KST GlueTech 44 en

KUKA System Technology
KUKA.GlueTech 4.4
For KUKA System Software 8.6 and 8.7
Issued: 21.10.2020
KST GlueTech 4.4 V4
KUKA Deutschland GmbH
KUKA.GlueTech 4.4
© Copyright 2020
KUKA Deutschland GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties
without the express permission of KUKA Deutschland GmbH.
Other functions not described in this documentation may be operable in the controller. The user
has no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and soft-
ware described. Nevertheless, discrepancies cannot be precluded, for which reason we are not
able to guarantee total conformity. The information in this documentation is checked on a regu-
lar basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation
Publication: Pub KST GlueTech 4.4 (PDF) en

PB12192
Book structure: KST GlueTech 4.4 V4.1

BS10608
Version: KST GlueTech 4.4 V4
2/80 | www.kuka.com KST GlueTech 4.4 V4 | Issued: 21.10.2020

KUKA.GlueTech 4.4
Contents
1 Introduction.............................................................................................. 5
1.1 Target group.......................................................................................................... 5
1.2 Industrial robot documentation.............................................................................. 5
1.3 Representation of warnings and notes................................................................. 5
1.4 Terms used............................................................................................................ 6
1.5 Licenses................................................................................................................. 6
2 Product description................................................................................. 9
2.1 Product description................................................................................................ 9
2.2 Example of an adhesive bonding cell.................................................................. 10
2.3 Communication...................................................................................................... 10
2.4 Functional principle................................................................................................ 10
2.5 Switching points and delay times......................................................................... 11
2.6 Intended use and misuse...................................................................................... 12
3 Safety......................................................................................................... 13
4 Installation................................................................................................ 15
4.1 System requirements............................................................................................. 15
4.2 Installation via WorkVisual.................................................................................... 15
4.2.1 Installing or updating KUKA.GlueTech 4.4........................................................... 15
4.2.2 Uninstalling KUKA.GlueTech 4.4........................................................................... 16
4.3 Installation via smartHMI....................................................................................... 17
4.3.1 Installing or updating KUKA.GlueTech 4.4........................................................... 17
4.3.2 Uninstalling KUKA.GlueTech 4.4........................................................................... 18
5 Operation.................................................................................................. 19
5.1 Status keys............................................................................................................ 19
5.2 Displaying user rights............................................................................................ 20
6 Configuration............................................................................................ 21
6.1 Overview................................................................................................................ 21
6.2 Configuring a cell.................................................................................................. 21
6.3 Making settings...................................................................................................... 22
6.4 Configuring outputs............................................................................................... 24
6.5 Configuring inputs.................................................................................................. 26
6.6 Manually configuring delay times.......................................................................... 30
6.7 Configuring seam data sets.................................................................................. 30
6.8 Calibration routine................................................................................................. 31
6.8.1 Defining the path velocity...................................................................................... 32
6.8.2 Testing the TCP..................................................................................................... 33
6.8.3 Determining the switching times of the nozzle (Gun On/Off).............................. 33
6.8.4 Determining the material/air flow (Ana. Delay).................................................... 34
6.8.5 Determining the reaction time after a jump in the analog output (Ana.
Switch)................................................................................................................... 35
6.8.6 Verifying and determining all configuration values (All)....................................... 35
7 Programming............................................................................................ 37
KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 3/80

KUKA.GlueTech 4.4
7.1 Note on programming........................................................................................... 37

7.2 Overview of GlueTech motion commands............................................................ 37
7.2.1 Inline form “GLUE ON LIN”.................................................................................. 37
7.2.2 Inline form “GLUE SWITCH LIN”.......................................................................... 38
7.2.3 Inline form “GLUE OFF LIN”................................................................................. 39
7.2.4 Inline form “GLUE ON CIRC”............................................................................... 40
7.2.5 Inline form “GLUE SWITCH CIRC”...................................................................... 41
7.2.6 Inline form “GLUE OFF CIRC”............................................................................. 42
7.2.7 Inline form “GLUE ON PTP”................................................................................. 43
7.2.8 Inline form “GLUE OFF PTP”............................................................................... 44
7.3 Overview of GlueTech Spline motion commands................................................ 45
7.3.1 Inline form “GLUE ON SPL”................................................................................. 46
7.3.2 Inline form “GLUE SWITCH SPL”........................................................................ 47
7.3.3 Inline form “GLUE OFF SPL”............................................................................... 48
7.3.4 Inline form “GLUE ON SLIN”................................................................................ 49
7.3.5 Inline form “GLUE SWITCH SLIN”....................................................................... 50
7.3.6 Inline form “GLUE OFF SLIN”.............................................................................. 51
7.3.7 Inline form “GLUE ON SCIRC”............................................................................. 52
7.3.8 Inline form “GLUE SWITCH SCIRC”.................................................................... 53
7.3.9 Inline form “GLUE OFF SCIRC”........................................................................... 54
7.4 Overview of GlueTech dispensing instructions..................................................... 55
7.4.1 Inline form “Init system”........................................................................................ 56
7.4.2 Inline form “Set program number”........................................................................ 58
7.4.3 Inline form “Set motion parameter”....................................................................... 59
7.4.4 Inline form “Dispense complete”........................................................................... 60
7.4.5 Inline form “Reload doser”.................................................................................... 61
7.4.6 Inline form “Error check”....................................................................................... 62
7.4.7 Inline form “ShortBead” (stitch bead).................................................................... 64
7.5 Overview of GlueTech purge instructions............................................................. 64
7.5.1 Inline form “Purge gun”......................................................................................... 65
7.5.2 Inline form “Monitoring purge gun”....................................................................... 66
7.5.3 Inline form “Enable purge”.................................................................................... 67
7.6 Teaching the purge position (MoveToPurge)........................................................ 68
8 Example programs................................................................................... 71
8.1 Example program for dispensing.......................................................................... 71
8.2 Example program for dispensing with spline motion........................................... 72
9 Messages.................................................................................................. 73
10 KUKA Service........................................................................................... 77
10.1 Requesting support............................................................................................... 77
10.2 KUKA Customer Support...................................................................................... 77
Index 79

KUKA.GlueTech 4.4
Introduction
1 Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and

skills:
• Advanced KRL programming skills
• Advanced knowledge of the robot controller system
• Advanced knowledge of the dispensing controller systems
• Knowledge of field bus interfaces
For optimal use of KUKA products, we recommend the training courses

offered by KUKA College. Information about the training program can be
found at www.kuka.com or can be obtained directly from our subsidia-
ries.
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:
• Documentation for the robot arm

• Documentation for the robot controller
• Documentation for the smartPAD-2 (if used)
• Operating and programming instructions for the System Software
• Instructions for options and accessories
• Spare parts overview in KUKA Xpert
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety
These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur, if no precautions are taken.
WARNING
These warnings mean that death or severe injuries may occur, if no
precautions are taken.
CAUTION
These warnings mean that minor injuries may occur, if no precautions
are taken.
NOTICE
These warnings mean that damage to property may occur, if no precau-
tions are taken.

Introduction KUKA.GlueTech 4.4
These warnings contain references to safety-relevant information or gen-

eral safety measures.
These warnings do not refer to individual hazards or individual precau-
tionary measures.
This warning draws attention to procedures which serve to prevent or rem-

edy emergencies or malfunctions:
SAFETY INSTRUCTION
The following procedure must be followed exactly!
Procedures marked with this warning must be followed exactly.
Notices
These notices serve to make your work easier or contain references to

further information.
Tip to make your work easier or reference to further information.
1.4 Terms used
Term Description
Seam data set Data set with settings for speed and analog voltage
for each seam.
Exact position- Programmed position of the robot without approxi-
ing mate positioning. The robot stops at the position.
Handshaking Handshaking is a method used to check 2 devices
during data transmission by means of direct acknowl-
edgement signals.
Calibration rou- The KUKA.GlueTech calibration routine sets various
tine configuration values on a defined linear path.
Seam number The seam number uniquely specifies the seam.
Switching point The switching point defines the switching position of
the nozzle.
Switching times The programmable switching times compensate for
the delay time of the nozzle.
Purging Function for emptying the system (dispenser) and
subsequent refilling.
Purge position Defined position for emptying the nozzle.
Motion parame- Programmable parameters and machine data adapted
ters specifically for the application of adhesives or similar
substances.
1.5 Licenses
The KUKA license conditions and the license conditions of the open-
source software used can be found in the following folders:
• Under .\LICENSE on the data storage medium with the installation
files of the KUKA software
• On the KUKA smartHMI, in the main menu under Help > Info, tab Li-
censes
• Under D:\KUKA_OPT\Option package name\LICENSE on the robot
controller

KUKA.GlueTech 4.4
Introduction
• In the license folder under the name of the option package in the Op-
tions catalog in WorkVisual
Further information about open-source licenses can be requested from

the following address: opensource@kuka.com

Introduction KUKA.GlueTech 4.4

KUKA.GlueTech 4.4
Product description
2 Product description
2.1 Product description
Description
KUKA.GlueTech is an add-on option package with the following fields of

application:
• Application of adhesive beads
• Application of 1-component / 2-component adhesives
• Bead shaping (electrical / pneumatic)
• Thin-jet flatstream sealing
• Extruded application of sound-insulating material
KUKA.GlueTech can be used for controlling the following dispensing con-
trollers:
• ASC 5000, SYS 300, SYS 3000, SYS 4000 or SYS 6000 (SCA
Schucker)
• Dürr EcoHVC
• Or other dispensing controllers of similar type (e.g. from Intec Bielen-
berg, Rickert, Kleinmichel)
KUKA must be consulted if another dispensing controller is to be used.

(>>> 10 "KUKA Service" Page 77)
Functions
• Staggered control of up to 4 dispensing controllers

• Staggered control of up to 4 nozzles per dispensing controller
• KRL commands for the creation of dispensing applications (inline
forms)
• Configuration of up to 99 different seam data sets
• Calibration routine
• Diverse settings (I/Os, PLC, etc.)

Product description KUKA.GlueTech 4.4
2.2 Example of an adhesive bonding cell
Fig. 2-1: Example of an adhesive bonding cell
1 Dispensing controller 5 Pump controller

2 Robot controller 6 Robot
3 PLC 7 Dispenser
4 Barrel pump 8 Nozzle
2.3 Communication
The robot controller communicates with the dispensing controller via a

field bus. There are different field bus cards for the robot controller. The
field buses Interbus, PROFIBUS or PROFINET can be used.
Further information about Interbus, PROFIBUS or PROFINET can be
found in the documentation for these field bus systems.
2.4 Functional principle
Description
KUKA.GlueTech can regulate the following parameters of the dispensing

controller (depending on the settings) proportional to the path velocity
(TCP), but also independently of the velocity:
• Delivery rate of the material
• Delivery rate of the air spray
The parameters are regulated via the analog voltage of the outputs. The
outputs are configured via the field bus of the robot controller.

KUKA.GlueTech 4.4
Product description
Fig. 2-2: Diagram: Analog voltage / speed
2.5 Switching points and delay times
Description
In the dispensing process, time delays and changes in the dispensing ve-
locity occur at the switching points (Glue On, Glue Switch, Glue Off) be-
tween the robot controller and the dispensing controller. This influences
the material flow and the air supply. For this reason, the switching points
must be adapted accordingly.
Fig. 2-3: Diagram: Delay times / offset
1 Material flow 5 Delay time

2 Air supply 6 Delay time
3 Robot motion 7 Offset
4 Delay time
Example
The following diagram shows a dispensing process with a straight seam.

The angle of the nozzle to the workpiece should be between 70° and 90°,
depending on the application. The start point of the robot is P1. At the
switching point On (Glue On LIN), the nozzle is switched on. The material
flow begins after a delay.

KUKA.GlueTech 4.4
At the switching point Off (Glue Off LIN), the nozzle is switched off. This
Product description
material flow stops after a delay.
Fig. 2-4: Switching points and delay times during the dispensing
process
1, 2 Delay time
2.6 Intended use and misuse
Use
The KUKA.GlueTech option package is used for controlling dispensing

controllers for adhesive bonding applications and is intended for use in an
industrial environment. The option package must only be operated in com-
pliance with the specified system requirements.
Operation in accordance with the intended use also requires compliance
with the configuration instructions in this documentation and constant ob-
servance of the assembly and operating instructions for the cell compo-
nents used.
Misuse
Any use or application deviating from the intended use is deemed to be

misuse and is not allowed. It will result in the loss of warranty and liability
claims. KUKA is not liable for any damage resulting from such misuse.
Examples of such misuse include:
• Use in a non-industrial sector
• Use with non-approved dispensing controllers without prior
consultation with KUKA

KUKA.GlueTech 4.4
Safety
3 Safety
This documentation contains safety instructions which refer specifically to
the option package described here.
The fundamental safety information for the industrial robot can be found in
the “Safety” chapter of the Operating and Programming Instructions for
System Integrators or the Operating and Programming Instructions for End
Users.
Comply with safety-relevant information
The safe use of this product requires knowledge of and compliance with
fundamental safety measures. Death, severe injuries or damage to prop-
erty may otherwise result.
• The “Safety” chapter in the operating and programming instructions
of the KUKA System Software (KSS) must be observed.

Safety KUKA.GlueTech 4.4

KUKA.GlueTech 4.4
Installation
4 Installation
The technology package can be installed on the robot controller either via
the smartHMI or via WorkVisual.
4.1 System requirements
Hardware
• KR C4 or KR C5 robot controller
• Dispensing controller
• KUKA field bus interface (Interbus, PROFIBUS or PROFINET)
• Specific components for the application:
‒ Nozzle
‒ Dispensing system (E, P, H dispenser)
‒ 2-component applications, etc.
Software
Robot controller:
• For the robot controller KR C4: KUKA System Software 8.6
• For the robot controller KR C5: KUKA System Software 8.7
• In all cases: Timers 13 ... 16 can be freely assigned by the user
(The timers are used after installation by the dispensing controller.)
Laptop/PC:
• WorkVisual 6.0
4.2 Installation via WorkVisual
4.2.1 Installing or updating KUKA.GlueTech 4.4
Description
The option package is installed in WorkVisual and added to the project.

When the project is transferred to the robot controller, the option package
is automatically installed there.
In the case of an update, the previous version of the option package in
WorkVisual must first be uninstalled.
It is advisable to archive all relevant data before updating a software
package.
Precondition
• User group “Expert”

• T1 or T2 mode
• No program is selected.
• Network connection to the robot controller
• The option package is available as a KOP file.
Procedure
1. Only for an update: Uninstall the previous version of the KUKA.Glue-

Tech 4.4 option package in WorkVisual.

Installation KUKA.GlueTech 4.4
2. Install the KUKA.GlueTech 4.4 option package in WorkVisual.

3. Load the active project from the robot controller.
4. Insert the KUKA.GlueTech 4.4 option package into the project.
5. Configure the option package in WorkVisual as required.
6. Deploy the project from WorkVisual to the robot controller and activate
it.
7. The request for confirmation Do you want to activate the project […]?
is displayed on the smartHMI. The active project is overwritten during
activation. If no relevant project will be overwritten: Answer the query
with Yes.
8. An overview with the changes and a request for confirmation are dis-
played on the smartHMI. Answer this with Yes. The option package is
installed and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVi-

sual documentation.
LOG file
A LOG file is created under C:\KRC\ROBOTER\LOG.
4.2.2 Uninstalling KUKA.GlueTech 4.4
Description
The option package can be uninstalled via WorkVisual.

It is advisable to archive all relevant data before uninstalling a software
package.
Precondition

• T1 or T2 mode
• Network connection to the robot controller
Procedure
1. Load the project from the robot controller.

2. Remove the KUKA.GlueTech 4.4 option package from the project. A
window with modifications is displayed.
3. Deploy the project from WorkVisual to the robot controller and activate
it.
4. Answer the request for confirmation Do you want to activate the
project […]? on the smartHMI with Yes.
played on the smartHMI. Answer this with Yes. The option package is
uninstalled and the robot controller carries out a reboot.
Information about procedures in WorkVisual is contained in the WorkVi-

sual documentation.
LOG file

KUKA.GlueTech 4.4
Installation
4.3 Installation via smartHMI
4.3.1 Installing or updating KUKA.GlueTech 4.4
It is advisable to archive all relevant data before updating a software

package.
Precondition
• User rights: Function group General configuration

But at least the user group “Expert”
• T1 or T2 mode
• USB stick with the option package (KOP file)
NOTICE
Data loss due to USB sticks from third-party manufacturers
Data may be lost if USB sticks from manufacturers other than KUKA
are used for activities on the robot controller.
• For activities on the robot controller requiring a USB stick, use a
KUKA stick.
The KUKA sticks are validated for use with the robot controller.
Procedure
1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry “KUKA.GlueTech 4.4” must be dis-
played in the Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be
configured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwrit-
ten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: On E:\, select the
directory in which the software is located.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Set the check mark at “KUKA.GlueTech 4.4” and press Install. Con-
firm the installation query with OK.
6. The request for confirmation Do you want to activate the project […]?
is displayed. The active project is overwritten during activation. If no
relevant project will be overwritten: Answer the query with Yes.
played. Answer this with Yes. The option package is installed and the
robot controller carries out a reboot.
8. Remove the stick.

Installation KUKA.GlueTech 4.4
LOG file
4.3.2 Uninstalling KUKA.GlueTech 4.4
It is advisable to archive all relevant data before uninstalling a software

package.
Precondition
• User rights: Function group General configuration

But at least the user group “Expert”
• T1 or T2 mode
Procedure
1. In the main menu, select Start-up > Additional software.

2. Activate the check mark at KUKA.GlueTech 4.4 and press Uninstall.
Answer the request for confirmation with Yes.
3. Answer the request for confirmation Do you want to activate the
project […]? with Yes.
played. Answer this with Yes. The option package is uninstalled and
the robot controller carries out a reboot.
LOG file

KUKA.GlueTech 4.4
Operation
5 Operation
5.1 Status keys
Procedure
Displaying the status keys:

• In the main menu, select Configuration > Status keys > GlueTech.
Description
Status key Description

Select dispensing controller 1, 2, 3 or 4.
Select nozzle 1, 2, 3 or 4.
Select dispenser 1 or 2.
Purge dispensing controller.
Clear nozzle.
Fill dispenser.
Execute program with material.
Execute program without material.
Execute program with material.

Note: The status key is only displayed in EXT mode. The
numbers refer to the number of the configured
dispensing controllers.
Note: The status key is only displayed in EXT mode. The
numbers refer to the number of the configured
dispensing controllers.
Note: The status key is only displayed in T1 mode. In
the T1 mode, the program is always executed without
material.
Acknowledge dispensing controller messages.

Operation KUKA.GlueTech 4.4
Status key Description

Toggle status key bar.
5.2 Displaying user rights
Description
The functions of a software package are assigned various function groups.

In the rights management, the minimum user group required to execute a
function is defined for each function group.
• The administrator can assign other user groups to the function groups.
• The assignment of the individual functions to the function groups can-
not be changed.
• Every user can display which user groups are currently assigned to
which function groups.
Further information about function groups and user rights is contained in

the operating and programming instructions for the KUKA System Soft-
ware (KSS).
If a function group is relevant for a procedure, this is indicated under Pre-

condition.
Procedure
The user groups assigned to the function groups can be displayed:

1. In the main menu, select Start-up > Rights management.
The Rights management window opens.
2. Select the Function groups tab.

KUKA.GlueTech 4.4
Configuration
6 Configuration
6.1 Overview
Precondition
• The dispensing controller has been installed and prepared.

• The field bus between the robot controller and the dispensing control-
ler has been configured.
• The tool and base have been calibrated.
Overview
Step Description
1 Configure a cell.
(>>> 6.2 "Configuring a cell" Page 21)
2 Configure the basic settings for GlueTech.
(>>> 6.3 "Making settings" Page 22)
3 Configure the inputs and outputs.
(>>> 6.4 "Configuring outputs" Page 24)
(>>> 6.5 "Configuring inputs" Page 26)
4 Configure the delay times.
(>>> 6.6 "Manually configuring delay times" Page 30)
5 Configure the bead data sets.
(>>> 6.7 "Configuring seam data sets" Page 30)
6 Calibrate GlueTech.
(>>> 6.8 "Calibration routine" Page 31)
Further settings and system responses can be configured via the sys-
tem variables.
6.2 Configuring a cell
Precondition
• The dispensing controller and nozzle have been prepared.

• “Expert” user group
Procedure
1. In the main menu, select Configuration > GlueTech.

2. Select the Cell configuration tab.
3. Configure the cell.
4. Close the window. Respond to the request for confirmation asking
whether the changes should be saved by pressing Yes.

Configuration KUKA.GlueTech 4.4
Description
Parameter Description
Number of dispense Select the number of dispensing controllers.
equipments
• 1 … 4
Transmit error code to Activate/Deactivate the forwarding of error co-
PLC des to the PLC.
• Yes: Activate forwarding

• No: Deactivate forwarding
Material quantity with- • Yes: Material quantity without a static com-
out a static component ponent
• No: Material quantity with a static compo-
nent
Strategy after error In the event of a fault, an open nozzle will be
closed. Select the strategy to be carried out fol-
lowing troubleshooting and a restart.
• OFF: Do not open the nozzle.

• CONT: Open the nozzle.
• USER: Open the strategy in the user rou-
tine.
6.3 Making settings
Precondition

Procedure

2. Select the Settings tab.
3. Make the desired settings.
If at least 2 dispensing controllers are specified in the cell configuration,

these are also displayed on the Settings tab.

KUKA.GlueTech 4.4
Configuration
Description
Type of dispensing controller Select the type of dispensing controller.
• A: Dispensing controller with control of nozzles coded via

SCA SYS 5000 outputs
• B: Dispensing controller with control of nozzles coded via
outputs, e.g. SCA SYS 300, 3000, 4000 and other control-
lers of similar type (for example, Intec Bielenberg, I.N.T.
Rickert, Kleinmichel)
• C: Dispensing controller with control of nozzles coded via
SCA SYS 6000 outputs
• D: Dispensing controller with control of nozzles coded via
Dürr EcoHVC outputs
Version of the dispensing • Ver. 1: If using the old interfaces
controller type
• Ver. 2: If using the current interfaces
(Only relevant for type A)
Application type Select the dispensing type.
• 1C: 1-component adhesive

• 2C: 2-component adhesive
Bead shaping Activate / deactivate bead shaping.
• None: Deactivate bead shaping

• Air: Activate air shaping
• Electrical: Activate motor shaping
Number of dispensers Select the number of dispensers.
• 0 … 2
Error acknowledgement by • All: All errors are acknowledged simultaneously.
PLC
• Single: Errors are acknowledged individually.
• PLC: Errors are acknowledged by the PLC.
Program number mirroring by • Yes: The program number is mirrored.
dispensing controller
• No: The program number is not mirrored.
Bit width program number Select the program number length in bits.
• Default: 8 bits
Forward single fault to PLC • Yes: Set output to PLC in the event of a single fault.
• No: Set no output in the event of a single fault.
Measurement cycle active • Yes: The dispensing controller supports the output “Meas-
output urement cycle active”.
• No: The output is not supported.
Invert material flow input • Yes: The input “Material flow” is inverted.
• No: The input “Material flow” is not inverted.
Peltier element available • Yes: The dispensing controller is equipped with a Peltier
element.
• No: The dispensing controller is not equipped with a Pelti-
er element.

On selecting dispensing controller type C or switching from C to a differ-

ent dispensing controller type, a notification message appears, indicating
that this operation will reset certain inputs and outputs that are not avail-
able for the selected dispensing controller type to their default values.
The request for confirmation must be confirmed with Yes in order to
switch to the new dispensing controller type.
6.4 Configuring outputs
Precondition
• The field bus connection between the robot controller and the dispens-
ing controller has been configured.
Procedure

2. Select the Outputs tab.
3. Configure the outputs.
Depending on the set dispensing controller type, some values can-
not be configured.


these are also displayed on the Outputs tab.
Values that have been changed, but not yet saved, are indicated in bold
type. Once the changes have been saved and the tab called again, all
values are displayed normally.

KUKA.GlueTech 4.4
Configuration
Fig. 6-1: Configuring outputs: overview
1 Modified, unsaved value

2 Unmodified, saved value
Invalid values are indicated with a red frame and cannot be applied. If
at least one value is displayed with a red frame, none of the changes
are saved when the tab is closed.

Fig. 6-2: Configuring outputs: invalid values
1 Invalid value
Some outputs have different meanings for the dispensing controller

types.
Example:
Type A+C: Open gun 2 / Type B: Select gun bit 1
For type D, the meanings are as for type C.
6.5 Configuring inputs
Precondition
Procedure

KUKA.GlueTech 4.4
Configuration
2. Select the Inputs tab.
3. Configure the inputs.
Depending on the set dispensing controller type, some values can-
not be configured.

Description
If the outputs of the dispensing controller are not present during the set-
up, the inputs of the robot controller can be bypassed using input 1025
(TRUE). This input should be used if signals are not supported by the
dispensing controller.

these are also displayed on the Inputs tab.
Values that have been changed, but not yet saved, are indicated in bold
type. Once the changes have been saved and the tab called again, all
values are displayed normally.

Fig. 6-3: Configuring inputs: overview
1 Modified, unsaved value

2 Unmodified, saved value
Invalid values are indicated with a red frame and cannot be applied. If
at least one value is displayed with a red frame, none of the changes
are saved when the tab is closed.

KUKA.GlueTech 4.4
Configuration
Fig. 6-4: Configuring inputs: invalid values
1 Invalid value
Some inputs have a different meaning for dispensing controller type C

than for dispensing controller types A and B.
Example:
Type A+B: Ready for application of material / Type C: Adhesive ap-
plication ready
If the designation of the input contains the word “inverted”, the signal is
“low active” for dispensing controller type C.
Example:
Type A+B: Material upper limit fault / Type C: (signal inverted)

6.6 Manually configuring delay times
Precondition

Procedure

2. Select the Delay times tab.
3. Configure the delay times.

these are also displayed on the Delay times tab.
Description
The delay times can also be determined automatically using the calibra-
tion routine.
(>>> 6.8 "Calibration routine" Page 31)
6.7 Configuring seam data sets
Precondition

Procedure

2. Select the Seam data tab.
3. Configure the seam data sets.
Description
ID Data set number
1 … 99
Prepressure Prepressure of the material
0 … 100%
Factor Dynamic setpoint for the material/air
0 … 100%
Offset Static setpoint for the material/air
0 … 100%

KUKA.GlueTech 4.4
Configuration
AnalogType Reference speed for analog output
• TCP_SPEED: Current speed (dynamic)

• TCP_INDEPENDENT: Independent of the
speed (static)
Comment Comment
6.8 Calibration routine
Description
The KUKA.GlueTech calibration routine verifies various configuration val-

ues using a defined linear path. These can then be optimized and adap-
ted. The program interacts with the user via dialogs.
The following configuration values are verified:
• The TCP is tested at a reference point by means of reorientation (vis-
ual check).
• The switching times of the nozzle are tested and can be manually cor-
rected.
• The delay times of the material flow are tested and can be manually
corrected.
• The delay times of the air flow are tested and can be manually correc-
ted.
• The reaction times after a jump in the analog output are tested and
can be manually corrected.
• The values of the following machine data are checked:
‒ Path acceleration $ACC_MA.CP < 10
‒ Swivel acceleration $ACC_MA.ORI1 < 1000
‒ Rotational acceleration $ACC_MA.ORI2 < 1000
‒ Reduction factor for path and orientation acceleration
$RED_ACC_CPC > 3
Fig. 6-5: Switching points and delay times during the dispensing
process
1, 2 Delay time

Program
DEF CALIBRATE_EQUIPMENT( )
Do not edit - press START button
System program to install dispense equipment
---- Local Subroutines ----

LIN StartPath Vel= 0.8 m/s CalDat Tool[1] Base[0]
LIN EndPath Vel= 0.8 m/s CalDat Tool[1] Base[0]
END
Precondition
• T2 mode
WARNING
Danger to life and limb due to 100% program override and T2
mode
Regardless of the program override previously set, the robot moves au-
tomatically with 100% program override. Failure to take this into account
may result in death, severe injuries or damage to property.
• Take possible path and motion sequences due to the 100% program
override into account.
• Observe the fundamental safety measures for T2 mode.
Procedure
1. Teach the points StartPath and EndPath specified in the program at a

distance of at least 400 mm in the calibration routine (Calibrate_Equip-
ment.src).
The calibration routine moves to the points in T2 mode with 10% pro-
gram override.
2. Mark the switching points with a pen.
3. Click on OK. The calibration routine executes the path with 100% pro-
gram override.
4. Check the switching points and correct them manually if necessary.
5. Save the data on the “Anticipation Time” tab.
(>>> 6.6 "Manually configuring delay times" Page 30)
6.8.1 Defining the path velocity
Precondition
• The tool has been calibrated.
• The settings have been made.

KUKA.GlueTech 4.4
Configuration
Procedure
1. Select R1 > TP > GLUETECH > Calibrate_Equipment.src in the

Navigator. The calibration routine is selected.
2. Press the Start key.
3. A query is displayed asking whether the default velocity should be
used for the calibration process.
• Click on Yes to initialize the path velocity at 0.4 m/s.
• Click on No to select a different velocity.
6.8.2 Testing the TCP
Precondition
• A reference position has been defined during tool calibration.
Procedure

2. Start the program with the Start key.
3. Follow the program dialog.
4. Press the Start key twice.
Result
• Tool correct: the tool orients about the TCP and the position remains
the same.
• Tool incorrect: the tool orients about the TCP but the position changes.
6.8.3 Determining the switching times of the nozzle (Gun On/Off)
Precondition
• T2 mode
Tools required
• Pen for marking the switching points.

WARNING
mode
Procedure

6.8.4 Determining the material/air flow (Ana. Delay)
Precondition
• T2 mode
Tools required
WARNING
mode
Procedure


KUKA.GlueTech 4.4
Configuration
6.8.5 Determining the reaction time after a jump in the analog output (Ana.
Switch)
Precondition
• T2 mode
Tools required
WARNING
mode
Procedure

6.8.6 Verifying and determining all configuration values (All)
Precondition
• A reference position has been defined during tool calibration.
• T2 mode
Tools required

WARNING
mode
Procedure


KUKA.GlueTech 4.4
Programming
7 Programming
7.1 Note on programming
NOTICE
Damage to the energy supply system due to unfavorable motion
sequence
If motions place excessive tension or pressure on the energy supply
system, damage to property may result. The energy supply system, for
example, can become wound up and then tear off.
• When programming and testing, ensure that the energy supply sys-
tem is not damaged during the motion sequence.
7.2 Overview of GlueTech motion commands
Command Description
GLUE ON LIN LIN motion - open nozzle
(>>> 7.2.1 "Inline form “GLUE ON LIN”" Page 37)
GLUE SWITCH LIN LIN motion - switch parameters
(>>> 7.2.2 "Inline form “GLUE SWITCH LIN”" Page 38)
GLUE OFF LIN LIN motion - close nozzle
(>>> 7.2.3 "Inline form “GLUE OFF LIN”" Page 39)
GLUE ON CIRC CIRC motion - open nozzle
(>>> 7.2.4 "Inline form “GLUE ON CIRC”" Page 40)
GLUE SWITCH CIRC CIRC motion - switch parameters
(>>> 7.2.5 "Inline form “GLUE SWITCH CIRC”" Page 41)
GLUE OFF CIRC CIRC motion - close nozzle
(>>> 7.2.6 "Inline form “GLUE OFF CIRC”" Page 42)
GLUE ON PTP PTP motion - open nozzle
(>>> 7.2.7 "Inline form “GLUE ON PTP”" Page 43)
GLUE OFF PTP PTP motion - close nozzle
(>>> 7.2.8 "Inline form “GLUE OFF PTP”" Page 44)
7.2.1 Inline form “GLUE ON LIN”
Description
The command executes an LIN motion and opens the nozzle at the end
point.
Precondition
• Program is selected or open.

• Operating mode T1
Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE ON LIN.
2. Set the parameters in the inline form.

Programming KUKA.GlueTech 4.4
3. Press Cmd OK.
Fig. 7-1: Inline form “GLUE ON LIN”
Item Description
1 Offset of the switch-on point.
• -200 … 200 mm
2 Nozzle number
• 1 … 4
3 • Yes: Before the nozzle is opened, a check is carried out to
see if the dispenser has reached prepressure.
• No: No check.
Buttons
The following buttons are available:

Button Description
Cancel command Closes the inline form without sav-
ing.
Switch instruction • Glue On: Opens the inline
form for opening the nozzle.
• Glue Switch: Opens the inline
form for switching the seam
data set.
• Glue Off: Opens the inline
form for closing the nozzle.
Touch-up Teaches a point.
Cmd OK Closes the inline form and saves
the settings.
7.2.2 Inline form “GLUE SWITCH LIN”
Description
The command executes an LIN motion and switches the seam data set at
the end point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE SWITCH
LIN.

KUKA.GlueTech 4.4
Programming
3. Press Cmd OK.
Fig. 7-2: Inline form “GLUE SWITCH LIN”
Item Description
1 Select the seam data set.
• 1 … 99
2 Offset of the switching point.
• -200 … 200 mm
3 Select parameter board of dispensing controller.
• 0 … 255
Buttons

Button Description
ing.
the settings.
7.2.3 Inline form “GLUE OFF LIN”
Description
The command executes a LIN motion and closes the nozzle at the end
point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE OFF LIN.
3. Press Cmd OK.

Fig. 7-3: Inline form “GLUE OFF LIN”
Item Description
1 Offset of the switch-off point.
• -200 … 200 mm
2 • Yes: End measurement of material application.
• No: Do not end measurement of material application.
3 • Yes: Change dispenser.
• No: Do not change dispenser.
Buttons

Button Description
ing.
data set.
the settings.
7.2.4 Inline form “GLUE ON CIRC”
Description
The command executes an CIRC motion and opens the nozzle at the end
point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE ON CIRC.
3. Press Cmd OK.

KUKA.GlueTech 4.4
Programming
Fig. 7-4: Inline form “GLUE ON CIRC”
Item Description
• -200 … 200 mm
2 Nozzle number
• 1 … 4
• No: No check.
Buttons

Button Description
ing.
data set.
Teach Aux Teaches an auxiliary point.
Teach End Teaches an end point.
the settings.
7.2.5 Inline form “GLUE SWITCH CIRC”
Description
The command executes an CIRC motion and switches the seam data set
at the end point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE SWITCH
CIRC.


3. Press Cmd OK.
Fig. 7-5: Inline form “GLUE SWITCH CIRC”
Item Description
• 1 … 99
• -200 … 200 mm
• 0 … 255
Buttons

Button Description
ing.
the settings.
7.2.6 Inline form “GLUE OFF CIRC”
Description
The command executes a CIRC motion and closes the nozzle at the end
point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE OFF CIRC.
3. Press Cmd OK.

KUKA.GlueTech 4.4
Programming
Fig. 7-6: Inline form “GLUE OFF CIRC”
Item Description
• -200 … 200 mm
Buttons

Button Description
ing.
data set.
the settings.
7.2.7 Inline form “GLUE ON PTP”
Description
The command executes an PTP motion and opens the nozzle at the end
point. The seam data sets are not taken into account in this command.
The command can be used to compensate for tolerances on the compo-
nent.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE ON PTP.
3. Press Cmd OK.

Fig. 7-7: Inline form “GLUE ON PTP”
Item Description
1 Nozzle number
• 1 … 4
2 Switch-on point delay
• -0.1 … 1.0 s
3 Time setpoint for opening the nozzle. The parameter is not tak-
en into account with approximate positioning.
• 0.1 … 5.0 s
4 Pressure
• 0 … 100%
Default value: 50%
Buttons

Button Description
ing.
the settings.
7.2.8 Inline form “GLUE OFF PTP”
Description
The command executes a PTP motion and closes the nozzle at the end
point.
Precondition

Procedure
1. Select Commands > GlueTech > Gluing motion > GLUE OFF PTP.
3. Press Cmd OK.

KUKA.GlueTech 4.4
Programming
Fig. 7-8: Inline form “GLUE OFF PTP”
Item Description
1 Switch-off point delay.
• -1.0 … 1.0 s
Buttons

Button Description
ing.
the settings.
7.3 Overview of GlueTech Spline motion commands
Command Description
GLUE ON SPL SPL motion - open nozzle
(>>> 7.3.1 "Inline form “GLUE ON SPL”" Page 46)
GLUE SWITCH SPL SPL motion - switch parameters
(>>> 7.3.2 "Inline form “GLUE SWITCH SPL”" Page 47)
GLUE OFF SPL SPL motion - close nozzle
(>>> 7.3.3 "Inline form “GLUE OFF SPL”" Page 48)
GLUE ON SLIN SLIN motion - open nozzle
(>>> 7.3.4 "Inline form “GLUE ON SLIN”" Page 49)
GLUE SWITCH SLIN SLIN motion - switch parameters
(>>> 7.3.5 "Inline form “GLUE SWITCH SLIN”" Page 50)
GLUE OFF SLIN SLIN motion - close nozzle
(>>> 7.3.6 "Inline form “GLUE OFF SLIN”" Page 51)
GLUE ON SCIRC SCIRC motion - open nozzle
(>>> 7.3.7 "Inline form “GLUE ON SCIRC”" Page 52)
GLUE SWITCH SCIRC SCIRC motion - switch parameters
(>>> 7.3.8 "Inline form “GLUE SWITCH SCIRC”" Page 53)
GLUE OFF SCIRC SCIRC motion - close nozzle
(>>> 7.3.9 "Inline form “GLUE OFF SCIRC”" Page 54)

7.3.1 Inline form “GLUE ON SPL”
Description
The command executes an SPL motion and opens the nozzle at the end
point.
Precondition
• A program is selected.
• The spline block fold is open.
Procedure
1. Move the TCP to the end point.

2. Position the cursor in the line after which the segment is to be inser-
ted in the spline block.
3. Select Commands > GlueTech > Gluing spline motion > GLUE ON
SPL.
5. Press Cmd OK.
Fig. 7-9: Inline form “GLUE ON SPL”
Item Description
• -200 … 200 mm
2 Nozzle number
• 1 … 4
• No: No check.
Buttons

Button Description
ing.
Switch parameter • Velocity: Shows and hides the
“Velocity” box.
• Motion parameters: Shows
and hides the “Motion parame-
ter” box.

KUKA.GlueTech 4.4
Programming
Button Description
data set.
the settings.
7.3.2 Inline form “GLUE SWITCH SPL”
Description
The command executes an SPL motion and switches the seam data set
at the end point.
Precondition
Procedure

3. Select Commands > GlueTech > Gluing spline motion > GLUE
SWITCH SPL.
5. Press Cmd OK.
Fig. 7-10: Inline form “GLUE SWITCH SPL”
Item Description
• 1 … 99
• -200 … 200 mm

Item Description
• 0 … 255
Buttons

Button Description
ing.
“Velocity” box.
ter” box.
the settings.
7.3.3 Inline form “GLUE OFF SPL”
Description
The command executes a SPL motion and closes the nozzle at the end
point.
Precondition
Procedure

OFF SPL.
5. Press Cmd OK.

KUKA.GlueTech 4.4
Programming
Fig. 7-11: Inline form “GLUE OFF SPL”
Item Description
• -200 … 200 mm
Buttons

Button Description
ing.
“Velocity” box.
ter” box.
data set.
the settings.
7.3.4 Inline form “GLUE ON SLIN”
Description
The command executes an SLIN motion and opens the nozzle at the end
point.
Precondition


Procedure
SLIN.
3. Press Cmd OK.
Fig. 7-12: Inline form “GLUE ON SLIN”
Item Description
• -200 … 200 mm
2 Nozzle number
• 1 … 4
• No: No check.
Buttons

Button Description
ing.
data set.
the settings.
7.3.5 Inline form “GLUE SWITCH SLIN”
Description
The command executes an SLIN motion and switches the seam data set
at the end point.
Precondition


KUKA.GlueTech 4.4
Programming
Procedure
SWITCH SLIN.
3. Press Cmd OK.
Fig. 7-13: Inline form “GLUE SWITCH SLIN”
Item Description
• 1 … 99
• -200 … 200 mm
• 0 … 255
Buttons

Button Description
ing.
the settings.
7.3.6 Inline form “GLUE OFF SLIN”
Description
The command executes a SLIN motion and closes the nozzle at the end
point.
Precondition


Procedure
OFF SLIN.
3. Press Cmd OK.
Fig. 7-14: Inline form “GLUE OFF SLIN”
Item Description
• -200 … 200 mm
Buttons

Button Description
ing.
data set.
the settings.
7.3.7 Inline form “GLUE ON SCIRC”
Description
The command executes an SCIRC motion and opens the nozzle at the
end point.
Precondition


KUKA.GlueTech 4.4
Programming
Procedure
SCIRC.
3. Press Cmd OK.
Fig. 7-15: Inline form “GLUE ON SCIRC”
Item Description
• -200 … 200 mm
2 Nozzle number
• 1 … 4
• No: No check.
Buttons

Button Description
ing.
data set.
the settings.
7.3.8 Inline form “GLUE SWITCH SCIRC”
Description
The command executes an SCIRC motion and switches the seam data
set at the end point.
Precondition

Procedure
SWITCH SCIRC.
3. Press Cmd OK.
Fig. 7-16: Inline form “GLUE SWITCH SCIRC”
Item Description
• 1 … 99
• -200 … 200 mm
• 0 … 255
Buttons

Button Description
ing.
the settings.
7.3.9 Inline form “GLUE OFF SCIRC”
Description
The command executes a SCIRC motion and closes the nozzle at the
end point.
Precondition


KUKA.GlueTech 4.4
Programming
Procedure
OFF SCIRC.
3. Press Cmd OK.
Fig. 7-17: Inline form “GLUE OFF SCIRC”
Item Description
• -200 … 200 mm
Buttons

Button Description
ing.
data set.
the settings.
7.4 Overview of GlueTech dispensing instructions
Command Description
Initialize system Initializes the dispensing controller.
(>>> 7.4.1 "Inline form “Init system”" Page 56)
Set program Sends the program number to the dispensing controller.
number
(>>> 7.4.2 "Inline form “Set program number”" Page 58)
Set motion parameter Specific motion parameters are set.
(>>> 7.4.3 "Inline form “Set motion parameter”" Page 59)

Command Description
Dispense complete Communication between robot controller and dispensing con-
troller is reset.
(>>> 7.4.4 "Inline form “Dispense complete”" Page 60)
Reload doser Dispenser is filled.
(>>> 7.4.5 "Inline form “Reload doser”" Page 61)
Error check A check is made to establish whether any errors have occur-
red during the application.
(>>> 7.4.6 "Inline form “Error check”" Page 62)
ShortBead Activate or deactivate “ShortBead” mode for dispensing con-
troller type D.
(>>> 7.4.7 "Inline form “ShortBead” (stitch bead)" Page 64)
7.4.1 Inline form “Init system”
Description
The command initializes the communication between the robot controller

and the dispensing controller and contains the following functions:
• The prepressure, factor, offset and delay for the analog output are cal-
culated from the seam data.
• The analog output is started.
• The program number for the dispensing controller is sent.
• The handshake for the program number is checked.
Precondition: The option “Program number mirroring” is configured.
• The output “Start” is set, causing the dispensing controller to be
brought up to prepressure.
• The input “Ready” is polled.
• The input “Doser full” is polled. If the signal is not set, the dispenser is
filled.
Precondition: The option “With doser” is configured.
• The purge timer or “Purge” input is polled, then the program “Move to
Purge” is started.
(>>> 7.6 "Teaching the purge position (MoveToPurge)" Page 68)
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Initialize

system.
3. Press Cmd OK.

KUKA.GlueTech 4.4
Programming
Fig. 7-18: Inline form “Init system”
Item Description
1 Select a dispensing controller.
• 1 … 4
2 • Yes: The dispenser is filled during initialization.
• No: The dispenser is not filled.
3 Select the program number of the dispensing controller.
• 0 … 255
4 Select the parameter board of the dispensing controller.
• 0 … 255
• 1 … 99
6 • Yes: Initialization with gluing start.
• No: Initialization without gluing start.
Buttons

Button Description
Cancel command Closes the inline form without saving.
Dispensing instruction • Initialize system: Opens the inline
form “Init system”.
• Set program number: Opens the in-
line form “Set program number”.
• Set motion parameters: Opens the
inline form “Set motion parameter”.
• Dispense complete: Opens the inline
form “Dispense complete”.
• Fill dispenser: Opens the inline form
“Reload doser”.
• Error check: Opens the inline form
“Error check”.
Purge instruction • Purge gun: Opens the inline form
“Purge gun”.
• Monitoring purge gun: Opens the in-
line form “Monitoring purge gun”.
• Enable purging: Opens the inline
form “Enable purge”.

Button Description
Cmd OK Closes the inline form and saves the set-
tings.
7.4.2 Inline form “Set program number”
Description
The command contains the following functions:

• Set the program number for the dispensing controller.
• Wait for the dispensing controller to mirror the set program number
correctly.
Precondition
• The option “Program number mirroring” has been configured.
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Set pro-
gram number.
3. Press Cmd OK.
Fig. 7-19: Inline form “Set program number”
Item Description
1 Select the program number of the dispensing controller.
• 1 … 255
2 Select the parameter board of the dispensing controller.
• 1 … 255
• 1 … 99
Buttons

KUKA.GlueTech 4.4
Programming
Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.4.3 Inline form “Set motion parameter”
Description
The command increases the following parameters:

• Swivel velocity
• Rotational velocity
• Path acceleration
• Swivel acceleration
• Rotational acceleration
NOTICE
Material damage to the robot arm due to steep braking ramps
For the command Set motion parameters, the braking ramps are very
steep. This can cause long-term damage to the robot arm.
• If possible, deactivate the motion parameter before exact positioning
or before other braking procedures in order to avoid an increased
load on the robot arm.
Depending on the programmed path and the parameters set, the Set
motion parameters command can lead to acceleration errors.
• Adjust the path and/or parameters to compensate for the changes to
the acceleration.
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Set mo-
tion parameters.
3. Press Cmd OK.

Fig. 7-20: Inline form “Set motion parameters”
Item Description
1 • ON: Activate motion parameters.
• OFF: Deactivate motion parameters.
2 Increase path acceleration.
• 0 … 100%
3 Increase the swivel and rotational velocity and the swivel and
rotational acceleration.
• 0 … 100%
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.4.4 Inline form “Dispense complete”
Description
The command resets the communication between the robot controller and
the dispensing controller.
The command contains trigger instructions and must therefore be
placed before a motion command.

KUKA.GlueTech 4.4
Programming
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Dis-

pense complete.
3. Press Cmd OK.
Fig. 7-21: Inline form “Dispense complete”
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.4.5 Inline form “Reload doser”
Description
The command is used for filling the dispenser.

The command contains trigger instructions and must therefore be
placed before a motion command.
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Fill dis-
penser.
3. Press Cmd OK.

Fig. 7-22: Inline form “Reload doser”
Item Description
1 Termination condition for the filling operation.
• TIME: Termination after the programmed time has elapsed.

• FULL: Termination when the input “Doser full” is detected.
2 Time after which the filling operation is terminated. Only active if
TIME was selected.
3 • TRUE: Waits until the dispenser is full.
• FALSE: Does not wait.
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.4.6 Inline form “Error check”
Description
This command checks whether any errors have occurred during the appli-
cation.
It checks whether the following inputs are set:
• Fault application
• Error material threshold high

KUKA.GlueTech 4.4
Programming
• Error material threshold low
• Error mixture above tolerance
• Error mixture below tolerance
A message is generated if one of these inputs is set.
The following output is set:
• Fault to PLC (only if the option has been configured)
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Error

check.
3. Press Cmd OK.
Fig. 7-23: Inline form “Error check”
Item Description
• 1 … 4
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.

7.4.7 Inline form “ShortBead” (stitch bead)
Description
This command can be used to activate “ShortBead” mode. The dispensing

controller does not apply the bead continuously (from GLUE ON to GLUE
OFF), but rather divides it into a series of stitch beads.
Procedure
1. Select Commands > GlueTech > Dispensing instruction > Short

bead On/Off.
3. Press Cmd OK.
Fig. 7-24: Inline form “ShortBead”
Item Description
ON Activates the “ShortBead” (stitch bead) mode
OFF Deactivates the “ShortBead” (stitch bead) mode
Buttons

Button Description
Dispensing instruction Opens a menu with the dispensing in-
structions.
Purge instruction Opens a window with the purge instruc-
tions.
tings.
7.5 Overview of GlueTech purge instructions
Command Description
Purge gun Nozzle is purged.
(>>> 7.5.1 "Inline form “Purge gun”" Page 65)
Monitoring purge gun Purging of nozzle is monitored.
(>>> 7.5.2 "Inline form “Monitoring purge gun”" Page 66)
Enable purge The enable signal for purging of the nozzle is set.
(>>> 7.5.3 "Inline form “Enable purge”" Page 67)

KUKA.GlueTech 4.4
Programming
7.5.1 Inline form “Purge gun”
Description
The command purges the nozzle.
Procedure
1. Select Commands > GlueTech > Purge instruction > Purge gun.
3. Press Cmd OK.
Fig. 7-25: Inline form “Purge gun”
Item Description
1 Defines the procedure for purging.
• COMPLETE: Purging is ended when the input “Purge

passed” is set.
• TIME: Purging is terminated after the programmed time has
elapsed.
2 Time after which the purging operation is terminated. Only ac-
tive if TIME was selected.
• 0 … 10 s
• 1 … 4
4 • YES: Activate clearing.
• NO: Deactivate clearing.
5 Select adhesive components.
• A
• B
• A+B
Note: If a different material is used instead of an adhesive, se-
lect the component A.
Note: For controller type D, only the components A or A+B are
possible. If B is selected, the component A will be applied.
6 Select the nozzle.
• 1 … 4
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.5.2 Inline form “Monitoring purge gun”
Description
The command starts monitoring of the time between 2 purge operations.

Monitoring is restarted every time the command is called. When the speci-
fied time has elapsed, the purge routine is called automatically.
Procedure
1. Select Commands > GlueTech > Purge instruction > Monitoring

purge gun.
3. Press Cmd OK.
Fig. 7-26: Inline form “Monitoring purge gun”

KUKA.GlueTech 4.4
Programming
Item Description
1 Maximum time without material flow between 2 purge opera-
tions for dispensing controller 1.
• 0 … 30 min
• 0 … 30 min
• 0 … 30 min
• 0 … 30 min
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.5.3 Inline form “Enable purge”
Description
The command sets the enable signal for purging once the robot has
reached the purge position.
Procedure
1. Select Commands > GlueTech > Purge instruction > Enable purg-
ing.


3. Press Cmd OK.
Fig. 7-27: Inline form “Enable purge”
Item Description
1 • YES: Activate Enable purge.
• NO: Deactivate Enable purge.
Buttons

Button Description
“Reload doser”.
“Error check”.
“Purge gun”.
tings.
7.6 Teaching the purge position (MoveToPurge)
Description
The MoveToPurge program is used to move the robot to the purge posi-
tion. The program is called by the input 'diSLxPurgeRequest' or after the
timer 'iTimerSystemx'. In the program, the path to the purge position must
be taught for each dispensing controller and the command “Purge gun”
must be entered. The program consists of:
• SRC file
• DAT file
The program is called via the inline form Initialize system.

KUKA.GlueTech 4.4
Programming
Program
DEF MoveToPurge()
...
CASE 1 ; system number 1
;Teach here the movement to purge position for system
number 1
;Program here the purge command
;Teach here the movement to home position for system

number 1

number 2

number 2

number 3

number 3

number 4

number 4
DEFAULT
ENDSWITCH
...


KUKA.GlueTech 4.4
Example programs
8 Example programs
8.1 Example program for dispensing
Program
1 DEF GLUEING()
2 INI
3 Initialize And Start System 1 Fill Doser=Yes
Set Program No=2 Param No=1 BeadData=1
4 Check Purge System 1 Time=10 min System 2 Time=10 min
System 3 Time=10 min
5 PTP HOME Vel= 100 % DEFAULT
6 PTP P1 CONT Vel=100 % PDAT1 Tool[1] Base[0]
7 Set High Motion Parameter=ON Path=10 % Orientation=25 %
8 LIN P3 CONT Vel=0.5 m/s CPDAT2 Tool[1] Base[0]
9 LIN P4 CONT Vel=0.5 m/s CPDAT3 GlueOn Distance=-10 mm
Gun=1 Check PrePressure=Yes Tool[1] Base[0]
13 LIN P8 CONT Vel=0.5 m/s CPDAT7 GlueOff Distance=-5 mm
End Measurement=Yes Change Doser=No Tool[1] Base[0]
15 Set High Motion Parameter=OFF
17 Process Complete
19 Error Check System=1
20 END
Description
Line Description
3 Init system
4 Monitoring purge gun
7 Set motion parameter

9 LIN with Open nozzle
(>>> 7.2.1 "Inline form “GLUE ON LIN”" Page 37)
13 LIN with Close nozzle
(>>> 7.2.3 "Inline form “GLUE OFF LIN”" Page 39)
15 Reset motion parameter
17 Terminate dispensing process
19 Error check

Example programs KUKA.GlueTech 4.4
8.2 Example program for dispensing with spline motion
Program
1 DEF GlueingSpline()
2 INI
3 Initialize And Start System 1 Fill Doser=Yes
Set Program No=2 Param No=1 BeadData=1
4 Check Purge System 1 Time=10 min System 2 Time=10 min
System 3 Time 10=min
6 PTP P1 Vel=100 % PDAT1 Tool[1] Base[0]
7 SPLINE S1 Vel=0.5 m/s CPDAT1 Tool[1] Base[0]
8 SPL P2 GlueOn Distance=-10 mm Gun=1 Check PrePressure=Yes
9 SPL P3
10 SPL P4
11 SPL P5
12 SPL P6 GlueOff Distance=-5 mm End Measurement=Yes Change
Doser=No
13 PTP P7 Vel=100 % PDAT2 Tool[1] Base[0]
15 Process Complete
17 Error Check System=1
18 END
Description
Line Description
3 Init system
4 Monitoring purge gun
7 Spline block
8 SPL with Open nozzle
(>>> 7.3.1 "Inline form “GLUE ON SPL”" Page 46)
12 SPL with Close nozzle
(>>> 7.3.3 "Inline form “GLUE OFF SPL”" Page 48)
15 Terminate dispensing process
17 Error check

KUKA.GlueTech 4.4
Messages
9 Messages
%1 is a placeholder which is substituted in the message by the number of
the dispensing system.
Message Cause Remedy
Dispensing system %1 not Input “Decontrol for extern” is Check configuration (input
ready not set or incorrectly config- number, I/O range).
ured. If the configuration is correct:
Check the dispensing system.
No signal PREPRESSURE Input “Reached prepressure” Check configuration (input
OK by dispensing system %1 is not set or incorrectly con- number, I/O range).
figured. Check configuration (input
number, I/O range).
Fault controller dispensing The following inputs are set Check configuration (input
system %1 or incorrectly configured: number, I/O range).
• Fault application If the configuration is correct:

Acknowledge error on the dis-
• Error material threshold
pensing controller.
high
• Error material threshold
low
• Error mixture above toler-
ance
• Error mixture below toler-
ance
Doser dispensing system %1 The dispenser is being filled Wait until the dispenser is full
will be filled because there is not enough before the path is executed.
dispensing material left for
the whole path.
Dispensing system %1: Input “Error material threshold Check configuration (input
Upper volume limit exceeded high” is not set or incorrectly number, I/O range).
configured. If the configuration is correct:
pensing controller.
Dispensing system %1: Input “Error material threshold Check configuration (input
Lower volume limit violated low” is not set or incorrectly number, I/O range).
configured. If the configuration is correct:
pensing controller.
Variable MATERIALFACTOR The component is still initial- Initialize the component with
is still initialized with the de- ized with the default value 0. the desired value.
fault value zero
Variable AIRFACTOR is still The component is still initial- Initialize the component with
initialized with the default val- ized with the default value 0. the desired value.
ue zero
Periphery system %1 not The following inputs are not Check configuration (input
ready set: number, I/O range).
• Pump ready If the configuration is correct:

• Heating temperature
reached
• Hydraulic working pres-
sure reached

Messages KUKA.GlueTech 4.4

Dispensing system %1: Mix- Input “Error mixture above tol- Check configuration (input
ture above tolerance limit erance” is not set or incor- number, I/O range).
rectly configured. If the configuration is correct:
pensing controller.
Dispensing system %1: Mix- Input “Error mixture below tol- Check configuration (input
ture below tolerance limit erance” is not set or incor- number, I/O range).
rectly configured. If the configuration is correct:
pensing controller.
Submit interpreter stopped or The submit interpreter is not Start/select the submit inter-
deselected active. preter.
Group fault controller dispens- Input “Accumulation error” is Check configuration (input
ing system %1 set. number, I/O range).
If the configuration is correct:
pensing controller.
Dispensing system %1: E- Input “E-Swirl motor ready” is Check configuration (input
Swirl motor not ready or not set. number, I/O range).
speed not yet reached If the configuration is correct:
Where is the dispensing proc- The nozzle was closed during Answer the dialog:
ess to be continued? the application due to a fault.
• GlueOn: Continue on the
next seam.
• BCO: Continue on the
same path as soon as the
nozzle is back in position.
You have selected GlueOn. The message “Where the glu- -
Nozzle will be opened at start ing process should be contin-
of next seam ued” was answered with
GlueOn.
You have selected BCO. Noz- The message “Where the glu- -
zle will be opened on reach- ing process should be contin-
ing BCO ued” was answered with SAK.
No. 26 The dispensing unit has a Check the configuration.
fault. The bead is defective. Check the adhesive applica-
Dispensing system {Number
tion system.
of current dispensing control-
ler}: Dispenser fault
No. 27 The pump has a fault. The Check the configuration.
bead is defective. Check the adhesive applica-
tion system.
ler}: Pump fault
No. 28 The heating system has a Check the configuration.
fault. The bead is defective. Check the adhesive applica-
tion system.
ler}: Heating fault

KUKA.GlueTech 4.4
Messages
No. 29 Programming Purge Time is Program type D with Purge
not allowed for type D. Complete.
ler}: Programming Purge
Time is not allowed for type
D
No. 30 Program number = 0 is not Set value of program number
allowed for the current dis- > 0.
Program number = 0 not al-
pensing controller.
lowed for current dispensing
controller.
No. 31 Parameter board = 0 is not Set value of parameter board
allowed for the current dis- > 0.
Parameter board = 0 not al-
pensing controller.
lowed for current dispensing
controller.
No. 32 Gun is not supported by the Program a different gun (1 …
current dispensing controller. 3).
Gun {Number of the current
gun} not allowed for current
dispensing controller.

Messages KUKA.GlueTech 4.4

KUKA.GlueTech 4.4
KUKA Service
10 KUKA Service
10.1 Requesting support
Introduction
This documentation provides information on operation and operator con-

trol, and provides assistance with troubleshooting. For further assistance,
please contact your local KUKA subsidiary.
Information
The following information is required for processing a support re-

quest:
• Description of the problem, including information about the duration
and frequency of the fault
• As comprehensive information as possible about the hardware and
software components of the overall system
The following list gives an indication of the information which is rele-
vant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manip-
ulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifi-
cations
‒ Diagnostic package KRCDiag
Additionally for KUKA Sunrise: existing projects including applica-
tions
For versions of KUKA System Software older than V8: archive of
the software (KRCDiag is not yet available here.)
‒ Application used
‒ External axes used
10.2 KUKA Customer Support
The contact details of the local subsidiaries can be found at:

www.kuka.com/customer-service-contacts

KUKA Service KUKA.GlueTech 4.4

KUKA.GlueTech 4.4
Index Inline form GLUE OFF SCIRC...................... 54

Inline form GLUE OFF SLIN......................... 51
$ACC_MA.CP................................................. 31
Inline form GLUE OFF SPL...........................48
$ACC_MA.ORI1..............................................31
Inline form GLUE ON CIRC.......................... 40
$ACC_MA.ORI2..............................................31
Inline form GLUE ON LIN..............................37
$RED_ACC_CPC........................................... 31
Inline form GLUE ON PTP............................ 43
Inline form GLUE ON SCIRC........................ 52
Inline form GLUE ON SLIN........................... 49
A Inline form GLUE ON SPL............................ 46
Adhesive bead application............................... 9 Inline form GLUE SWITCH CIRC..................41
All configuration values, Inline form GLUE SWITCH LIN.....................38
verifying/determining.......................................35 Inline form GLUE SWITCH SCIRC............... 53
Analog voltage, proportional.......................... 10 Inline form GLUE SWITCH SLIN.................. 50
Application of 1-component / 2-component Inline form GLUE SWITCH SPL....................47
adhesives..........................................................9 Inline form, Dispense complete..................... 60
Inline form, Enable purge.............................. 67
Inline form, Error check................................. 62
B Inline form, Init system...................................56
Bead shaping....................................................9 Inline form, Monitoring purge gun................. 66
Inline form, Purge gun................................... 65
Inline form, Reload doser.............................. 61
C Inline form, Set motion parameter.................59
Calibrate_Equipment.src.................................32 Inline form, Set program number.................. 58
Calibration routine...................................... 6, 31 Inline form, ShortBead................................... 64
Cell, configuring..............................................21 Inputs, configuring.......................................... 26
Communication............................................... 10 Installation.......................................................15
Configuration...................................................21 via smartHMI............................................. 17
Configuration, settings....................................22 via WorkVisual...........................................15
Intended use...................................................12
Introduction....................................................... 5
D
Delay times..................................................... 11
Delay times, air flow...................................... 31 K
Delay times, manual configuration................ 30 Knowledge, required.........................................5
Delay times, material flow..............................31 KUKA Customer Support............................... 77
Dispensing instructions, overview.................. 55 KUKA Service.................................................77
Documentation, industrial robot....................... 5
L
E Licenses............................................................6
Exact positioning.............................................. 6
Example programs......................................... 71
Extruded application......................................... 9 M
Machine data check....................................... 31
Material/air flow determination....................... 34
F Messages........................................................73
Flatstream......................................................... 9 Misuse.............................................................12
Function groups..............................................20 Motion commands, overview..........................37
Functional principle.........................................10 Motion parameters............................................6
MoveToPurge..................................................68
H
Handshaking..................................................... 6 O
Open source..................................................... 6
Operation........................................................ 19
Outputs, configuring....................................... 24
I Overview of GlueTech motion commands.....37
Inline form GLUE OFF CIRC.........................42
Overview of GlueTech Spline motion
Inline form GLUE OFF LIN............................39
commands...................................................... 45
Inline form GLUE OFF PTP.......................... 44

KUKA.GlueTech 4.4
P
Path velocity, defining.................................... 32
Product description...........................................9
Programming.................................................. 37
Purge instructions, overview.......................... 64
Purge position...................................................6
Purge position, enable................................... 67
Purge position, teaching................................ 68
Purging..............................................................6
R
Reaction time after jump in analog output....35
Reaction time, analog output.........................31
S
Safety..............................................................13
Safety instructions............................................ 5
Seam data set.................................................. 6
Seam data sets, configuration....................... 30
Seam number................................................... 6
Sound-insulating material................................. 9
Speed, proportional........................................ 10
Spline motion commands, overview.............. 45
Status keys..................................................... 19
Support request.............................................. 77
Switching point................................................. 6
Switching points..............................................11
Switching times.................................................6
Switching times of nozzle, determination...... 33
Switching times, nozzle..................................31
System requirements......................................15
Hardware................................................... 15
Software.....................................................15
T
Target group..................................................... 5
TCP test..........................................................33
TCP, testing.................................................... 31
Teaching, purge position................................ 68
Terms used....................................................... 6
Thin-jet.............................................................. 9
Training............................................................. 5
U
Uninstalling
via smartHMI............................................. 18
via WorkVisual...........................................16
Updating
via WorkVisual...........................................15
Updating via smartHMI...................................17
User rights, displaying....................................20
W
Warnings........................................................... 5

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KUKA System Technology

Publication: Pub KST GlueTech 4.4 (PDF) en

Book structure: KST GlueTech 4.4 V4.1

Version: KST GlueTech 4.4 V4

2/80 | www.kuka.com KST GlueTech 4.4 V4 | Issued: 21.10.2020

KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 3/80

7.1 Note on programming........................................................................................... 37

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1.1 Target group

This documentation is aimed at users with the following knowledge and

For optimal use of KUKA products, we recommend the training courses

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm

1.3 Representation of warnings and notes

KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 5/80

These warnings contain references to safety-relevant information or gen-

This warning draws attention to procedures which serve to prevent or rem-

Procedures marked with this warning must be followed exactly.

These notices serve to make your work easier or contain references to

1.4 Terms used

6/80 | www.kuka.com KST GlueTech 4.4 V4 | Issued: 21.10.2020

Further information about open-source licenses can be requested from

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8/80 | www.kuka.com KST GlueTech 4.4 V4 | Issued: 21.10.2020

2.1 Product description

KUKA.GlueTech is an add-on option package with the following fields of

KUKA must be consulted if another dispensing controller is to be used.

• Staggered control of up to 4 dispensing controllers

KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 9/80

2.2 Example of an adhesive bonding cell

Fig. 2-1: Example of an adhesive bonding cell

1 Dispensing controller 5 Pump controller

The robot controller communicates with the dispensing controller via a

2.4 Functional principle

KUKA.GlueTech can regulate the following parameters of the dispensing

10/80 | www.kuka.com KST GlueTech 4.4 V4 | Issued: 21.10.2020

2.5 Switching points and delay times

Fig. 2-3: Diagram: Delay times / offset

1 Material flow 5 Delay time

The following diagram shows a dispensing process with a straight seam.

KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 11/80

material flow stops after a delay.

2.6 Intended use and misuse

The KUKA.GlueTech option package is used for controlling dispensing

Any use or application deviating from the intended use is deemed to be

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4.1 System requirements

4.2 Installation via WorkVisual

4.2.1 Installing or updating KUKA.GlueTech 4.4

The option package is installed in WorkVisual and added to the project.

• User group “Expert”

1. Only for an update: Uninstall the previous version of the KUKA.Glue-

KST GlueTech 4.4 V4 | Issued: 21.10.2020 www.kuka.com | 15/80

2. Install the KUKA.GlueTech 4.4 option package in WorkVisual.

Information about procedures in WorkVisual is contained in the WorkVi-

A LOG file is created under C:\KRC\ROBOTER\LOG.

4.2.2 Uninstalling KUKA.GlueTech 4.4

The option package can be uninstalled via WorkVisual.

• User group “Expert”

1. Load the project from the robot controller.