How to change the software limit switch value through HMI in KUKAC4

Software limit switches

The axis movement range of all hand and positioning axes can be limited by adjustable software limit switch ranges. The software limit switch ranges are used only as machine protection and are set to prevent the manipulator/positioning device from traveling to the mechanical end stops (i.e. hard limits). The software limit switches are set during "Start-up".

There are currently two ways to change the software limit switch values ​​on KUK4 via the HMI:

1. Manually enter the required values ​​through your own measurements and evaluation.

2. The soft limit value automatically adapts to one or more programs.

Through program requirements, during this process the robot determines the minimum and maximum axis positions occurring in the program as a reference. These values ​​can be used as software limit switches.

To change the software limit switches manually:

1. Select "Start-up" --> "Service" --> "Software Limit Switch" in the HMI main menu. The software limit switch window opens automatically.

2. Change the limit switch ranges as desired in the Negative and Positive columns.

3. Use the Save key to save the changed value.

Adapt the software limit switches to the program:

1. Select "Start-up" --> "After-sales Service" --> "Software Limit Switch" in the main menu. The software limit switch window opens automatically.

2. Press "Auto Calculate". The following message is displayed: "Auto Acquisition in Progress" (but the value is extremely inaccurate and needs to be adjusted).

3. Start the robot program to which the limit switches should be adapted. Allow the program to run through completely and then deselect it.

At this time, the robot displays the maximum and minimum positions reached by each axis in the software limit switch window.

4. Repeat step 3 for all programs to which this software limit switch is to be adapted.

The maximum and minimum positions reached by each axis are displayed in the Software Limit Switches window and refer to all executed programs.

5. If all required programs have been executed, press End in the Software limit switches window.

6. Press "Save" to use the determined values ​​as the software limit switch value range.

7. If necessary, you can also manually change the automatically determined values.

8. Save the changes with the "Save" button.

Window software limit switches:

1. Current negative direction software limit switch.

2. Current position value of the axis.

3. Current positive direction soft limit switch.

4. The minimum position value the corresponding axis has had since the calculation was started.

5. The maximum position value the corresponding axis has had since the calculation was started.

File for storing software limit parameters: "$MACHINE".

For example:

Forward maximum:

REAL $SOFTP_END[12] ;Software-ENDSCHALR positive limit [I] (I=1:A1,I=7:E1) [MM,GRAD]

$SOFTP_END[1]=185.0

$SOFTP_END[2]=20.0

$SOFTP_END[3]=144.0

$SOFTP_END[4]=350.0

$SOFTP_END[5]=120.0

$SOFTP_END[6]=350.0

$SOFTP_END[7]=230.0

Negative maximum value:

REAL $SOFTN_END[12] ;Software ENDSCHALTER negative limit [I] (I=1:A1,I=7:E1) [MM,GRAD]

$SOFTN_END[1]=-185.0

$SOFTN_END[2]=-130.0

$SOFTN_END[3]=-100.0

$SOFTN_END[4]=-350.0

$SOFTN_END[5]=-120.0

$SOFTN_END[6]=-350.0

$SOFTN_END[7]=-10000.0

Review editor: Liu Qing