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1 Comment You can choose between two kinds of comments: any desired text extended text KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 1

2 Comment : NORMAL After choosing NORMAL you can insert any desired text: Example: text box KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 2

3 Comment : STAMP After choosing STAMP you can insert the name and any desired text (time and date is automatically added): name text box Example: KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 3

4 Tool measuring What happens during the tool measuring? The tool get a Cartesian coordinate system by the user. The origin is defined by the user. Y Z X KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 4

5 Tool measuring Why do we need tool measuring? KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 5

6 Procedure of tool measuring 1.Step: Determination of the TCP in relation to the flange coordinate system TCP without tool measuring 2. Step: Fixing the Rotation of the tool coordinate system in relation to the flange coordinate system Z Flange X Flange Y Flange Y Tool Z Tool X Tool TCP with tool measuring KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 6

7 Methods of tool measuring 1. TCP measuring or XYZ-4 Point XYZ-Referenz 2. Orientation measuring or or ABC-World 5D ABC-World 6D ABC-2 Point KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 7

8 XYZ reference method By means XYZ reference method the data of the TOOL CENTER POINT is calculated by comparison with a already known tool. measured tool unknown tool Reference point Reference point The new TOOL CENTER POINT will be calculated by the diffrent flange and axis positions. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 8

9 Exempale of XYZ Refernce method Flange as Reference tool KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 9

10 XYZ 4 point method By means of XYZ 4 point method the TOOL CENTER POINT is jogged to a refernce position out of 4 diffrent direction. The TOOL CENTER POINT will be calculated by the diffrent position of the flange and the robot axes. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 10

11 4 point method Unknown tool P4 P1 Jog to reference point out of 4 diffrent directions. (P1 to P4) Advice : Choose the last orientation (P4), so that +X t has the same direction as -Z W P3 X T P2 Important: The different Orientations of the tool must differ a minimum amount. Reference point Z W Reduce the HOV (hand override) near to the reference point in order to avoid a collison. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 11

12 ABC 2 Point method 1. Step (Picture 1) TCP In the first step the TCP is jogged to the reference point. The TCP has to be measured before. Reference point KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 12

13 ABC 2 Point method 1. Step (Picture 2) The second point must be teached in the minus of the working direction. Reference point TCP X Tool KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 13

14 ABC World method 2. Step The third point has to be on the positiv side of the Y axis. Z Tool Reference point Y Tool TCP X Tool KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 14

15 ABC world 5D method Terms: X Tool parallel to Z World Using the method the working tool direction has to be parallel to the Z-Axis of WORLD coordinate system. The orientation of the other axes will be determinded by the controller. Z World Y Tool Z Tool X Tool X World Y World KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 15

16 ABC world 6D method Z World By using this method the tool has to be positioned ecactly in a way that all axes are according to the WORLD coordinate system Z Tool X Tool Y Tool Terms: X Tool parallel to Z world Y Tool parallel to Y World Z Tool parallel to X World X World Y World KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 16

17 Sense of the tool measuring Jogging Reorientation around the Tool Center Point (TCP) TCP Tool Center Point A B C Z T YT X T +Z WORLD +X WORLD +Y WORLD KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 17

18 Sense of tool measuring Jogging Straight jogging in Tool working direction +Z WORLD +X TOOL Tool working direction +Y WORLD +X WORLD KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 18

19 Tool payload To move the robot with maximum speed, it s necassery to set the correctly payload data Moved load 100 kg 10kg Maximum velocity / velocity Don t forgett the extended payload! KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 19

20 payload data M Weights of the payload. X, Y, Z Distance between the tool point of gravity and the orgin of the robot flange system Y Flange Z Flange X Flange A, B, C Rotation of the main inertia axes of the tool against the robot flange coordinate system. J X, J Y, J Z Mass inertia torque of the tool main inertia axes KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 20