sequence of several such interrupt
positions. Based on the number and respective positions of such measuring points, the
controller can detect and correct linear and rotational offsets of components in up to six
degrees of freedom. A maximum of six measuring points are required.
Corrections can be carried out in one or more steps, as required. In this way, a series of
search motions already executed can be corrected, thus making it possible to move to
specific measuring points on the component. Furthermore, the corrections can be carried
out either on the inspection robot itself, or on a second processing robot by means of serial
communication. The mathematical coupling of the robot systems is achieved simply by
calibrating a shared base system. As a result of the correction, the motion sequence relative
to the component always corresponds with the taught contour of the reference component.
There are five measuring inputs available on the RDC2.
Further details on installing this cover can be found in Chapter 3 [Start--up] of this
documentation.
3 Start-- up
The robot system hardware preparations must be made first before this technology package
can be put into operation.
For a system with a single robot, this includes the mounting of a digital sensor on the robot
flange, or stationary installation in the work envelope of the robot, and the establishment of
an electrical connection to one of the fast measuring inputs on the RDC in the base of the
robot via the RDC housing cover.
Further safety instructions can also be found in the [MeasureTech] and [TouchSense]
technology package documentation modules.
3.2 Hardware
In order to connect a digital sensor to the fast measuring inputs, the existing RDC housing
cover is removed along with the 4 fastening screws (see Fig. 1).
A connecting cable (Fig. 2/1) can be found inside the housing cover of the optional hardware
kit (Art. no. 00--110--296). It consists of individual wires of different colors. The connecting
cable has a premounted 7--pole Lumberg connector (2) at one end.
1 = Connecting cable
2 = 7--pole Lumberg connector
The other end of the connecting cable terminates in connector X33 (Fig. 3/1), mounted
externally on the housing cover, to which the sensor cable will subsequently be connected.
1 = Connector X33
2 = Fastening screws
The loose end of the connecting cable with the 7--pole Lumberg connector (Fig. 2/2) is
plugged into the vacant socket X11 (Fig. 4/1) on the RDC. The connector locks itself in place.
The new housing cover can now be put in position and fastened with the 4 fastening screws.
Care must be taken, when positioning the housing cover, not to pinch the wires of
the connecting cable or the resolver cables which are also located in the RDC
housing.
The maximum possible length of the cable between the sensor and the RDC is determined
by the connection specification of the measuring input and is defined as follows:
The wire cross--section of the signal cable, the resistivity of the cable and the power
consumption of the measuring sensor determine the maximum cable length.
In the case of a new order with the Fast Measurement option, the signal cable for Fast
Measurement via the robot is routed with the internal cable bundle through axis 1.
If a robot is upgraded with Fast Measurement, it may be necessary to exchange the cable
bundle routed through axis 1. It is always necessary to contact Technical Support for details
on cable routing in the case of an upgrade.
7
6 8
5 2
1
4 3
4 Connection examples
4.1 Fast Measurement with one DSE and one RDC2
There are two possible ways of supplying voltage to the sensors of the “Fast Measurement”
inputs (FM inputs). These are:
-- RDC2 supplies FM sensors (max. 500 mA)
-- FM sensors supplied externally
These two connection options are illustrated in Fig. 9 and Fig. 10.
RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
1st RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
2nd RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
1st RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
2nd RDC2
Fast Measurement 1
Fast Measurement 2
Fast Measurement 3
Fast Measurement 4
Fast Measurement 5
5 Configuration
Configuration, in the sense of signal assignments in $CONFIG.DAT, is not necessary
for the use of fast measuring inputs. These are to be treated as controller inputs. The
signal states are displayed by means of the “Monitor – Variable” function.
In order to check an input, it makes sense to switch the input to logic “1”, i.e. the connected
sensor is so positioned that it switches and connects the measuring input with 24 V.
Fig. 14 Variable display in the status window for one measuring input
$MEAS_PULSE[n] is entered in the box [Name], where [n] stands for the number of the
measuring input to be displayed. When the Enter key is pressed, the signal state of the input
(FALSE = logic 0, TRUE = logic 1) appears in the box [Current value].
The signal state of the measuring input at the time of the entry is displayed. The display is
refreshed by selecting the box [Name] again and pressing the Enter key.
6 Application
This chapter contains excerpts from the documentation modules of the MeasureTech and
TouchSense software packages illustrating typical applications of the Fast Measurement
function package. Detailed information on configuring, programming and using the
MeasureTech and TouchSense packages can be found in the respective documentation
modules.
6.1 MeasureTech
For each MeasureTech installation type three different program templates are available: for
main programs (Meas_Main), subprograms (Meas_Sub) and repositioning programs
(Back_Pos); this differentiation is merely a result of the automatic repositioning function.
When MeasureTech is installed, an empty subprogram and an empty repositioning program
are created by default in order to prevent the generation of an error message when a
newly--created main program is selected as these are integrated here.
The actual program creation, for both measurement and processing programs, is carried out
using the subprogram template (Meas_Sub). The repositioning template can be used,
furthermore, to teach a repositioning motion to the home position for any measuring or
installation position. In such a case, the main program merely contains the subprogram call
for the measuring or processing program and the call for the repositioning program to be
executed in the event of a measurement error.
If repositioning is not desired, it is sufficient to use the subprogram template and to select
these programs directly. It must be ensured that the variable AUTO_RETURN is set to
“FALSE”.
The search and correction commands for a single--robot system and the work envelope
monitoring commands are described in the corresponding documentation module.
Search data sets 1 and 2 are used here to calculate the data for a two--dimensional
correction; the motion to search point 2 is already corrected with the offset calculated from
point one (see Fig. 16, line “correction.dim:1”).
The actual robot motion to be corrected, here a circular motion (line 13), is framed by the
“correction.dim:2” command (line 11) and the “correction.off” command (line 14).
This part of the program would be corrected in any case, even without this first correction
command, but care must be taken to ensure that the component surface for search point 2
is sufficiently large, as the programmed search point relative to the component is no longer
addressed exactly in the event of an offset.
Once again, it is important to note with this procedure that all points for which the correction
function is activated will be addressed. For this reason, care must be taken to ensure that
no points are selected for which correction is not desired.
To ensure that the first point in the work envelope monitoring is not corrected, the correction
command must be positioned after the Workspace command.
Additionally, in this example, the work envelope monitoring function is used. As the correction
command is positioned before the Workspace activation command, P1 must not be taught
in base system 1 so that P2 is the first point to be corrected.
In this example, the robot path is monitored between points P1 and P2 with a maximum
permissible deviation of 100 mm.
As the activation and deactivation of work envelope monitoring trigger an advance run stop,
points P1 and P2 can only be addressed with exact positioning.
Here, once again, points can be retaught with the correction applied; this time, however, the
entry “M_Base_Corr” appears in the Touch Up dialog (see Section 6.1.1.4).
6.2 TouchSense
Two alternative procedures are available for the component search. These are “single touch”
and “double touch”. The selection is made in the “Search parameters” parameter list of the
corresponding search command.
Distance
Auxiliary point
PTP
Search LIN
direction Start point
Touch point on the
master workpiece
If the wire reaches the component at the Touch point, a circuit is completed causing a relay
to pick up. This relay provides an electrically isolated input for “Fast Measurement”.
The robot controller registers this state and stops the robot. The axis measurements thus
determined are saved as a correction data set. The robot then returns to the start point.
Programmable tolerances are assigned to this search function. If these tolerances are
exceeded, the component search is aborted.
The number of search instructions depends on the possible changes in position of the
component. Up to six search instructions may be necessary (for the offset and rotation of
each axis) in order to adapt a path correctly to the changed component position.
Center of gap
Auxiliary point
Start point
Center of gap
Search direction
The teaching start point does not have to be exactly in the center. The current gap width for
the component is measured and then saved at the end of the search run.
Search direction
a
a/2 a/2
A M
Activating Fast Measurement in robot type KR M_Base_Corr, 31
2000, 8 Meas_Main, 27
Application, 27 Meas_Sub, 27
AUTO_RETURN, 27 MeasureTech, 27
Measuring input, 20
Measuring robot, 30
B
Back_Pos, 27
Base_Corr, 29 P
Program creation and reference measurement,
28
C Program structure, 28
Checking the connected measuring inputs, 23
Component search, 32 R
Configuration, 23
RDC2, 14
Connection examples, 19
reference:no, 29
Connector pin allocation, 17
Repositioning, 27
correction.dim:1, 28
Reteaching points without a master component,
Correction.write to interface, 30 29
Cyclical display of the measuring inputs, 25
S
D Safety instructions, 11
Double touch, 33 Single touch, 32, 33
DSE measuring inputs, 20 Single--robot system, 27
Software, 5
Start--up, 11
F
Switching to measurement mode with the
Fast Measurement, 5 correction function active, 29
Fast Measurement with one DSE and one System definitions, 23
RDC2, 19
Fast Measurement with two DSEs and two
RDC2s, 20 T
FM sensors supplied externally with voltage, Technical data, 8
19, 21 Functional description, 7
FM sensors supplied with voltage by first TouchSense, 32
RDC2, 20
Two--robot system, 30
FM sensors supplied with voltage by RDC2, 19
U
H
Upgrading other robot types, 9
Hardware, 5, 12
V
K Viewing all measuring inputs, 24
KUKA robot controller KR C2, 5 Viewing individual measuring inputs, 23
Index -- i
Index
W
Work envelope monitoring, 29
Index -- ii