000 - B3.040.07.01 - GL - Kinematics - in - WoV - 24 - V40.00

Kinematics in WoV 2.
Version
40.00
Author
Thomas Schneider
Telephone: +49 (0) 7031 - 90 74975

Fax: +49 (0)711
E-mail: thomas.e.schneider@daimler.com
Document ID
Project name Kinematics in WoV 2.4
Document name Kinematics in WoV 2.4
File name 000_B3.040.07.01_GL_Kinematics _in_WoV_24_V40.00.doc
Version/release 40.00
Date of creation 2012-08-20
Distribution Only with the written approval of Daimler AG
Author Thomas Schneider 2012-08-20
Checked for content by Tobias Breitmaier (PKL/AST) 2012-08-20
Otto-Peter Egger (Fa. KUKA) 2012-08-20
Responsible for document Michael Lebrecht (PKL/AST), Tobias Breitmaier

(PKL/AST)
The original documents are available for viewing from the relevant
document manager.
The document was prepared in cooperation with:

Surname, first name Plant Department Telephone E-mail
Example, Tony 050 PKL/K3 +49 7031/90-xxxxx Tony.Example@daimler.com
Contact persons in the plants:

Surname, first name Plant Department Telephone E-mail
Example, Tony 050 PKL/K3 +49 7031/90-xxxxx Tony.Example@daimler.com
Typographical Conventions
Heading – Level 1 List – Main categories
Heading – Level 2 List – Sub-points
Heading – Level 3 Italics Term is explained in the glossary
Heading – Level 4 Bold Emphasis
Document Note
Figure/table [1] Reference to "References"
Project name: Kinematics in WoV 2.4

File name: 000_B3.040.07.01_GL_Kinematics _in_WoV_24_V40.00.doc
Version / release: 40.00
Author: Thomas Schneider
Page 2 of 22
The disclosure or reproduction of this document and the usage or disclosure of its contents are not permitted.
Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved.
Update Service
Author Telephone E-mail
Thomas Schneider +49 (0) 7031 - 90 74975 thomas.e.schneider@daimler.com
Update Journal
Reason for
No. Chapter P. Contents of modification V. Date Edited by
modification
Initially created by xx, 02-08-
1 Initial creation 40.00 T.Schneider
Settings on the ECM robotics 2012
The current changes relating to the older issue are highlighted in yellow
No. = Sequence number P. = Page number V. = Version of change (document version)

Page 3 of 22
Contents
Document ID ......................................................................................................................... 2
Typographical Conventions ................................................................................................... 2
Update Service...................................................................................................................... 3
Update Journal ...................................................................................................................... 3
Contents................................................................................................................................ 4
Foreword ............................................................................................................................... 5
Document Contents............................................................................................................... 5
1. General Information ........................................................................................................ 6
1.1. WoV....................................................................................................................... 6
1.1.1. Safety Instruction.............................................................................................................. 6
1.2. Basic Machine Data ............................................................................................... 6
2. Linear Unit ..................................................................................................................... 7
2.1. Conditions............................................................................................................... 7
2.2. Individual Steps........................................................................................................ 7
3. Servo Guns ...................................................................................................................14
3.1. Conditions..............................................................................................................14
3.2. Individual Steps.......................................................................................................14
Abbreviations, Glossary........................................................................................................22
Table of Figures ...................................................................................................................22
List of Tables........................................................................................................................22
German/English Technology Commands .............................................................................22

Page 4 of 22
Foreword
The sum of all available project planning guidelines and material approval lists forms the
basis for the comprehensive standardization of all technical scopes for production and
plant technology at Daimler AG.
Details for which precise information is not given in these project engineering guidelines,
or also aspects that are not covered in the associated electrical or mechanical standard
documentation and in the appropriate software standard, shall be clarified with the person
responsible at Daimler AG.
Proposals based on the existing project engineering guidelines, hardware standard
documentation and software standards shall be developed by the supplier and presented
to the person responsible at Daimler AG for approval.
The supplier is obliged to inform Daimler AG about any improvements, modifications and
supplements that should be implemented in these project engineering guidelines.
Approved improvements, modifications and supplements will be integrated into a
subsequent version of these project engineering guidelines by Daimler AG when updating
the documentation.
This project engineering guideline does not release the supplier from the
responsibility for proper design of the equipment and documentation to be
supplied, taking into account the laws, regulations, conditions and requirements
that apply at the respective manufacturing site.
In the event of a contradiction in the project engineering guidelines or tender

specifications, the more stringent requirement shall apply.
Document Contents
This document describes the use of external mechanisms (presently KL, servo gun) in
KUKA.WorkVisual 2.4 (henceforth WoV).

Page 5 of 22
1. General Information
1.1. WoV
The WoV currently approved by Daimler shall always be used when starting robot
operation. Other versions are to be avoided due to compatibility issues.
1.1.1. Safety Instruction
All changes to machine data influence the movement of the robot.
1.2. Basic Machine Data

At present, WoV 2.4 does not support the complete generation of machine data. For this
reason, the basic machine data will first have to be loaded to a robot/Office PC and saved in
a WoV project.
These "basic projects" can be requested on demand from the project team.

Page 6 of 22
2. Linear Unit
Many thanks for the preparation of the workflow by PKL/K2.
2.1. Conditions
- Robot stands on linear unit
- Drive bus and cabinet are prepared for the external axis
2.2. Individual Steps

1 Add catalog in WoV
Menu
File
Catalog administration
The appropriate robot catalog and the KukaExternalAxes catalog have to be selected here.
The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to

date.

Page 7 of 22
2 Add robot to the project (always required, even without external mechanisms)
Add the correct robot (matching the current machine data) to the project by drag&drop.
3 Add linear unit to the project

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4 Couple up geometry
Switch to the "Geometry" tab and couple the linear unit up to the robot geometrically.
To do so, drag the whole robot to the "flange" of the linear unit with the mouse.
5 Enter $ET1_TFLA3
Please take this parameter for the relevant position from the attached PDF,
"000_Spezi_KL_MaDa.pdf", and at the flange of the linear unit:

Page 9 of 22
Page 10 of 22
6 Enter $ET1_TA1KR
Please enter this parameter from the attached PDF, "000_Spezi_KL_MaDa.pdf" for the
relevant position in the machine data configurer

Page 11 of 22
7 Enter $RAT_MOT_AX[7]
In the machine data configurer, the prefix also has to be taken from the original.

Page 12 of 22
8 Set software limit switch
The software limit switches have to be set in the machine configurer directly as follows:
Positive SW limit switch = 445
Negative SW limit switch = - [rated hub 445]
9 Check axis ID
Finally, the axis ID has to be checked and/or set.

The linear unit is always on identified axis no. 7.
If one or more servo guns are to be connected to the robot as well, the table in the following
chapter should be used.

Page 13 of 22
3. Servo Guns
Many thanks for the preparation of the workflow by KUKA.
3.1. Conditions
- Servo guns are connected to the robot
- Drive bus and cabinet are prepared for the external axis and additional I/O
module (SDC).
1. If the drive bus is not prepared for the servo gun then it needs to be
adjusted. The simplest way of doing this at present is to merge this
modified drive bus on the basis of empty drive bus projects. This is in
the documentation
- Servo gun packages are installed in the control system
3.2. Individual Steps
1 Add catalog in WoV
Menu
File
Catalog administration
The correct robot catalog and servo gun catalog have to be selected here. If the servo gun
catalog is not available it should be opened on the local hard drive using the button on the
lower left.
The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to

date.

Page 14 of 22
2 Add robot to the project (always required, even without external mechanisms)
Add the correct robot (matching the current machine data) to the project by drag&drop.

Page 15 of 22
3 Add a servo gun motor to the project
Servo motors have to be added here according to the number of servo guns at the control
system.
The currently installed and approved motors can be obtained from the project team.

Page 16 of 22
4 Couple up geometrically
The servo guns now need to be coupled up geometrically in the "Geometry" tab.
At this point one has to differentiate between stationary guns and coupled guns.
- Stationary guns do not need to be coupled up to the robot and undefined under
"World"
- Coupled guns need to be dragged and dropped to the "Flange base" of the
robot.
Figure 1 Geometric coupling

Page 17 of 22
5 Mechanical relationships
For a stationary axis, the mechanical relationships also need to be defined.

Menu
Editors
open "Configure mechanical relationships
Call up the menu with the right mouse button and define a new master-slave connection.
Figure 2 Selecting a new connection
By dragging a new connection from the gun to the robot, the gun is coupled up to the robot.

Page 18 of 22
Figure 3 Established connection

Page 19 of 22
6 Modify machine data
The following settings have to be made in the machine data configuration for each
individual gun.
The settings have to be adjusted for the following variations of linear unit, servo gun and
changeable servo guns:
- The supply channel is currently always to be set to "1"

- "Axis decoupleable" is to be activated for all servo guns
The axis ID is to be set according to the following table:

Table 1 Axis ID settings
Description First external Axis ID Second Axis ID Third external Axis ID
axis (E1) for E1 external axis for E2 axis (E3) for E3
(E2)
2 changeable Changeable 7 Changeable 7 - -
guns gun gun
Stationary and Stationary 7 Changeable 8 Changeable 8
changeable guns gun gun
guns
Linear unit and Linear unit 7 Gun 8
gun (coupled or
stationary)
One gun Gun (coupled 7 - - - -
(coupled or or stationary)
stationary)
Linear unit and Linear unit 7 Changeable 8 Changeable 8
2 changeable gun gun
guns

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Page 21 of 22
Abbreviations, Glossary
XYZ Explanation of XYZ
Table of Figures
Figure 1 Geometric coupling ................................................................................................17

Figure 2 Selecting a new connection ....................................................................................18
Figure 3 Established connection...........................................................................................19
List of Tables
Table 1 Axis ID settings........................................................................................................20
German/English Technology Commands
In progress, will be submitted at a later date

Page 22 of 22

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Kinematics in WoV 2.

Telephone: +49 (0) 7031 - 90 74975

Distribution Only with the written approval of Daimler AG

Author Thomas Schneider 2012-08-20

Checked for content by Tobias Breitmaier (PKL/AST) 2012-08-20

Otto-Peter Egger (Fa. KUKA) 2012-08-20

Responsible for document Michael Lebrecht (PKL/AST), Tobias Breitmaier

The document was prepared in cooperation with:

Contact persons in the plants:

Project name: Kinematics in WoV 2.4

No. = Sequence number P. = Page number V. = Version of change (document version)

Project name: Kinematics in WoV 2.4

Typographical Conventions ................................................................................................... 2

Update Journal ...................................................................................................................... 3

1. General Information ........................................................................................................ 6

1.2. Basic Machine Data ............................................................................................... 6

2. Linear Unit ..................................................................................................................... 7

2.2. Individual Steps........................................................................................................ 7

3. Servo Guns ...................................................................................................................14

3.2. Individual Steps.......................................................................................................14

Table of Figures ...................................................................................................................22

German/English Technology Commands .............................................................................22

Project name: Kinematics in WoV 2.4

In the event of a contradiction in the project engineering guidelines or tender

Project name: Kinematics in WoV 2.4

1.1.1. Safety Instruction

 All changes to machine data influence the movement of the robot.

1.2. Basic Machine Data

Project name: Kinematics in WoV 2.4

2.2. Individual Steps

 The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to

Project name: Kinematics in WoV 2.4

3 Add linear unit to the project

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

Finally, the axis ID has to be checked and/or set.

Project name: Kinematics in WoV 2.4

3.2. Individual Steps

1 Add catalog in WoV

 The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

Figure 1 Geometric coupling

Project name: Kinematics in WoV 2.4

For a stationary axis, the mechanical relationships also need to be defined.

Figure 2 Selecting a new connection

Project name: Kinematics in WoV 2.4

Project name: Kinematics in WoV 2.4

- The supply channel is currently always to be set to "1"

The axis ID is to be set according to the following table:

Project name: Kinematics in WoV 2.4

Figure 1 Geometric coupling ................................................................................................17

German/English Technology Commands

In progress, will be submitted at a later date

Project name: Kinematics in WoV 2.4

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1.1.1. Safety Instruction

All changes to machine data influence the movement of the robot.

The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to

The catalog "KukaRobotsKRC4" should not be selected since it is no longer up to