资料文稿说明案例en

1、 Copyright by KUKA Roboter GmbH College08/20081Justage-Grundlagen_en.pptWhy is mastering carried out?A1=0A2=-90A3=+90A4, A5, A6=0 When the robot is mastered, the axes are moved into a defined mechanical position, the so-called mechanical zero position. Once the robot is in this mechanical zero posit

2、ion, the absolute encoder value for each axis is saved. Copyright by KUKA Roboter GmbH College08/20082Justage-Grundlagen_en.pptReasons for remasteringThe robot is to be mastered.Mastering is canceled.after repairs (e.g. replacement of a drive motor or RDC). automatically on booting the system1).when

3、 the robot has been moved without the controller (e.g. with hand crank). automatically on booting the system1).after an impact with a mechanical end stop at more than jog velocity (20 cm/s). manually by the operator.after a collision involving the tool or robot. manually by the operator1)If discrepa

4、ncies are detected between the resolver data saved when shutting down the controller and the current position, all mastering data are deleted for safety reasons.The robot can be unmastered.Mastering is canceled. if the mastering values for the individual axes are to be specifically deleted. manually

5、 by the operator Copyright by KUKA Roboter GmbH College08/20083Justage-Grundlagen_en.pptMastering equipmentElectronic measuring tool (EMT)Dial gauge In order to move the robot exactly to the mechanical zero position, a dial gauge or electronic measuring tool (EMT) is used.In EMT mastering, the axis

6、is automatically moved by the robot controller to the mechanical zero position. If a dial gauge is being used, this must be carried out in axis-specific jog mode. Copyright by KUKA Roboter GmbH College08/20084Justage-Grundlagen_en.pptPreparation for EMT mastering!OK Move axes to pre-mastering positi

7、on (frontsight and rearsight aligned) Jog axes in axis-specific mode Each axis is mastered individually Start with axis 1 and move upwards Always move axis from + to - Copyright by KUKA Roboter GmbH College08/20085Justage-Grundlagen_en.pptPreparation for EMT mastering Remove protective cap from gaug

8、e cartridge Attach EMT and connect signal cable (connection X32 on the junction box on the rotating column) Three LEDs on the EMT:Red-ErrorGreen-Falling edgeGreen-Rising edgeGauge cartridge132132 Copyright by KUKA Roboter GmbH College08/20086Justage-Grundlagen_en.pptCross-section of the gauge cartri

9、dgeEMTordial gaugeFrontsight/rearsight markerReference notchGauge pinGauge cartridge Copyright by KUKA Roboter GmbH College08/20087Justage-Grundlagen_en.pptSchematic representation of the mastering runEMTordial gaugeMotion direction+-Mechanical zero positionEMTordial gaugeMotion direction+-Pre-maste

10、ring positionFrontsight/rearsight marker Copyright by KUKA Roboter GmbH College08/20088Justage-Grundlagen_en.pptVW/Audi work instruction for robots with VKR C During initial start-up, EMT mastering without offset (First mastering) and then EMT mastering with offset (Teach offset) must be carried out for every tool (weld gun, gripper, etc.). Before programming or corrections are carried out, an EMT check run (Load mastering with offset) must be performed in order to check and standardize the robot.If it is not possible to move all robot axes into the pre-mastering position simulta