KST GripperSpotTech 31 en PDF

KUKA System Technology KUKA Roboter GmbH
KUKA.Gripper&SpotTech 3.1
For KUKA System Software 8.2 and 8.3
Issued: 29.11.2012
Version: KST GripperSpotTech 3.1 V1 en (PDF)

© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication: Pub KST GripperSpotTech 3.1 en

Bookstructure: KST GripperSpotTech 3.1 V1.1
Version: KST GripperSpotTech 3.1 V1 en (PDF)
2 / 53 Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF)

Contents
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Terms used ................................................................................................................ 6
2 Product description ..................................................................................... 7

2.1 Overview of Gripper&SpotTech ................................................................................. 7
2.2 SpotTech: overview of functions ................................................................................ 7
2.3 SpotTech: sequence of a weld program .................................................................... 8
3 Safety ............................................................................................................ 11
4 Installation ................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.2 Installing or updating Gripper&SpotTech ................................................................... 13
4.3 Uninstalling Gripper&SpotTech .................................................................................. 13
5 Operation ...................................................................................................... 15
5.1 Manual gripper control ............................................................................................... 15
6 Configuration ............................................................................................... 17
6.1 Predefined grippers .................................................................................................... 17
6.1.1 Configuring predefined grippers ........................................................................... 17
6.1.2 Predefined gripper types ....................................................................................... 18
6.2 User-specific grippers ................................................................................................ 20
6.2.1 Configuring a user-specific gripper ....................................................................... 20
6.2.2 USER_GRP program ............................................................................................ 21
6.3 SpotTech: configuration ............................................................................................. 23
6.3.1 Skeleton program USERSPOT.SRC .................................................................... 23
6.3.2 SPOTTECH GLOBALS fold in $CONFIG.DAT ..................................................... 24
6.3.3 Configuration of manual gun control ..................................................................... 24
6.3.3.1 Controlling RETRACT and SPOT separately ....................................................... 24
6.3.3.2 Controlling RETRACT and SPOT in series .......................................................... 25
7 Programming ............................................................................................... 27
7.1 GripperTech: programming ........................................................................................ 27
7.1.1 Programming the inline form “Gripper” ................................................................. 27
7.1.2 Programming the inline form “CheckGripper” ....................................................... 27
7.1.3 Option window “Gripper adjustments” .................................................................. 28
7.2 SpotTech: programming ............................................................................................ 29
7.2.1 Programming the inline form “SPOT” ................................................................... 29
7.2.2 Programming the inline form “RETRACT” ............................................................ 29
7.2.3 Option window “Primary weldset” ......................................................................... 30
7.2.4 Activating/deactivating collision detection ............................................................. 31
8 Examples ...................................................................................................... 33
8.1 Example program USERSPOT.SRC ......................................................................... 33
8.1.1 Overview of I/Os – robot controller (KR C) / weld controller (PLC) ....................... 35
Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF) 3 / 53

8.1.2 Signal diagram: SPOT without the options RETRACT and PRESPOT ................ 37
8.1.3 Signal diagram: SPOT with the options RETRACT and PRESPOT ..................... 39
9 Messages ...................................................................................................... 41
9.1 GripperTech: error messages .................................................................................... 41
9.2 SpotTech: error messages ........................................................................................ 41
10 KUKA Service ............................................................................................... 43

10.1 Requesting support ................................................................................................... 43
10.2 KUKA Customer Support ........................................................................................... 43
Index ............................................................................................................. 51

1 Introduction
1 Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of the robot controller system
 Advanced KRL programming skills
For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the KUKA System Software
 Documentation relating to options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.
These warnings mean that death or severe injuries may

occur, if no precautions are taken.
These warnings mean that minor injuries may occur, if

no precautions are taken.
These warnings mean that damage to property may oc-

cur, if no precautions are taken.
These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.
This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:
Procedures marked with this warning must be followed

exactly.
Notes These hints serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.
1.4 Terms used
Term Description
SPOT Working stroke, i.e. the opening of the weld gun
used to execute a weld spot
RETRACT Retract stroke, i.e. the complete opening of the
weld gun
PRESPOT Early closing of the weld gun
The closing of the working stroke does not start
after the point for the weld spot has been
reached, but while the robot is still moving to the
point.
Weld timer Hardware for controlling the welding time and
welding current
PLC The PLC (Programmable Logic Controller) is an
electronic module that is used for higher-level
control tasks, e.g. the weld controller.

2 Product description
2.1 Overview of Gripper&SpotTech
Gripper&SpotTech is an add-on technology package with the following func-

tions:
Functions  Inline forms for gripper programming

 Programming gripper actions
 Controlling and monitoring gripper actions
 Inline forms for programming spot welding applications
 Moving to the point for the weld spot and programming the weld oper-
ation
 Controlling and monitoring the weld operation
 Grippers can also be actuated manually.
 16 grippers can be configured.
 There are 5 predefined gripper types available.
 User-specific gripper types can be created.
Weld guns are considered as grippers.
Areas of appli- Almost all industrial applications, e.g.:

cation  Spot welding application
 Arc welding
 Assembly
 Machine tending
 Transfer
 Order picking
2.2 SpotTech: overview of functions
Overview SpotTech contains 2 inline forms for programming spot welding applications:
 SPOT
 RETRACT
SPOT The inline form SPOT is used to program the following functions:
 Move to point for weld spot with PTP, LIN or CIRC
 Close weld gun while the robot is moving to the weld point.
 Weld operation
 Retract stroke of the weld gun following the weld operation
 Collision detection
RETRACT The inline form RETRACT is used to program the following functions:
 Move to end point with PTP, LIN or CIRC
 Retract stroke of the weld gun on reaching the end point
 Collision detection

Fig. 2-1: RETRACT and SPOT functions
Item Description
1 Retract stroke open (RETR OPN)
2 Retract stroke closed (RETR CLS)
3 Working stroke closed (SPOT)
2.3 SpotTech: sequence of a weld program
Description The diagram shows the sequence of a welding program between two weld
spots.
Fig. 2-2: Spot weld program sequence

Element Description
P1 Starting point / previous weld spot
RETRACT Status of the weld gun at the start of the program
OPEN
Two options can be programmed in the inline form:
RETRACT
CLOSED  Retract stroke open (RETR OPN)
 Retract stroke closed (RETR CLS)
ADVSPOT Communication with the weld controller
Configuration of ADVSPOT in USERSPOT.SRC, so
that the required weld data are available when the end
point is reached.
(>>> 8.1 "Example program USERSPOT.SRC"
Page 33)
PRESPOT Early closing of the weld gun
(>>> 7.2.3 "Option window “Primary weldset”"
Page 30)
SPOT The weld operation is started with the signal
WLD_START from the robot controller (KRC) to the
weld controller (PLC) and stopped when the weld com-
plete signal WLD_CMP is set in the weld controller
(PLC).
(>>> 8.1.1 "Overview of I/Os – robot controller (KR C) /
weld controller (PLC)" Page 35)
P2 Weld spot


3 Safety
3 Safety
This documentation contains safety instructions which refer specifically to the
software described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the Operating and Programming Instructions for End Users.
The “Safety” chapter in the operating and programming instructions

must be observed. Death to persons, severe injuries or considerable
damage to property may otherwise result.
All setup work must be carried out, where possible, from

outside the safeguarded area. If it is absolutely neces-
sary to carry out setup work in this area, there must be no persons under the
gripper while it is carrying a load. Death to persons or severe injuries may
otherwise result.
The outputs from the robot system to the gripper are not
designed with failsafe technology. When planning the
cells, it must therefore be ensured that the gripper cannot be actuated inad-
vertently. In particular, it must be ensured that the gripper does not open au-
tomatically, thereby dropping the workpiece, when the power supply is
deactivated (e.g. by opening the safety gates).
Failure to observe this may result in death to persons, severe injuries or con-
siderable damage to property.


4 Installation
4 Installation
4.1 System requirements
Hardware  KR C4
Software  KUKA System Software 8.2 and 8.3
4.2 Installing or updating Gripper&SpotTech
It is advisable to archive all relevant data before updating a software

package.
Preparation  Copy software from CD to KUKA USB stick
Only the KUKA.USB data stick may be used. Data may

be lost or modified if any other USB stick is used.
Precondition  “Expert” user group
Procedure 1. Connect the KUKA USB stick.

2. Select Start-up > Install additional software in the main menu.
3. Press New software. If a software package that is on the USB stick is not
displayed, press Refresh.
4. Select the entry Gripper&SpotTech and press Install. Reply to the re-
quest for confirmation with Yes. The files are copied onto the hard drive.
5. Repeat step 4 if another software package is to be installed from this stick.
6. Remove the KUKA USB stick.
7. It may be necessary to reboot the controller, depending on the additional
software. In this case, a corresponding prompt is displayed. Confirm with
OK and reboot the robot controller. Installation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.
4.3 Uninstalling Gripper&SpotTech
It is advisable to archive all relevant data before uninstalling a soft-

ware package.
Procedure 1. Select Start-up > Install additional software in the main menu.
2. Select the entry Gripper&SpotTech and press Uninstall. Reply to the re-
quest for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.


5 Operation
5 Operation
5.1 Manual gripper control
Technology keys Technology Description

keys
Select gripper
The number of the gripper is displayed.
 Pressing the upper key counts upwards.
 Pressing the lower key counts downwards.
Toggle between the gripper states (e.g. open or close)

The current state is not displayed. The possible states de-
pend on the configured gripper type. In the case of weld
guns, the possible states depend on the configuration of the
manual gun control.
Preparation Displaying technology keys:

 In the main menu, select Configure > Status keys > GripperTech.
Precondition  For weld guns only: the manual gun control has been configured.
 Program is selected
 Operating mode T1 or T2
 Enabling switch is pressed.
Procedure 1. Select the gripper using the technology key.

2. Control the gripper using the technology key.


6 Configuration
6 Configuration
6.1 Predefined grippers
6.1.1 Configuring predefined grippers

 No program is selected in the Navigator
Procedure 1. In the main menu, select Configure > I/O > Gripper. A window opens.
2. Select the desired gripper number with Next or Previous.
3. If desired, change the default name of the gripper.
4. Assign one of the types 1 to 5 to the gripper (>>> 6.1.2 "Predefined grip-
per types" Page 18).
5. Assign the inputs and outputs.
6. If desired, change the default names of the states.
7. Save the configuration with Change.
Description
Fig. 6-1: Example: predefined gripper

Item Description
1 Number of the gripper
 1 … 16
2 Name of the gripper
The name is displayed in the inline form. The default name can be
changed.
 1 … 24 characters
3 Type
 For predefined grippers: 1 … 5
4 Designation of the gripper type (not updated until saved)
The designation cannot be changed.
5 Assignment of the output numbers
Outputs that are not required can be assigned the value “0”. In this
way, they are immediately identifiable as unused. If they are none-
theless assigned a number, this has no effect.
6 Assignment of the input numbers
Inputs that are not required can be assigned the value “0”. In this
7 Switching states
The default names can be changed. The names are displayed in
the inline forms if the corresponding gripper is selected there.
The inputs/outputs can also be configured with negative logic. For

this, the number must be preceded by a minus sign. Example:
100: the robot controller monitors whether input 100 is set.
 -100: the robot controller monitors whether input 100 is not set.
6.1.2 Predefined gripper types
Description There are 5 predefined gripper types in Gripper&SpotTech. If these types are
not sufficient, additional gripper functions can be programmed.
(>>> 6.2 "User-specific grippers" Page 20)
Type 1 Designation: Single-element gripper, static, open/closed

 2 switching states: Open, Closed
 2 outputs
 4 inputs
I/Os Open Closed
OUT 1 TRUE FALSE
OUT 2 FALSE TRUE
IN 1 TRUE FALSE
IN 2 FALSE TRUE
IN 3 TRUE FALSE
IN 4 FALSE TRUE
Type 2 Designation: With mid-position valve

 3 switching states: Pos1, Middle, Pos2
 2 outputs

6 Configuration
 2 inputs
I/Os Pos1 Middle Pos2
OUT 1 TRUE FALSE FALSE
OUT 2 FALSE TRUE FALSE
IN 1 TRUE FALSE FALSE
IN 2 FALSE TRUE FALSE
Type 3 Designation: Vacuum gripper with 2 valves

 3 switching states: Suction, Release, Off
 2 outputs
 2 inputs
I/Os Suction Release Off
Type 4 Designation: Vacuum gripper with 3 valves

 3 switching states: Suction, Release, Off
 3 outputs
 2 inputs
I/Os Suction Release Off
OUT 2 FALSE TRUE TRUE
Type 5 Designation: Single-element gripper with pulse valves, open/closed

 2 switching states: Open, Closed
 2 outputs
 4 inputs
I/Os Open Closed
OUT 1 TRUE FALSE
OUT 2 FALSE TRUE
IN 1 TRUE FALSE
IN 2 FALSE TRUE
IN 3 TRUE FALSE
IN 4 FALSE TRUE
The pulse duration is defined using the variable GRP_PULSE_TI in $CON-

FIG.DAT. (Default: 0.5 s)

6.2 User-specific grippers
Overview Step Description

1 Configure the gripper.
(>>> 6.2.1 "Configuring a user-specific gripper" Page 20)
2 Program the gripper actions in the program USER_GRP.
(>>> 6.2.2 "USER_GRP program" Page 21)
6.2.1 Configuring a user-specific gripper

 No program is selected.
Procedure 1. In the main menu, select Configure > I/O > Gripper. A window opens.
2. Select the desired gripper number with Next or Previous.
3. If desired, change the default name of the gripper.
4. Assign one of the types 100 to 999 to the gripper.
5. Assign the inputs and outputs.
6. Specify names for the states.
7. Save the configuration with Change.
Description
Fig. 6-2: Example: user-specific gripper

6 Configuration
Item Description
1 Number of the gripper
 1 … 16
2 Name of the gripper
The name is displayed in the inline form. The predefined name can
be changed.
 1 … 24 characters
3 Type
 For user-defined grippers: 100 … 999
4 Designation of the gripper type (not updated until saved)
The designation cannot be changed.
5 Assignment of the output numbers
Outputs that are not required can be assigned the value “0”. In this
6 Assignment of the input numbers
Inputs that are not required can be assigned the value “0”. In this
7 Switching states
If fewer than 6 states are required, leave the boxes that are not re-
quired blank. The names of the states are displayed in the inline
forms if the corresponding gripper is selected there.
Note: The states have numbers. The highest state has no. 1, the
second highest no. 2, etc. The numbers are not displayed here, but
are required for programming in USER_GRP.
The inputs/outputs can also be configured with negative logic. For

this, the number must be preceded by a minus sign. Example:
100: the robot controller monitors whether input 100 is set.
 -100: the robot controller monitors whether input 100 is not set.
6.2.2 USER_GRP program
Description The gripper actions for user-specific grippers are programmed in the program
USER_GRP. The program is located in the directory C:\KRC\ROBOT-
ER\KRC\R1\TP\Gripper_SpotTech.
Procedure 1. Program the desired gripper actions in the subprograms in the file
USER_GRP.SRC.
The subprograms are already present. Each includes examples that can
be copied and used as templates for actions required by the user.
2. Define the required data types in USER_GRP.DAT.

USER_GRP.SRC 1 DEF USER_GRP (INSTR :IN,G_NO :IN,S_NO :IN,PARA :IN )

...
8 INT G_NO,S_NO
9 DECL GRP_TYP PARA
10 INT INSTR,MODE
11
12 MAX_GRP_CHK (G_NO )
13
14 SWITCH INSTR
15 CASE 0 ;init part for user gripper
16 INIT (G_NO,S_NO )
17 CASE 1 ;gripper close & open without advance
18 GRP (G_NO,S_NO )
19 CASE 3 ;gripper close & open with advance
20 GRP_APO (G_NO,S_NO )
21 CASE 4 ;check gripper
22 GRP_CHK (G_NO,S_NO )
23 CASE 5 ;manual functions
24 GRP_MANUAL (G_NO )
25 DEFAULT
26 MsgQuit("UknownFunction", "TPGRP")
27 ENDSWITCH
28
29 END ; end of main
30 ...
Line Description
1 Parameters that are transferred to USER_GRP by the system:
 INSTR: Number of the gripper action called by the gripper
program or by the user
 G_NO: Number of the gripper
 S_NO: Number of the switching state
 PARA: (Not currently used.)
12 Subprogram that checks whether the gripper number is within
the permissible range.
14 … 27 Depending on which gripper action was called, a different sub-
program is called.
16 INIT (G_NO,S_NO )
Subprogram that is called during initialization of the robot con-
troller.
18 GRP (G_NO,S_NO )
Subprogram that is called from the inline form Gripper (with-
out CONT).
20 GRP_APO (G_NO,S_NO )
Subprogram that is called from the inline form Gripper (with
CONT).
22 GRP_CHK (G_NO,S_NO )
Subprogram that is called from the inline form CheckGripper.
24 GRP_MANUAL (G_NO )
Subprogram that is called when the technology keys are actu-
ated.
26 Error message that is generated if the system transfers a num-
ber other than 0, 1, 3, 4 or 5 for INSTR.
30 The individual subprograms follow.

6 Configuration
6.3 SpotTech: configuration
6.3.1 Skeleton program USERSPOT.SRC
Description The file USERSPOT.SRC is a skeleton program that can be used for creating
user-specific spot welding programs.
(>>> 8.1 "Example program USERSPOT.SRC" Page 33)
USERSPOT.SRC The file is located in the directory C:\KRC\ROBOT-

ER\KRC\R1\TP\Gripper_SpotTech.
1 &COMMENT USERSPOT package
2 DEF USERSPOT (CMD :IN,S :IN )
...
9 DECL S_COMMAND CMD
10 DECL SPOT_TYPE S
11
12 SWITCH CMD
13
14 CASE #INIT
15 INIT ( )
16
17 CASE #ADVSPOT
18 ADVSPOT (CMD,S )
19
20 CASE #PRESPOT
21 PRESPOT (CMD,S )
22
23 CASE #SPOT
24 SPOT (CMD,S )
25 S_READY=TRUE
26
27 CASE #RETR
28 RETRACT (CMD,S )
29 S_READY=TRUE
30
31 ENDSWITCH
32 ;*****************************
33 DEF ADVSPOT (CMD :IN,S :IN )
34
36 DECL SPOT_TYPE S
37
38 END ;(ADVSPOT)
39 ;*****************************
40 DEF PRESPOT (CMD :IN,S :IN )
41
43 DECL SPOT_TYPE S
44
45 END ;(PRESPOT)
46 ;*****************************
47 DEF SPOT (CMD :IN,S :IN )
48
50 DECL SPOT_TYPE S
51
52 END ;(SPOT)
53 ;*****************************
54 DEF RETRACT (CMD :IN,S :IN )
55
57 DECL SPOT_TYPE S
58
59 END ;(RETR)
60 ;*****************************
61 DEF INIT ( )
62 END ;(INIT)

Line Description
14 Initialization
17 Weld controller call
20 Triggering: early closing of the weld gun
23 Triggering: weld start in weld spot position
27 Triggering: retract stroke of the weld gun
25, 29 Enable for further program execution
33 User data for ADVSPOT
40 User data for PRESPOT
47 User data for SPOT
54 User data for RETRACT
61 User data for INIT
6.3.2 SPOTTECH GLOBALS fold in $CONFIG.DAT
Description The specific data sets, variables and parameters for the configuration are de-
fined in the SPOTTECH GLOBALS fold in $CONFIG.DAT.
SPOTTECH The file $CONFIG.DAT is located in the directory C:\KRC\ROBOT-

GLOBALS ER\KRC\R1\System.
1 ;==================================
2 ; Structures:
3 ;==================================
4 ENUM S_COMMAND SPOT,RETR,PRESPOT,INIT,ADVSPOT
5 ENUM S_PAIR_SLCT FIRST,SECOND,BOTH
6
7 STRUC SPOT_SUGG_T CHAR GUN[24],RETR_CMD[24],CHOISE[24],
CLO_TM[24],PGNO1[24],PRESS1[24],PGNO2[24],PRESS2[24],
SPOT_PARAMS[24]
8 STRUC SPOT_TYPE INT GUN,S_PAIR_SLCT PAIR,COMMAND RETR,
INT CLO_TM,INT PGNO1,REAL PRESS1,INT PGNO2,REAL PRESS2
9
10 ;==============================
11 ; External declarations:
12 ;==============================
13 EXT USERSPOT (S_COMMAND :IN,SPOT_TYPE :IN )
14
15 ;==============================
16 ; Variables:
17 ;==============================
18 DECL SPOT_TYPE SDEFAULT={GUN 1,PAIR #FIRST,RETR #OPN,
CLO_TM 0,PGNO1 1,PRESS1 0.0,PGNO2 0,PRESS2 0.0}
19 DECL SPOT_TYPE S_ACT
20 DECL INT S_ACT_DELAY
21 DECL BOOL S_READY
6.3.3 Configuration of manual gun control
6.3.3.1 Controlling RETRACT and SPOT separately
Description The retract stroke (RETRACT) and the working stroke (SPOT) of the weld gun
are to be controlled separately.
There are 2 gripper types available in GripperTech for this configuration:

 If static valves are used: Type 1
 If pulse valves are used: Type 5

6 Configuration
I/Os Open Closed

OUT 1 TRUE FALSE
OUT 2 FALSE TRUE
Procedure 1. In $CONFIG.DAT, define 2 grippers of type 1 or type 5.

2. Assign 2 outputs to each gripper.
The assignment of the inputs is not necessary for manual gun control.
Example 1 ;==================================
2 ; Definition of grippers
3 ;==================================
4 INT MAXGRIPPER=16
5
6 DECL GRP_TYPES GRIPPER[16]
7
8 GRIPPER[1]={TYPE 5,OUT1 10,OUT2 11,OUT3 0,OUT4 0,IN1 0,IN2 0,
IN3 0,IN4 0,GRP_OLD 1}
10
11 ...
12
13 REAL GRP_PULSE_TI=0.5 ; pulse time for gripper type 5
Line Description
4 Maximum number of configurable grippers
8 The gripper [1] is assigned type 5 and outputs 10 and 11.
(Control of the retract stroke)
(Control of the working stroke)
6.3.3.2 Controlling RETRACT and SPOT in series
Description The retract stroke (RETRACT) and the working stroke (SPOT) of the weld gun
are to be controlled in series.
Gripper type 4 is available in GripperTech for this configuration.
I/Os OUT 2 OUT 3

Retract stroke open, working stroke FALSE FALSE
open
Retract stroke closed, working TRUE FALSE
stroke open
Retract stroke closed, working TRUE TRUE
stroke closed
Procedure 1. In $CONFIG.DAT, define 1 gripper of type 4.

2. Assign 2 outputs to the gripper.
The assignment of the inputs is not necessary for manual gun control.

Example 1 ;==================================
2 ; Definition of grippers
3 ;==================================
4 INT MAXGRIPPER=16
5
6 DECL GRP_TYPES GRIPPER[16]
7
Line Description
4 Maximum number of configurable grippers

7 Programming
7 Programming
7.1 GripperTech: programming
7.1.1 Programming the inline form “Gripper”
Precondition  Program is selected or open.

Procedure 1. Select the menu sequence Commands > GripperTech > Gripper.
2. Set the parameters in the inline form.
3. Save with Cmd Ok.
Fig. 7-1: Inline form for gripper with approximate positioning
Fig. 7-2: Inline form for gripper without approximate positioning
Item Description
1 Select gripper.
 All configured grippers are available for selection.
2 Select the switching state of the gripper.
 The number depends on the gripper type.
 The designation depends on the configuration.
3  CONT: Execution in the advance run
 [blank]: Execution with advance run stop
4 Box only available if CONT selected.
 START: The gripper action is executed at the start point of the
motion.
 END: The gripper action is executed at the end point of the mo-
tion.
5 Box only available if CONT selected.
Define a wait time, relative to the start or end point of the motion,
for execution of the gripper action.
 -200 ... 200 ms
6 Box only available if [blank] selected.
Data set with gripper parameters
(>>> 7.1.3 "Option window “Gripper adjustments”" Page 28)
7.1.2 Programming the inline form “CheckGripper”

 The command is located before a motion block.
Procedure 1. Select the menu sequence Commands > GripperTech > Check Gripper.
Fig. 7-3: Inline form “Check Gripper”
Item Description
1 Select gripper.
 All configured grippers are available for selection.
2 Select the switching state of the gripper.
 The number depends on the gripper type.
 The designation depends on the configuration.
3 Select the time at which the sensor interrogation is executed.
 START: The sensor interrogation is executed at the start point
of the motion.
 END: The sensor interrogation is executed at the end point of
the motion.
4 Define a wait time, relative to the start or end point of the motion,
for execution of the sensor interrogation.
7.1.3 Option window “Gripper adjustments”
Fig. 7-4: Gripper adjustments
Item Description
1 Wait time after which the programmed motion is resumed.
 0 … 10 s
2 Gripper control
 OFF (default), ON

7 Programming
7.2 SpotTech: programming
7.2.1 Programming the inline form “SPOT”

Procedure 1. Select the menu sequence Commands > SpotTech > SPOT. Then select
a motion type.
2. Teach auxiliary point. (Only for motion type CIRC.)
3. Teach a weld spot.
Fig. 7-5: Inline form “SPOT”
Item Description
1 Select motion type.
 PTP, LIN, CIRC
2 Teach auxiliary point and assign a name.
Input box only available if CIRC selected.
3 Teach weld spot and assign a name.
4 Data set with motion parameters
5 Select weld gun.
 1 ... 5
6 Define retract stroke after the welding operation.
 OPN: Retract stroke open
 CLO: Retract stroke closed
7 Data set with weld parameters
(>>> 7.2.3 "Option window “Primary weldset”" Page 30)
7.2.2 Programming the inline form “RETRACT”

Procedure 1. Select the menu sequence Commands > SpotTech > RETRACT. Then
select a motion type.
2. Teach auxiliary point. (Only for motion type CIRC.)
3. Teach an end point.

Fig. 7-6: Inline form “RETRACT”
Item Description
1 Select motion type.
 PTP, LIN, CIRC
2 Teach auxiliary point and assign a name.
Input box only available if CIRC selected.
3 Teach weld spot and assign a name.
4 Data set with motion parameters
5 Define retract stroke on reaching the end point.
 OPN: Retract stroke open
 CLO: Retract stroke closed
6 Select weld gun.
 1 ... 5
7.2.3 Option window “Primary weldset”
Fig. 7-7: Weld parameters, page 1
Item Description
1 The time at which closure of the weld gun commences before the
weld spot is reached (PRESPOT).
 -1000 ... 0 ms
The weld spot is executed incorrectly if the weld gun al-

ready closes completely while the robot is still moving.
This can result in damage to the robot, the weld gun or the workpiece.
Before setting the parameter, it is advisable to measure the current closing
time of the weld gun. Variations in air pressure or the orientation of the gun
may produce different closing times for the gun.

7 Programming
Fig. 7-8: Weld parameters, page 2
Item Description
2 Timer program for first electrode pair
 1 … 99
3 Gun pressure for first electrode pair
 1 … 9.9
7.2.4 Activating/deactivating collision detection
Collision detection can be activated or deactivated for every motion via the
Frames option window.
Further information about collision detection is contained in the “Op-

erating and Programming Instructions for System Integrators”.


8 Examples
8 Examples
8.1 Example program USERSPOT.SRC
Description 1 &COMMENT USERSPOT package

2 DEF USERSPOT (CMD :IN,S :IN )
...
11 DECL SPOT_TYPE S
12 ;Program-No.
13 SIGNAL PNUM $OUT[1] TO $OUT[8]
14 ;GUN-RETRACT
15 SIGNAL GUN_RET $OUT[10] TO $OUT[11]
16 ;State RETRACT
17 SIGNAL RET_STAT $IN[10] TO $IN[11]
18 ;GUN work (SPOT)
19 SIGNAL GUN_WRK $OUT[12] TO $OUT[13]
20 ;State SPOT
21 SIGNAL WRK_STAT $IN[12] TO $IN[13]
22 ;Weld Start
23 SIGNAL WLD_STRT $OUT[15]
24 ;Weld done
25 SIGNAL WLD_CMP $IN[15]
26 ;=================================
27 ;GROUP-Definitions
28 INT R_CLO,R_OPN,W_CLO,W_OPN
29 R_CLO=’B0001’
30 R_OPN=’B0010’
31 W_CLO=’B0001’
32 W_OPN=’B0010’
33 ;=================================
34 SWITCH CMD
35 CASE #INIT
36 INIT ( )
37 CASE #ADVSPOT
38 ADVSPOT (CMD,S )
39 CASE #PRESPOT
40 PRESPOT (CMD,S )
41 CASE #SPOT
42 SPOT (CMD,S )
43 S_READY=TRUE
44 CASE #RETR
45 RETRACT (CMD,S )
46 S_READY=TRUE
47 ENDSWITCH
48 END ; END OF MAIN
Line Description
12 … 25 Assignment of the I/Os to the interface between robot control-
ler (KR C) and weld controller (PLC)
(>>> 8.1.1 "Overview of I/Os – robot controller (KR C) / weld
controller (PLC)" Page 35)
13 Program number: Outputs 1 to 8
15 Activation of retract stroke: Outputs 10 to 11
17 Status of retract stroke: Inputs 10 to 11
19 Activation of working stroke: Outputs 12 to 13
21 Status of working stroke: Inputs 12 to 13
23 Weld start: Output 15

Line Description
25 Weld complete signal: Input 15
28 … 32 Definition of the weld gun switching states:
 R_CLO: Retract stroke closed
 R_OPN: Retract stroke open
 W_CLO: Working stroke closed
 W_OPN: Working stroke open
49 ;*****************************
50 DEF ADVSPOT (CMD :IN,S :IN )
51 WLD_STRT=FALSE
52 PNUM=S.PGNO1
53 END ;(ADVSPOT)
54 ;*****************************
55 DEF PRESPOT (CMD :IN,S :IN )
56 GUN_RET=R_CLO
57 WAIT FOR RET_STAT==R_CLO
58 GUN_WRK=W_CLO
59 END ;(PRESPOT)
60 ;*****************************
61 DEF SPOT (CMD :IN,S :IN )
62 WAIT FOR WRK_STAT==W_CLO
63 WLD_STRT=TRUE
64 WAIT FOR WLD_CMP
65 PNUM=0
66 WAIT FOR NOT (WLD_CMP)
67 WLD_STRT=FALSE
68 GUN_WRK=W_OPN
69 WAIT FOR WRK_STAT==W_OPN
70 SWITCH S.RETR
71 CASE #OPN
72 GUN_RET=R_OPN
73 WAIT FOR RET_STAT==R_OPN
74 ENDSWITCH
75 END ;(SPOT)
76 ;*****************************
77 DEF RETRACT (CMD :IN,S :IN )
78 SWITCH S.RETR
79 CASE #OPN
80 GUN_RET=R_OPN
82 CASE #CLO
83 GUN_RET=R_CLO
84 WAIT FOR RET_STAT==R_CLO
85 ENDSWITCH
86 END ;(RETR)
87 ;*****************************
88 DEF INIT ( )
89 PNUM=0
90 WLD_STRT=FALSE
91 GUN_WRK=W_OPN
92 WAIT FOR WRK_STAT==W_OPN
93 GUN_RET=R_OPN
95 S_READY=TRUE
96 END ;(INIT)
Line Description
50 … 53 User data for ADVSPOT
51 Reset weld start.
52 Set program number.
55 … 59 User data for PRESPOT
56 Close retract stroke.
57 Wait for “Retract stroke closed”.
58 Close working stroke.

8 Examples
Line Description
61 … 75 User data for SPOT
62 Wait for “Working stroke closed”.
63 Set weld start.
64 Wait for weld complete signal (TRUE).
65 Set program number to “0”.
66 Wait for weld complete signal (FALSE).
68 Open working stroke.
69 Wait for “Working stroke open”.
70 … 74 Query which retract stroke has been programmed after the
weld spot.
71 Condition: “RETR OPN” is programmed.
72 Open retract stroke.
73 Wait for “Retract stroke open”.
77 … 86 User data for RETRACT
78 Query which retract stroke has been programmed.
79 Condition 1: “RETR OPN” is programmed.
82 Condition 2: “RETR CLO” is programmed.
83 Close retract stroke.
84 Wait for “Retract stroke closed”.
88 … 96 User data for INIT
89 Set program number to “0”.
91 Open working stroke.
92 Wait for “Working stroke open”.
95 Enable for further program execution
8.1.1 Overview of I/Os – robot controller (KR C) / weld controller (PLC)
Overview The I/Os in the following overview refer to the example program.
(>>> 8.1 "Example program USERSPOT.SRC" Page 33)
Signal Description Permissible values I/Os

PNUM Weld program number The number can have a maxi- Outputs 1 to
mum length of 255 characters. 8
WLD_STRT Weld start FALSE, TRUE Output 15
WLD_CMP Weld complete signal from FALSE, TRUE Input 15
weld controller
GUN_WRK Activation of working stroke W_CLO W_OPN
Close TRUE FALSE Output 10
Open FALSE TRUE Output 11
WRK_STAT Status of working stroke W_CLO W_OPN
Closed TRUE FALSE Input 10
Open FALSE TRUE Input 11

Signal Description Permissible values I/Os

GUN_RET Activation of retract stroke R_CLO R_OPN
Close TRUE FALSE Output 12
Open FALSE TRUE Output 13
RET_STAT Status of retract stroke R_CLO R_OPN
Closed TRUE FALSE Input 12
Open FALSE TRUE Input 13

8 Examples
8.1.2 Signal diagram: SPOT without the options RETRACT and PRESPOT
Fig. 8-1: Weld program – SPOT without RETRACT
Description 1. The following signals are set simultaneously after point “P1” has been
welded:
 The weld complete signal “WLD_CMP=TRUE” triggers, with falling
edge “WLD_CMP=FALSE”, the signal to open the working stroke of
the weld gun (“GUN_WRK=W_OPN”).
 The weld start signal is reset (“WLD_STRT=FALSE”).
 The weld program number is set to “0” (“PNUM=0”).

2. The robot controller waits for the weld controller signal indicating that the
working stroke of the gun is open (“WRK_STAT=W_OPN”).
3. If no retract stroke or “RETR CLO” has been programmed in the inline
form, the robot motion to weld spot “P2” is enabled when the signal indi-
cating that the working stroke is open is set.
4. To ensure that all required weld data are available at weld spot “P2”, the
weld program number is set while the robot is still moving
(“PNUM=S.PGN01”).
5. At weld spot “P2”, the signal to close the working stroke is set
(“GUN_WRK=W_CLO”).
6. The weld controller signal indicating that the working stroke is closed
(“WRK_STAT=W_CLO”) triggers the weld start (“WLD_STRT=TRUE”).
7. The described sequence starts once again after point “P2” has been weld-
ed.

8 Examples
8.1.3 Signal diagram: SPOT with the options RETRACT and PRESPOT
Fig. 8-2: Weld program – SPOT with RETRACT
Description 1. The following signals are set simultaneously after point “P1” has been
welded:
 The weld complete signal “WLD_CMP=TRUE” triggers, with falling
edge “WLD_CMP=FALSE”, the signal to open the working stroke of
the weld gun (“GUN_WRK=W_OPN”).
 The weld start signal is reset (“WLD_STRT=FALSE”).
 The weld program number is set to “0” (“PNUM=0”).

working stroke of the gun is open (“WRK_STAT=W_OPN”).
3. If “RETR OPN” has been programmed in the inline form, the signal to open
the retract stroke (“GUN_RET=R_OPN”) is set when the signal indicating
that the working stroke is open is set.
retract stroke of the gun is open (“RET_STAT=R_OPN”).
5. The robot motion to weld spot “P2” is enabled when the signal indicating
that the retract stroke is open is set.
6. To ensure that all required weld data are available at weld spot “P2”, the
weld program number is set while the robot is still moving
(“PNUM=S.PGN01”).
7. At weld spot “P2”, the signal to close the retract stroke is set
(“GUN_RET=R_CLO”).
8. The signal to close the working stroke (“GUN_WRK=W_CLO”) is triggered
when the signal indicating that the retract stroke is closed
(“RET_STAT=R_CLO”) is set.
9. The weld controller signal indicating that the working stroke is closed
(“WRK_STAT=W_CLO”) triggers the weld start (“WLD_STRT=TRUE”).
10. The described sequence starts once again after point “P2” has been weld-
ed.

9 Messages
9 Messages
9.1 GripperTech: error messages
Message Cause Remedy

Gripper not closed or Proximity switches are  Check gripper.
still open. not signaling a clear  Check proximity
“Gripper closed” state. switches.
Gripper not open or Proximity switches are  Check gripper.
still closed. not signaling a clear  Check proximity
“Gripper open” state. switches.
Gripper state Invalid gripper type in Assign valid gripper
unknown. the configuration type in the configura-
tion.
Gripper type inadmis- Invalid gripper type in Assign valid gripper
sible the configuration type in the configura-
tion.
Invalid gripper state KRL program is  Configure the grip-
attempting to assign per.
the gripper an invalid  Check the KRL
or undefined status. program.
Gripper type error; KRL program is  Configure the grip-
check configuration attempting to access a per.
gripper of an invalid  Check the KRL
type. program.
Gripper not defined The index of the grip-  Configure the grip-
per is higher than the per.
variable MAXGRIP-  Adapt the variable
PER. MAXGRIPPER in
$CONFIG.DAT.
The variable MAX- The variable MAX- Initialize the variable
GRIPPER is invalid. GRIPPER is not initial- MAXGRIPPER in
ized. $CONFIG.DAT.
The variable MAX- The variable MAX- Declare the variable
GRIPPER is not avail- GRIPPER is not MAXGRIPPER in
able. declared. $CONFIG.DAT.
9.2 SpotTech: error messages
Message Cause Remedy

Inadmissible KRL- Impermissible charac- Do not use special
name! ter in the character characters in KRL
string, e.g. ä, ö, ", %, names.
etc.


10 KUKA Service
10 KUKA Service
10.1 Requesting support
Introduction The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please con-
tact your local KUKA subsidiary.
Information The following information is required for processing a support request:

 Model and serial number of the robot
 Model and serial number of the controller
 Model and serial number of the linear unit (if applicable)
 Model and serial number of the energy supply system (if applicable)
 Version of the KUKA System Software
 Optional software or modifications
 Archive of the software
For KUKA System Software V8: instead of a conventional archive, gener-
ate the special data package for fault analysis (via KrcDiag).
 Application used
 Any external axes used
 Description of the problem, duration and frequency of the fault
10.2 KUKA Customer Support
Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.
Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com
Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
vic@headland.com.au
www.headland.com.au

Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
info@kuka.be
www.kuka.be
Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
info@kuka-roboter.com.br
www.kuka-roboter.com.br
Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
robotec@robotec.cl
www.robotec.cl
China KUKA Robotics China Co.,Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1888
Fax +86 21 6787-1803
www.kuka-robotics.cn
Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
info@kuka-roboter.de
www.kuka-roboter.de

10 KUKA Service
France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
commercial@kuka.fr
www.kuka.fr
India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
info@kuka.in
www.kuka.in
Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
kuka@kuka.it
www.kuka.it
Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
info@kuka.co.jp
Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
info@kukarobotics.com
www.kuka-robotics.com/canada

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
info@kukakorea.com
Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
info@kuka.com.my
Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx
www.kuka-robotics.com/mexico
Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
info@kuka.no
Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
office@kuka-roboter.at
www.kuka-roboter.at

10 KUKA Service
Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
ServicePL@kuka-roboter.de
Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
kuka@mail.telepac.pt
Russia OOO KUKA Robotics Rus

Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru
Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
info@kuka.se
Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
info@kuka-roboter.ch
www.kuka-roboter.ch

Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
Comercial@kuka-e.com
www.kuka-e.com
South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za
Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
info@kuka.com.tw
www.kuka.com.tw
Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
atika@ji-net.com
www.kuka-roboter.de
Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
support@kuka.cz

10 KUKA Service
Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
info@kuka-robotics.hu
USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
info@kukarobotics.com
www.kukarobotics.com
UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
sales@kuka.co.uk


Index
Index
Symbols RETRACT 6
$CONFIG.DAT 19, 24 Retract stroke 6
RETRACT, inline form 29
C
CheckGripper, inline form 27 S
Collision detection 31 Safety 11
Configuration 17 Safety instructions 5
Configuration, manual control 24 Service, KUKA Roboter 43
Configuration, SpotTech 23 Signal diagram, SPOT with RETRACT 39
Signal diagram, SPOT without RETRACT 37
D SPOT 6
Documentation, industrial robot 5 SPOT, inline form 29
SPOTTECH GLOBALS (fold) 24
E States, numbers 21
Examples 33 Support request 43
G T
Gripper adjustments, option window 28 Terms 6
Gripper types 18 Terms used 6
Gripper, configuring 20 Training 5
Gripper, inline form 27
GRP_PULSE_TI 19 U
GUN_RET (signal) 36 USER_GRP 21
GUN_WRK (signal) 35 USERSPOT.SRC, description 23
USERSPOT.SRC, example 33
I
I/Os, configuring 20 W
Installation 13 Warnings 5
Introduction 5 Weld guns 7
Weld timer 6
K WLD_CMP (signal) 35
KUKA Customer Support 43 WLD_STRT (signal) 35
Working stroke 6
M WRK_STAT (signal) 35
Messages 41
N
Numbers, states 21
O
Operation 15
Option window, Gripper adjustments 28
Option window, Primary weldset 30
P
PLC 6
PNUM (signal) 35
PRESPOT 6, 30
Primary weldset, option window 30
Product description 7
Programming 27
Programming, CheckGripper 27
Programming, Gripper 27
Programming, RETRACT 29
Programming, SPOT 29
R
RET_STAT (signal) 36



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KUKA System Technology KUKA Roboter GmbH

For KUKA System Software 8.2 and 8.3

Version: KST GripperSpotTech 3.1 V1 en (PDF)

Publication: Pub KST GripperSpotTech 3.1 en

2 / 53 Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF)

2 Product description ..................................................................................... 7

Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF) 3 / 53

10 KUKA Service ............................................................................................... 43

4 / 53 Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF)

1.1 Target group

For optimal use of our products, we recommend that our customers

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

These warnings mean that death or severe injuries may

These warnings mean that minor injuries may occur, if

These warnings mean that damage to property may oc-

These warnings contain references to safety-relevant information or

This warning draws attention to procedures which serve to prevent or remedy

Procedures marked with this warning must be followed

Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF) 5 / 53

Tip to make your work easier or reference to further information.

1.4 Terms used

6 / 53 Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF)

2.1 Overview of Gripper&SpotTech

Gripper&SpotTech is an add-on technology package with the following func-

Functions  Inline forms for gripper programming

Weld guns are considered as grippers.

Areas of appli- Almost all industrial applications, e.g.:

2.2 SpotTech: overview of functions

Issued: 29.11.2012 Version: KST GripperSpotTech 3.1 V1 en (PDF) 7 / 53

Fig. 2-1: RETRACT and SPOT functions

2.3 SpotTech: sequence of a weld program

Fig. 2-2: Spot weld program sequence

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The “Safety” chapter in the operating and programming instructions

All setup work must be carried out, where possible, from

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4.1 System requirements

Software  KUKA System Software 8.2 and 8.3

4.2 Installing or updating Gripper&SpotTech

It is advisable to archive all relevant data before updating a software

Preparation  Copy software from CD to KUKA USB stick

Only the KUKA.USB data stick may be used. Data may

Precondition  “Expert” user group

Procedure 1. Connect the KUKA USB stick.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

4.3 Uninstalling Gripper&SpotTech

It is advisable to archive all relevant data before uninstalling a soft-

Precondition  “Expert” user group

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

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5.1 Manual gripper control

Technology keys Technology Description

Toggle between the gripper states (e.g. open or close)

Preparation Displaying technology keys:

Procedure 1. Select the gripper using the technology key.