In KUKA robot programming, the “OUT” instruction is crucial for controlling external devices. It’s used to turn off the output signal at a specific position in the program, often applied to operate peripheral equipment like grippers closing or welding tongs opening. For example, when a robot finishes a pick – and – place task, the “OUT” command can be used to actuate the gripper to release the object. This instruction may trigger a pre – advance stop, which affects the trajectory approximation in the control system. It’s a fundamental part of the input – output control in KUKA robot programming, enabling seamless interaction between the robot and its external environment.
The switching instructions of KUKA robots are used to control the digital output of the robot and set a one-time signal output. This instruction plays an important role in programming. By accurately controlling the output of the signal, efficient communication with external devices can be achieved. The switching functions of KUKA robots include OUT instructions, OUT PULSE instructions, and OUT CONT instructions.
- OUT instructions
The digital signal can be transmitted to the peripheral device through the OUT switching function. For this purpose, the output terminal number previously assigned to the interface is used.
The signal is set to static, that is, it exists until another value is assigned to the output terminal. The OUT switching function is implemented in the program through an online table. - Pulse switching
As with the simple switching function, the value at this output terminal also changes. However, in the case of a pulse, the signal is canceled again after the defined time has passed.
Programming also uses an online table, in which a certain time length is set for the pulse. - Effect of CONT on the switching function
(1) Without CONT
If the entry CONT is removed from the OUT online table, a pre-stop must be executed during the switching process, and then a precise pause is performed at the point before the switching instruction. The motion is continued after the output is assigned a value.
Example: In this program, there is an OUT instruction, which triggers a pre-stop, so the robot can perform trajectory approximation at point P2. However, at point P3, the pre-stop is triggered, so the trajectory approximation cannot be performed at point P3 and a precise pause is performed.
(2) With CONT
The effect of inserting the entry CONT is that the pre-stop pointer is not paused (pre-stop is not triggered). Therefore, before the switching instruction, the motion can perform trajectory approximation and a signal is issued during pre-entry.
Example: If there is CONT in the OUT program line, the pre-stop will not be triggered, so the trajectory approximation can be performed at both points P2 and P3. - Operation steps for programming a simple switching function
Position the cursor on the line where the logic instruction should be inserted.
Select the menu sequence “Command”, “Logic”, “OUT”, “OUT” or “PULSE” in sequence. Set the parameters in the online table.
Click “Command OK” to save the settings. - Application and precautions
OUT instructions are often used in scenarios where precise control of start and stop signals is required, such as controlling the start and stop of a conveyor belt. In addition, OUT instructions are also required in operations such as machine startup, sensor calibration, and emergency stop. In complex automation tasks, OUT instructions are often used in combination with other logic instructions and motion instructions. For example, the OUT instruction is executed after the condition is judged by the IF instruction, or the OUT instruction is used in conjunction with the SYNCHRONOUS motion instruction to achieve precise control.
Things to note during use:
Make sure that the corresponding hardware ports and parameters are correctly configured when using the OUT instruction to prevent damage to the device due to misoperation.
The output status of the OUT instruction needs to be reset or updated in a timely manner to prevent unexpected device operation.
In summary, the OUT instruction plays an important role in KUKA robot programming. By making reasonable use of the OUT instruction, diversified control logic and efficient device communication can be achieved. Understanding and flexibly using the OUT instruction and its related instructions are of great significance to improving the writing efficiency and operating stability of robot programs.