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1、I 24.03.2004 I College I BK I 1KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeJogging external axesUsing the jog keys, you can move the robot or external axes in accor

2、dance with the set coordinate system.You can use the status key “Robot axes” to select whether the robot axes or the configured external axes are to be jogged.External axes cannot be moved by means of the Space Mouse.I 24.03.2004 I College I BK I 2KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofe

3、n, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeJogging external axesWhen the status key “Robot axes” is pressed, the icon for external axes appears (example with 4 external axes).The main axes of the robot (A1.A3 or X,Y

4、,Z) and the first 3 external axes (E1.E3) can then be jogged. Another icon appears for the next 3 external axes (E4.E6) if these are present in the system.This is followed by the icon for the ROBROOT kinematic system if one has been configured.Pressing the status key “Robot axes” again switches to m

5、athematical coupling (if this has been configured). This coupling has a number corresponding to the configuration sequence in the file “$MACHINE.DAT”.I 24.03.2004 I College I BK I 3KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, htt

6、p:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeManual activation of a mathematical coupling (1)In order to activate a mathematical coupling it is necessary to communicate the transformation data for the external kinematic system to the BASE coordinate system.All components in the struc

7、ture must be entered explicitly!A mathematical coupling is only active in the TOOL or BASE coordinate system! Exception: for linear axes, also in the WORLD coordinate system!EK(EX_AX_DATA1.ROOT, EX_AX_DATA1.EX_KIN, EX_AX_DATA1.OFFSET)I 24.03.2004 I College I BK I 4KUKA Roboter GmbH, Hery-Park 3000,

8、D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeManual activation of a mathematical coupling (2)The kinematic system can be selected directly in the input window “Ext. kinematic system no.”.I 24.03.2004

9、I College I BK I 5KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeProgramming mathematical couplings in the motion programTo activate a mathematical coupling in a motio

10、n program, the corresponding transformation must be activated in the BASE coordinate system.The transformation data for the BASE kinematic system used can be entered in the input window “Base”.I 24.03.2004 I College I BK I 6KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45

11、 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeProgramming mathematical couplings in the motion program$CONFIG.DAT entryOpen inline formMachine data entryClosed inline formI 24.03.2004 I College I BK I 7KUKA Roboter GmbH, Hery-Park 3000, D-863

12、68 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeAutomatic activation of a mathematical coupling Select program. Block selection to a motion instruction with transformation data for an external kinematic syste

13、m. Start the program in order to incorporate the data in the calculation. The mathematical coupling is now activated and can be used for jogging the robot.I 24.03.2004 I College I BK I 8KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340

14、, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeJog options for external axesThe main axes of the robot (A1.A3 or X,Y,Z) and the first 3 external axes (E1.E3) can be jogged.Here the main axes (A1.A3 or X,Y,Z) and the external axes (E4.E6) can be jogged.The robot can be moved using the Space Mouse (axes A1.A6 or X, Y, Z, A, B, C), while the external axes (E1.E6) can be moved using