KUKA robots are widely used in the fields of automation and industrial production. Their efficient operation and precise movements are favored by many companies. The following is a specific method for using KUKA robot program files.
In KUKA robots, program files are fundamental for operation. These files contain a set of instructions that guide the robot’s movements, actions, and interactions. To use them, first load the desired program file into the robot’s controller. Then, select the appropriate execution mode, such as manual or automatic. The robot will execute commands in sequence, allowing for precise control of tasks like welding, assembly, or material handling.
1 Create program modules
The program modules of KUKA robots should always be saved in the “Program” folder under the R1 folder. You can also create a new folder and store the program modules in the corresponding folder. The program module is marked with the letter “M”. Comments can be added to the program module to indicate a brief functional description of the program module.
① Main folder of the program ② Subfolders of other programs ③ Program module/module ④ Comments of program module Program module
Steps for creating a new program:
1) Select the folder in which you want to create the program in the navigator directory structure.
2) Click the New button.
3) Only in the expert user group: The window Select Template will open automatically, select the required template and confirm with the OK key.
4) Enter the program name and click OK to confirm.
Steps for creating a new folder:
1) Select the folder in which you want to create a new folder in the directory structure, such as the folder R1.
2) Click on the New button.
3) Give the folder a name and confirm with the OK button.
2 Properties of a program module
In the KUKA robot system, a module consists of two parts, the SRC file and the DAT file, which are only displayed for users in the “Expert” user group and above.
•SRC file Contains the program source code
•DAT file Contains fixed data and point coordinates
3 Select or open a program
In the KUKA robot, a program can be selected or opened, after which an editor and program are displayed instead of a navigator. Program selection or opening corresponds to different functions.
•Program selected
1) The statement pointer is displayed
2) The program can be started
3) The program can be edited to a limited extent. The selected program is particularly suitable for editing by the user group of the application personnel, e.g., multi-line KRL instructions are not allowed.
4) When deselecting, changes can be applied without answering the safety question. If impermissible changes are programmed, an error message is displayed.
- Program is open
1) The program cannot be started
2) The program can be edited. The opened program is especially suitable for editing by the expert user group
3) When closing, a security query pops up to apply or cancel the changes
Note: If a selected program is edited in the expert user group, the cursor must be moved from the edited line to any other line after the editing is completed. Only in this way can it be guaranteed
The edits can be saved when the program is deselected. You can switch back and forth between the program display and the navigator. If a program is selected or opened, you can still redisplay the navigator without having to deselect or close the program, and then return to the program again.
•When a program is selected, the steps to switch between this state and the navigator are as follows:
1) Switch from program to navigator: Select menu sequence Edit > Navigator2) Switch from navigator to program: Click Program
•When a program is open, the steps to switch between this state and the navigator are as follows:
1) Switch from program to navigator: Select menu sequence Edit > Navigator2) Switch from navigator to program: Click Editor
Note: You must stop the running or paused program before you can use the menu sequence and keys mentioned here
4 Editing program modules
In the KUKA robot system, program modules are similar to common file systems and can also be edited in the KUKA smartPAD navigator.
•Program module editing method: copy, delete, rename, backup
•Program copy operation steps:
①Select the folder where the file is located in the folder structure
②Select the file in the file list
③Click Edit>Copy button
④Enter a new name for the new module, and then click OK to confirm
•Program deletion operation steps:
①Select the folder where the file is located in the folder structure
②Select the file in the file list
③Click Edit>Delete button
④Click Yes to confirm the security inquiry, and the module will be deleted
•Program rename operation steps:
①Select the folder where the file is located in the folder structure
②Select the file in the file list
③Click Edit>Delete button
④Click Yes to confirm the security inquiry, and the module will be deleted
•Program backup operation steps:
①Select the folder where the file is located in the folder structure
②Select the file in the file list
③Click Edit>Backup button
④Regenerate a program module, rename the module, and confirm with OK
Note: In the user group expert and filter setting details, each module has two files mapped in the navigator. If true, these two files must be copied.