库卡KUKASunrise编程与操作特点概览.pptx

creating a new robotic world_Sunrise an overview14.05.2014V.Schmirgel,S.BobertcontentSeparation of Programming and OperationOperating via smartPADBrief overviewPhilosophy of the composition Information and InteractionProgramming via LaptopKUKA Sunrise.WorkbenchAvailability of all informationUtilization of Java-TechnologyroboticsAPIDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.2|Separation of Programming and OperationDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.3|DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.4|Strict Separation of Programming and OperationThe Sunrise system consequently segregates programming and operation.KUKA SunriseControllerKUKA Sunrise WorkbenchKUKA smartPADCommissioningSoftware Setup/UpdateConfigurationDiagnosisApplication DevelopmentProgram administrationRobot programsDebugging (Single Step,Jump to Line,etc.)Online and OfflineOperationChoose operation modeManual control of robotProcess optimization (teach points,adopt parameters)Start,stop and pause programsMaintenanceView and switch IOsView error messagesDisplay variablesMasteringOperating via smartPADDESCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.5|DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.6|Brief Overview(1)KUKA smartPad,with its touch sensitive display,provides user friendly and intuitive operationA clear layout,big tiles and LEDs indicating system status simplify the use of the operating system.DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.7|Brief overview(2)1 Button for disconnecting the smartPAD(Currently without function)2 Key switch Calling connection manager and change operating mode.3EMERGENCY STOP device 4Space Mouse(Currently without function)5 Jog keys-move the robot manually.6 Key for setting the jog override7Main menu key8 User-defined status keys 9Start/pause key10 Start backwards key 11 STOP-key12 Keyboard key not necessaryDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.8|Illustration of the system structures on the HMIThe smart-HMI displays the new view on the system.One controller serves the whole stationOne station can be used for several different tasks/applicationsOne station consists of several robot systems and I/O devicesAim:Ability to handle multikinematics Task-oriented view:Focus on the application.DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.9|Information and InteractionThe smartPAD offers miscellaneous functionalitiesDisplay of current torques in the axesAutomatic identification of load dataAutomatic masteringWell arranged information concept by indicating system status through colored LEDs The navigation leads directly to the origins of the issue creating a problemProgramming via LaptopDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S10|DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.11|KUKA Sunrise.WorkbenchSpecial features of the Engineering Suite:State of the Art Editor that offers powerful and comfortable functionsSyntax HighlightingAuto CompletionIntegrated documentationCustomizationExpandability(Plug-In)by KUKA,customer or partnerProfessional DebuggingFast CommissioningProgrammers with experience in Visual Studio or Eclipse(Java standard)get along right away Feedback from CustomerDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.12|Accessibility of all informationSunrise.Workbench combines administration of all important data and files in one single toolProject administration of several robot projectsAccessing and editing the station configurationProgramming robot applicationsAdministration of run time data(points,tools,etc.)IO Configuration directly via WorkVisualSafety ConfigurationConfig.DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.13|Java-Technology for programming robot applicationsAdvantages of Java as an object oriented programming language:State of the art programming languageWidely spreadHuge developer communityCurriculum in schools and universitiesShorter development cyclesPlatform independentPowerful,due to modern and extensive librariesMultithreading offers one requirement for multikinematics capabilityDE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.14|roboticsAPIThe roboticsAPI is the KUKA-Library for programming robots in Java technology.Task centered programmingIncreases flexibilityDecreases complexityObject oriented design supports well structured applicationsSunrise unites motion and sensing in one controller and one line of codeEnables fast reaction to sensor informationSimplifies code as logic structures become unnecessarylbr_iiwa.move(ptp(P1).setMode(SoftImpedance).breakWhen(Force.Z 50)lbr_iiwa.move(ptp(P1).setMode(SoftImpedance).breakWhen(Force.Z 50)lbr_iiwa.move(ptp(P1).setMode(SoftImpedance).breakWhen(Force.Z 50)lbr_iiwa.move(ptp(P1)setMode(SoftImpedance).breakWhen(Force.Z 50)Device ActionFeature:Compliance Sensor accessDevice ActionFeature:Compliance Sensor accessDevice ActionFeature:Compliance Sensor accessDevice ActionFeature:Compliance Sensor accessDevice ActionFeature:Compliance Sensor accesslbr_iiwa.move(ptp(P1).setMode(SoftImpedance).breakWhen(Force.Z 50)DE|SCD-PL|Schmirgel,Bobert|14.05.2014Sunrise an overviewKUKA Laboratories GmbH|S.15|KUKA Sunrise the new controller technology for robotsKUKA Sunrise offersHigh-performance programming by the programming language Java,Intuitive operation for operators without any knowledge in programmingandpowerful programming support,quicker commissioning andfaster problem solving.From autumn 2014 available:Feature Teaching by Demonstration“