Working principle of KUKA C1-C2 robot

Main internal security monitoring:

Monitoring: The motor is protected against overload by temperature probes in the motor windings.

Voltage monitoring: If the voltage is too high or too low beyond the semiconductor's allowable range, it will cause the servo drive module to shut down.

Temperature monitoring: The temperature of the control cabinet (internal temperature) is monitored. Temperature out of range will cause the control section to shut down.

Jog (automatic interruption function):

All programs can be run manually, in a test run, at reduced speed. Programs can only be run while the "START" key is pressed. Once the "start" key is released, the robot stops. The program can only be continued by pressing the "start" key again.

Shut down the robot control system

When switching off, the robot remains stopped and the robot controller is switched off. The robot controller automatically backs up its data.

KRL KUKA Robot Language

KSS KUKA System Software

Real-time operating systems

Safety logic system of electronic safety circuit (ESC)

The safety logic circuit ESC (Electronic Sty Circuit) is a dual-channel, CPU-supported safety system. It permanently monitors all connected safety-related components. In the event of a fault or interruption in the safety circuit, the power supply to the drive is shut down, which stops the robot system.

The Electronic Safety Circuit (ESC) system consists of the following components:

„ CI3 board

„ KUKA Control Panel (KCP) (Master)

„ KPS600

„ MFC (passive node)

The following inputs can monitor the safety logic circuit (ESC):

„ Local emergency shutdown

„ External emergency shutdown

„ Operator protection equipment

" confirm

„ Drive shut down

„ Drive switched on

„ Operation mode

„ Advanced control input

The processor calculates a new position value for each motor (and thus each axis) in an IPO cycle (currently 12ms for C1/C2/C4). Each position value will be transmitted to the second processor on the DSEAT card (plugged into the multifunction card (MFC)). This processor will use a special software to perform position regulation, speed regulation and commutation rectification (phase shift in the generation of the relative rotating magnetic field), thereby digitizing the regulation process.

Driver module:

The digital rated value will be transmitted from DSEAT to the drive module PM6-600 via a parallel interface with a cycle of 125US. This digital transmission will not be affected by external interference. Therefore, it is sufficient to use an inexpensive flat cable as the transmission medium.

The current setpoint is converted in the driver module and fed into the output stage via a current regulator and a pulse width modulator. The current regulator is an analog circuit because it is relatively easy to implement and the regulation parameters only have to be adapted in rare cases.

Intermediate circuit voltage:

The intermediate circuit voltage of the output pole will be generated directly (without passing through a transformer) by rectifying the grid voltage (3X400V). Therefore, the intermediate voltage is 565V when no load. Therefore, each output pole and motor must be designed according to the voltage of 600V.

There are 2 operating systems working in our computer at the same time:

VXWORKS: is a real-time operating system that is responsible for the manipulation of the robot.

WINDOWS system: responsible for basic system operations

All operations of the programmer are performed through the WINDOWS system!

Power on process:

When the power is turned on, the Windows 95 operating system starts and the STARTUP.bat program (indicated by "start1" in Autostart) is started via AUTOSTART, which executes the following programs in the given order (important):

-Kukaftpd.exe

-Upvxwin.exe

-Kukb.exe

-Cross.exe

-Kukabof.exe

KUKA C1

KUKA C2

Kukaftpd.exe

Directory: C:/Progme/Krc

This file transfer program allows the basic system to access the hard disk of the PC. During the boot process, the basic system reads in the initialization files etc. The trace function also accesses the hard disk via this service. After the program is started, it remains active and waits for a connection with its FTP client. Calling the program with the "-d" parameter causes the commands in the output window to be recorded simultaneously and visually.

This file transfer program will be used during the boot process.

UPVXWIN.EXE

Directory: C:/Programme/krc/bin

The program reserves storage space, loads and starts the basic system accordingly. The passed parameters indicate the storage space to be reserved and the name of the basic system file.

Calling syntax:

32MB RAM: UPVXWIN.EXE-S6144-mD0000-D4000-I20000-P2560 vxworks.st Calling upvxwin with the "-x" parameter will free up the reserved storage space.

KUKADB.EXE Access hint database

CROSS.exe

Windows includes operations, that is, sending instructions to the basic system. The program used here is cross.exe

PHGSIMU.exe

Emulates KCP. This program is only used in Office versions.

KUKABof.exe

After the control portion of the boot process, the program takes up the entire screen.

There is no xxx button in the title line of the program, which is common in Windows. Thus, the operator cannot terminate the program or reduce it to an icon. Since the Windows start button and Windows task bar cannot be used, the switch to Windows is not possible.

After installing the software, you can see the following directory structure on the hard disk.

KUKA C1

KUKA C2

Review editor: Tang Zihong