KUKA Sunrise.OS 1.16: دستورالعمل‌های عملیاتی و برنامه‌نویسی برای یکپارچه‌سازان سیستم

KUKA Sunrise.OS 1.16 KUKA Sunrise.Workbench 1.16 1 Introduction 1.1 Target group 1.2 Industrial robot documentation 1.3 Representation of warnings and notes 1.4 Trademarks 1.5 Terms used 1.6 Licenses 2 Product description 2.1 Overview of the industrial robot 2.2 Overview of the software components 2.3 Overview of KUKA Sunrise.OS 2.4 Overview of KUKA Sunrise.Workbench 2.5 Intended use of the system software 3 Safety 3.1 General 3.1.1 Liability 3.1.2 EC declaration of conformity and declaration of incorporation 3.1.3 Terms in the “Safety” chapter 3.2 Personnel 3.3 Workspace, safety zone and danger zone 3.4 Triggers for safety-oriented stop reactions 3.5 Safety functions 3.5.1 Safety-oriented functions 3.5.1.1 EMERGENCY STOP device 3.5.1.2 Enabling device 3.5.1.3 “Operator safety” signal 3.5.1.4 External EMERGENCY STOP device 3.5.1.5 External safety stop 1 (path-maintaining) 3.5.1.6 External enabling device 3.5.1.7 External safe operational stop 3.5.2 Non-safety-oriented functions 3.5.2.1 Mode selection 3.5.2.2 Velocity monitoring in T1 3.5.2.3 Software limit switches 3.6 Additional protective equipment 3.6.1 Jog mode 3.6.2 Labeling on the industrial robot 3.6.3 External safeguards 3.7 Safety measures 3.7.1 General safety measures 3.7.2 IT security 3.7.3 Transportation 3.7.4 Start-up and recommissioning 3.7.5 Manual mode 3.7.6 Automatic mode 3.7.7 Maintenance and repair 3.7.8 Decommissioning, storage and disposal 3.7.9 Safety measures for “single point of control” 4 Installing KUKA Sunrise.Workbench 4.1 PC system requirements 4.2 Installing Sunrise.Workbench 4.3 Uninstalling Sunrise.Workbench 5 Operation of KUKA Sunrise.Workbench 5.1 Starting Sunrise.Workbench 5.2 Overview of the user interface of Sunrise.Workbench 5.2.1 Repositioning the views 5.2.2 Closing views and files 5.2.3 Displaying perspectives 5.2.4 Toolbar of the Programming perspective 5.3 Creating a Sunrise project with a template 5.4 Sunrise applications 5.4.1 Creating a new Java package 5.4.2 Creating a robot application with a package 5.4.3 Creating a robot application for an existing package 5.4.4 Creating a new background application 5.4.4.1 Creating a background application with a package 5.4.4.2 Creating a background application for an existing package 5.4.5 Setting the robot application as the default application 5.5 Workspace 5.5.1 Creating a new workspace 5.5.2 Switching to an existing workspace 5.5.3 Switching between the most recently opened workspaces 5.5.4 Archiving projects 5.5.5 Loading projects from archive to the workspace 5.5.6 Loading projects from the directory to the workspace 5.6 Sunrise projects with referenced Java projects 5.6.1 Creating a new Java project 5.6.1.1 Inserting robot-specific class libraries in a Java project 5.6.2 Referencing Java projects 5.6.3 Canceling the reference to Java projects 5.7 Renaming an element in the Package Explorer 5.7.1 Renaming a project or Java package 5.7.2 Renaming a Java file 5.8 Removing an element from Package Explorer 5.8.1 Deleting an element from a project 5.8.2 Removing a project from Package Explorer 5.8.3 Deleting a project from the workspace 5.9 Activating the automatic change recognition 5.10 Displaying release notes 6 Operating the KUKA smartPAD 6.1 KUKA smartPAD teach pendant 6.1.1 smartPAD 6.1.1.1 Front of smartPAD 6.1.1.2 Rear of smartPAD 6.1.2 smartPAD-2 6.1.2.1 Front of smartPAD-2 6.1.2.2 Rear of smartPAD-2 6.2 Disconnecting and connecting the smartPAD 6.2.1 Disconnecting the smartPAD 6.2.2 Connecting the smartPAD 6.3 Update of the smartPAD software 6.4 KUKA smartHMI user interface 6.4.1 Navigation bar 6.4.2 Status display 6.4.3 Keypad 6.4.4 Station level 6.4.5 Robot level 6.5 Calling the main menu 6.6 Setting the user interface language 6.7 User groups 6.7.1 Changing user group 6.8 CRR mode – controlled robot retraction 6.9 Changing the operating mode 6.10 Activating the user keys 6.11 Resuming the safety controller 6.12 Coordinate systems 6.13 “Override” window 6.14 “Jogging type” window 6.15 Jogging the robot 6.15.1 “Jogging options” window 6.15.2 Setting the jog override 6.15.3 Axis-specific jogging with the jog keys 6.15.4 Cartesian jogging with the jog keys 6.15.4.1 Null space motion 6.16 Manually guiding the robot 6.17 Frame management 6.17.1 “Frames” view 6.17.2 Creating a frame 6.17.3 Reteaching frames 6.17.4 Teaching a frame with the hand guiding device 6.17.5 Manually addressing frames 6.18 Program execution 6.18.1 Selecting a robot application 6.18.2 Setting the program run mode 6.18.2.1 Program run modes 6.18.3 Setting the manual override 6.18.4 Starting a robot application forwards (manually) 6.18.5 Starting a robot application forwards (automatically) 6.18.6 Resetting a robot application 6.18.7 Repositioning the robot after leaving the path 6.18.8 Starting/stopping a background application manually 6.18.8.1 Stopping a background application manually 6.18.8.2 Starting a background application manually 6.19 Display functions 6.19.1 Displaying the end frame of the motion currently being executed 6.19.2 Displaying the axis-specific actual position 6.19.3 Displaying the Cartesian actual position 6.19.4 Displaying axis-specific torques 6.19.5 Displaying an I/O group and changing the value of an output 6.19.6 Displaying information about the robot and robot controller 6.20 Backup Manager 6.20.1 “Backup Manager” view 6.20.2 Backing up data manually 6.20.3 Restoring data manually 6.20.4 Configuring the network path for restoration 7 Start-up and recommissioning 7.1 Switching the robot controller on/off 7.1.1 Switching on the robot controller 7.1.2 Switching the robot controller off 7.2 Performing a PDS firmware update 7.3 Position mastering 7.3.1 Performing mastering without a tool 7.3.2 Mastering with tool: Teach offset 7.3.3 Performing mastering with a tool 7.3.4 Checking mastering 7.3.5 Manually unmastering axes 7.4 Calibration 7.4.1 Tool calibration 7.4.1.1 TCP calibration: XYZ 4-point method 7.4.1.2 Defining the orientation: ABC 2-point method 7.4.1.3 Defining the orientation: ABC world method 7.4.2 Base calibration: 3-point method 7.5 Determining tool load data 8 Brake test 8.1 Overview of the brake test 8.2 Creating the brake test application from the template 8.2.1 Adapting the brake test application for testing against the minimum holding torque 8.2.2 Changing the motion sequence for torque value determination 8.2.3 Changing the starting position for the brake test 8.3 Programming interface for the brake test 8.3.1 Evaluating torques and determining the maximum absolute value 8.3.2 Requesting the evaluation result of the maximum absolute torques 8.3.3 Creating an object for the brake test 8.3.4 Starting execution of the brake test 8.3.5 Evaluating the brake test 8.3.5.1 Requesting the result of the brake test 8.4 Performing a brake test 8.4.1 Evaluation results of the maximum absolute torques (display) 8.4.2 Result of the brake test (display) 9 Project management 9.1 Overview of a Sunrise project 9.2 Frame management 9.2.1 Creating a frame for an application 9.2.2 Designating a frame as a base 9.2.3 Moving a frame 9.2.4 Deleting a frame 9.2.5 Displaying/editing frame properties 9.2.5.1 Frame properties – General tab 9.2.5.2 Frame properties – Transformation tab 9.2.5.3 Frame properties – Redundancy tab 9.2.5.4 Frame properties – Teach information tab 9.2.5.5 Frame properties – Measurement tab 9.2.6 Inserting a frame in a motion instruction 9.3 Object management 9.3.1 Geometric structure of tools 9.3.2 Geometric structure of workpieces 9.3.3 Creating a tool or workpiece 9.3.4 Entering load data 9.3.5 Displaying/editing object properties 9.3.5.1 Object properties – General tab 9.3.5.2 Object properties – Load data tab 9.3.6 Creating a frame for a tool or workpiece 9.3.7 Displaying/editing frame properties 9.3.7.1 Frame properties – General tab 9.3.7.2 Frame properties – Transformation tab 9.3.7.3 Frame properties – Measurement tab 9.3.7.4 Frame properties – Safety tab 9.3.8 Defining a default motion frame 9.3.9 Copying an object template 9.3.10 Configuring a safety-oriented tool 9.3.10.1 Tool properties – Load data tab 9.3.10.2 Frame properties – Transformation tab 9.3.10.3 Frame properties – Safety tab 9.3.10.4 Tool properties – Safety tab 9.3.11 Safety-oriented use of workpieces 9.3.11.1 Entering workpiece load data 9.3.11.2 Workpiece properties – Load data tab 9.3.11.3 Configuring the mass of the heaviest workpiece 9.4 User administration 9.4.1 Overview of Sunrise.RolesRights 9.4.2 Changing and activating the password 9.5 Project synchronization 9.5.1 Transferring a project to the robot controller 9.5.2 Updating the project 9.6 Loading the project from the robot controller 10 Station configuration and installation 10.1 Station configuration overview 10.2 Adapting the network settings 10.3 “Software” tab 10.3.1 Eliminating errors in the software catalog 10.4 “Configuration” tab 10.4.1 IP address range for KUKA Line Interface (KLI) 10.4.2 Handguiding Support 10.4.3 General safety settings 10.4.4 I/O handling: disable I/O access in EMERGENCY STOP 10.4.5 Show confirmation dialog on installation 10.4.6 Configuration parameters for calibration 10.4.7 Media flange 10.4.8 Configuration parameters for Backup Manager 10.5 “Installation” tab 10.5.1 Installing system software on the robot controller 10.6 Loading an old project and converting the safety configuration 10.7 Option packages 10.7.1 Installing the option package 10.7.2 Installing or updating the virus scanner 10.7.3 Installing a language package 10.7.4 Uninstalling the option package 10.7.4.1 Instructions for uninstallation of safety options 10.7.4.2 Removing an option package from the robot controller 11 Bus configuration 11.1 Overview: Configuration and I/O mapping in WorkVisual 11.2 Overview of field buses 11.3 Creating a new I/O configuration 11.4 Opening an existing I/O configuration 11.5 Creating Sunrise I/Os 11.5.1 “Create I/O signals” window 11.5.2 Creating an I/O group and inputs/outputs within the group 11.5.3 Editing an I/O group 11.5.4 Deleting an I/O group 11.5.5 Changing an input/output of a group 11.5.6 Deleting an input/output of a group 11.5.7 Exporting an I/O group as a template 11.5.8 Importing an I/O group from a template 11.6 Mapping the bus I/Os 11.6.1 I/O Mapping window 11.6.2 Buttons in the “I/O Mapping” window 11.6.3 Mapping Sunrise I/Os 11.7 Exporting the I/O configuration to the Sunrise project 12 External control 12.1 Overview of external controller 12.2 Configuring the external controller via the I/O system 12.3 Configuring the external controller via the UDP interface 12.4 External controller input signals 12.5 External controller output signals 12.6 Signal diagrams 12.7 Configuring the external controller in the project settings 12.7.1 Input/output parameters of the I/O interface 12.7.2 Input/output parameters of the UDP interface 12.8 Formatting of the UDP data packets 12.8.1 Status messages of the robot controller 12.8.2 Controller messages of the external client 12.9 External control via UDP – Start-up example 12.9.1 Starting up the external controller 12.9.2 Programming the external controller 12.10 Configuring the signal outputs for a project that is not externally controlled 12.10.1 Output parameters of the I/O interface 12.10.2 Output parameters of the UDP interface 13 Safety configuration 13.1 Safety concept 13.2 Safety-oriented reactions 13.2.1 Time response of safety-oriented outputs 13.3 Safety interfaces 13.4 Permanent Safety Monitoring 13.5 Event-driven Safety Monitoring 13.6 Atomic Monitoring Functions 13.6.1 Standard AMFs 13.6.2 Parameterizable AMFs 13.6.3 Extended AMFs 13.6.4 Availability of the AMFs depending on the kinematic system 13.7 Worst-case reaction times of the safety functions in the case of a single fault 13.7.1 Worst-case reaction times of the LBR iiwa monitoring functions 13.8 Deactivation of safety functions via an input 13.9 Safety configuration (SafetyConfiguration.sconf file) 13.9.1 Overview: Safety configuration and start-up 13.9.2 Opening the safety configuration 13.9.2.1 Evaluating the safety configuration 13.9.2.2 Overview of the graphical user interface for the safety configuration 13.9.3 Configuring the safety functions of the PSM mechanism 13.9.3.1 Opening the Customer PSM table 13.9.3.2 Creating safety functions for the PSM mechanism 13.9.3.3 Deleting safety functions of the PSM mechanism 13.9.3.4 Editing existing safety functions of the PSM mechanism 13.9.4 Configuring the safe states of the ESM mechanism 13.9.4.1 Creating a new ESM state 13.9.4.2 Creating a safety function for the ESM state 13.9.4.3 Editing an existing safety function of an ESM state 13.9.4.4 Deleting a safety function of an ESM state 13.9.4.5 Deleting an ESM state 13.9.4.6 Deactivating the ESM mechanism 13.9.4.7 Switching between ESM states 13.9.5 Mapping safety-oriented tools 13.10 Activating the safety configuration 13.10.1 Activating the safety configuration 13.10.2 Restoring the safety configuration 13.10.3 Deactivating the safety configuration 13.11 Using and parameterizing the AMFs 13.11.1 Evaluating the safety equipment on the KUKA smartPAD 13.11.2 Evaluating the operating mode 13.11.3 Evaluating the motion enable 13.11.4 Monitoring of safety-oriented inputs 13.11.5 Manual guidance with enabling device and velocity monitoring 13.11.5.1 Monitoring of enabling switches on hand guiding devices 13.11.5.2 Monitoring functions during manual guidance 13.11.5.3 Velocity monitoring during manual guidance 13.11.6 Evaluating the position referencing 13.11.7 Evaluation of axis torque referencing 13.11.8 Velocity monitoring functions 13.11.8.1 Defining axis-specific velocity monitoring 13.11.8.2 Defining Cartesian velocity monitoring 13.11.8.3 Direction-specific monitoring of Cartesian velocity 13.11.9 Monitoring spaces 13.11.9.1 Defining Cartesian workspaces 13.11.9.2 Defining Cartesian protected spaces 13.11.9.3 Defining axis-specific monitoring spaces 13.11.10 Monitoring the tool orientation 13.11.11 Standstill monitoring (safe operational stop) 13.11.12 Activation delay for safety function 13.11.13 Monitoring of forces and axis torques 13.11.13.1 Axis torque monitoring 13.11.13.2 Collision detection 13.11.13.3 TCP force monitoring 13.11.13.4 Direction-specific monitoring of the external force on the TCP 13.12 Example of a safety configuration 13.12.1 Task 13.12.2 Requirements 13.12.3 Suggested solution for the task 13.13 Position and axis torque referencing 13.13.1 Position referencing with internal mastering sensors in kinematic systems 13.13.2 Axis torque referencing 13.13.3 Creating a referencing application 13.13.4 External position referencing 13.13.4.1 Configuring the input for external position referencing 13.14 Safety acceptance overview 13.14.1 Basic properties of the safety configuration 13.14.2 Tool selection table 13.14.3 Safety-oriented tools 13.14.3.1 Pickup frame of fixed tools 13.14.3.2 Pickup frames of activatable tools 13.14.3.3 Tool orientation 13.14.3.4 Points and orientation for tool-related velocity component 13.14.3.5 Geometry data of the tool 13.14.3.6 Load data of the tool 13.14.4 Rows used in Customer PSM table 13.14.5 Rows used in the ESM states 13.14.5.1 Non-used ESM states 13.14.6 AMFs used in PSM tables and ESM states 13.14.6.1 AMF smartPAD Emergency Stop 13.14.6.2 AMF smartPAD enabling switch inactive 13.14.6.3 AMF smartPAD enabling switch panic active 13.14.6.4 AMF Hand guiding device enabling inactive 13.14.6.5 AMF Hand guiding device enabling active 13.14.6.6 AMF Test mode 13.14.6.7 AMF Automatic mode 13.14.6.8 AMF Reduced-velocity mode 13.14.6.9 AMF High-velocity mode 13.14.6.10 AMF Motion enable 13.14.6.11 AMF Input signal 13.14.6.12 Standstill monitoring of all axes AMF 13.14.6.13 Axis torque monitoring AMF 13.14.6.14 AMF Axis velocity monitoring 13.14.6.15 AMF Position referencing 13.14.6.16 AMF Torque referencing 13.14.6.17 Axis range monitoring AMF 13.14.6.18 Cartesian velocity monitoring AMF 13.14.6.19 AMF Cartesian workspace monitoring / Cartesian protected space monitoring 13.14.6.20 Collision detection AMF 13.14.6.21 TCP force monitoring AMF 13.14.6.22 Base-related TCP force component AMF 13.14.6.23 AMF Time delay 13.14.6.24 Tool orientation AMF 13.14.6.25 Tool-related velocity component AMF 13.14.7 General safety settings 13.14.7.1 smartPAD unplugging allowed 13.14.7.2 Allow muting via input 13.14.7.3 Allow external position referencing 13.14.7.4 Mass of the heaviest workpiece 13.14.8 Creating a safety configuration report 14 KUKA Sunrise.SafetyVisualization 14.1 Overview of KUKA Sunrise.SafetyVisualization 1.0 14.1.1 3D visualization 14.1.1.1 Visualizing the monitoring spaces 14.1.1.2 Filter settings 14.1.2 Color coding 14.1.3 Highlighting monitoring spaces 14.1.4 Orbiting, zooming, panning the 3D visualization 15 Basic principles of motion programming 15.1 Overview of motion types 15.2 PTP motion type 15.3 LIN motion type 15.4 CIRC motion type 15.5 SPL motion type 15.6 Spline motion type 15.6.1 Velocity profile for spline motions 15.6.2 Modifications to spline blocks 15.6.3 LIN-SPL-LIN transition 15.7 Manual guidance motion type 15.8 Approximate positioning 15.9 Orientation control with LIN, CIRC, SPL 15.9.1 Orientation control reference system for CIRC 15.9.2 Combination of reference system and orientation type for CIRC 15.10 Redundancy information 15.10.1 Redundancy angle 15.10.2 Status 15.10.3 Turn 15.11 Singularities 15.11.1 Kinematic singularities 15.11.2 System-dependent singularities 16 Programming 16.1 Java Editor 16.1.1 Opening a robot application in the Java Editor 16.1.2 Structure of a robot application 16.1.3 Edit functions 16.1.3.1 Renaming variables 16.1.3.2 Auto-complete 16.1.3.3 Templates – Fast entry of Java statements 16.1.3.4 Creating user-specific templates 16.1.3.5 Extracting methods 16.1.4 Displaying Javadoc information 16.1.4.1 Configuration of the Javadoc browser 16.2 Symbols and fonts 16.3 Data types 16.3.1 Declaration 16.3.2 Initialization 16.3.2.1 Primitive data types 16.3.2.2 Complex data types 16.3.3 Dependency injection 16.3.3.1 Dependency injection for Sunrise types 16.3.3.2 Dependency injection for dedicated types 16.4 Requesting individual values of a vector 16.5 Network communication via UDP and TCP/IP 16.6 Motion programming: PTP, LIN, CIRC 16.6.1 Synchronous and asynchronous motion execution 16.6.2 PTP 16.6.3 LIN 16.6.4 CIRC 16.6.5 LIN REL 16.6.6 MotionBatch 16.7 Motion programming: spline 16.7.1 Programming tips for spline motions 16.7.2 Creating a CP spline block 16.7.3 Creating a JP spline block 16.7.4 Using spline in a motion instruction 16.8 Overview of motion parameters (PTP, LIN, CIRC, SPL, Spline) 16.8.1 Programming axis-specific motion parameters 16.9 Programming manual guidance 16.9.1 Overview of motion parameters (manual guidance) 16.9.2 Axis limitation for manual guidance 16.9.3 Velocity limitation for manual guidance 16.10 Using tools and workpieces in the program 16.10.1 Integrating tools and workpieces 16.10.2 Attaching tools and workpieces to the robot 16.10.2.1 Attaching a tool to the robot flange 16.10.2.2 Attaching a workpiece to other objects 16.10.2.3 Detaching objects 16.10.3 Moving tools and workpieces 16.10.4 Integrating dedicated object classes with dependency injection 16.10.5 Transferring workpiece load data to the safety controller 16.11 Using inputs/outputs in the program 16.11.1 Integrating an I/O group 16.11.2 Reading inputs/outputs 16.11.3 Setting outputs 16.12 Requesting axis torques 16.13 Reading Cartesian forces and torques 16.13.1 Requesting external Cartesian forces and torques 16.13.2 Requesting forces and torques individually 16.13.3 Checking the reliability of the calculated values 16.14 Requesting the robot position 16.14.1 Requesting the axis-specific robot position 16.14.2 Requesting the Cartesian actual or setpoint position 16.14.3 Requesting the Cartesian setpoint/actual value difference 16.15 HOME position 16.15.1 Changing the HOME position 16.16 Requesting system states 16.16.1 Requesting the HOME position 16.16.2 Requesting the mastering state 16.16.3 Checking “ready for motion” 16.16.3.1 Reacting to changes in the “ready for motion” signal 16.16.4 Checking the robot activity 16.16.5 Requesting the state of safety signals 16.16.5.1 Requesting the referencing state 16.16.5.2 Reacting to a change in state of safety signals 16.17 Changing and requesting the program run mode 16.18 Changing and requesting the override 16.18.1 Reacting to an override change 16.19 Overview of conditions 16.19.1 Complex conditions 16.19.2 Axis torque condition 16.19.3 Force condition 16.19.3.1 Condition for Cartesian force from all directions 16.19.3.2 Condition for normal force 16.19.3.3 Condition for shear force 16.19.4 Force component condition 16.19.5 Condition for Cartesian torque 16.19.5.1 Condition for Cartesian torque from all directions 16.19.5.2 Condition for torque 16.19.5.3 Condition for tilting torque 16.19.6 Torque component condition 16.19.7 Path-related condition 16.19.8 Distance condition 16.19.8.1 Distance component condition 16.19.9 Condition for Boolean signals 16.19.10 Condition for the range of values of a signal 16.20 Break conditions for motion commands 16.20.1 Defining break conditions 16.20.2 Evaluating the break conditions 16.20.2.1 Requesting a break condition 16.20.2.2 Requesting the robot position at the time of termination 16.20.2.3 Requesting a terminated motion (spline block, MotionBatch) 16.21 Path-related switching actions (trigger) 16.21.1 Programming triggers 16.21.2 Programming a path-related switching action 16.21.3 Evaluating trigger information 16.22 Monitoring of processes 16.22.1 Listener for monitoring conditions 16.22.2 Creating a listener object to monitor the condition 16.22.3 Registering a listener for notification of change in state 16.22.4 Activating or deactivating the notification service for listeners 16.22.5 Programming example for monitoring 16.23 Blocking wait for condition 16.24 Recording and evaluating data 16.24.1 Creating an object for data recording 16.24.2 Specifying data to be recorded 16.24.3 Starting data recording 16.24.4 Ending data recording 16.24.5 Requesting states from the DataRecorder object 16.24.6 Example program for data recording 16.25 Defining user keys 16.25.1 Creating a user key bar 16.25.2 Adding user keys to the bar 16.25.3 Defining the function of a user key 16.25.4 Labeling and graphical assignment of the user key bar 16.25.4.1 Assigning a text element 16.25.4.2 Assigning an LED icon 16.25.5 Identifying safety-critical user keys 16.25.6 Publishing a user key bar 16.26 Message programming 16.26.1 Programming user messages 16.26.2 Programming user dialogs 16.27 Program execution control 16.27.1 Pausing an application 16.27.2 Terminating an application 16.27.3 Pausing motion execution 16.27.4 Canceling a motion command 16.27.5 FOR loop 16.27.6 WHILE loop 16.27.7 DO WHILE loop 16.27.8 IF ELSE branch 16.27.9 SWITCH branch 16.27.10 Examples of nested loops 16.28 Continuing a paused application in Automatic mode (recovery) 16.29 Error treatment 16.29.1 Handling of failed motion commands 16.29.2 Handling of failed synchronous motion commands 16.29.3 Handling of failed asynchronous motion commands 16.29.4 Unhandled exceptions 17 Background tasks 17.1 Using background tasks 17.2 Cyclic background task 17.3 Non-cyclic background task 17.4 Data exchange between tasks 17.4.1 Declaring task functions 17.4.2 Implementing task functions 17.4.3 Creating the providing task 17.4.4 Using task functions 18 KUKA Sunrise.EnhancedVelocityControl 18.1 Overview of KUKA Sunrise.EnhancedVelocityControl 1.0 18.1.1 “Brake” safety reaction 18.1.2 Cartesian velocity limitation via application 18.1.2.1 Setting and deactivating velocity limitation 18.1.2.2 Requesting information about velocity limitation functions 19 KUKA Sunrise.StatusController 19.1 Overview of KUKA Sunrise.StatusController 19.1.1 Predefined status groups 19.1.2 Creating status and status groups 19.1.3 Using the IStatusController interface 19.1.4 Setting and deleting the status via the status monitor 19.1.5 Implementing a status listener 20 Programming with a compliant robot 20.1 Sensors and control 20.2 Overview of controllers 20.3 Using controllers in robot applications 20.3.1 Creating a controller object 20.3.2 Defining controller parameters 20.3.3 Transferring the controller object as a motion parameter 20.4 Position controller 20.5 Cartesian impedance controller 20.5.1 Calculation of the forces on the basis of Hooke’s law 20.5.2 Parameterization of the Cartesian impedance controller 20.5.2.1 Representation of Cartesian degrees of freedom 20.5.2.2 Defining controller parameters for individual degrees of freedom 20.5.2.3 Controller parameters specific to the degrees of freedom 20.5.2.4 Controller parameters independent of the degrees of freedom 20.6 Cartesian impedance controller with overlaid force oscillation 20.6.1 Overlaying a simple force oscillation 20.6.2 Overlaying superposed force oscillations (Lissajous curves) 20.6.3 Parameterization of the impedance controller with overlaid force oscillation 20.6.3.1 Controller parameters specific to the degrees of freedom 20.6.3.2 Controller parameters independent of the degrees of freedom 20.7 Static methods for impedance controller with superposed force oscillation 20.7.1 Overlaying a constant force 20.7.2 Overlaying a simple force oscillation 20.7.3 Overlaying a Lissajous oscillation 20.7.4 Overlaying a spiral-shaped force oscillation 20.8 Axis-specific impedance controller 20.8.1 Parameterization of the axis-specific impedance controller 20.8.2 Methods of the axis-specific impedance controller 20.9 Holding the position under servo control 21 Diagnosis 21.1 Field bus diagnosis 21.1.1 Displaying general field bus errors 21.1.2 Displaying the error state of I/Os and I/O groups 21.2 Displaying a log 21.2.1 “Log” view 21.2.2 Filtering log entries 21.3 Displaying error messages 21.4 Displaying messages of the virus scanner 21.5 Collecting diagnostic information for error analysis at KUKA 21.5.1 Creating a diagnosis package with the smartHMI 21.5.2 Creating a diagnosis package with the smartPAD 21.5.3 Creating a diagnosis package with Sunrise.Workbench 21.5.4 Loading existing diagnosis packages from the robot controller 22 Remote debugging 22.1 Debugging session sequence 22.1.1 Remote debugging of tasks 22.1.2 Starting the debugging session 22.1.3 Ending the debugging session 22.2 Debugging tasks 22.2.1 Remote debugging of a robot application 22.2.2 Remote debugging of a background task 22.3 Fundamentals of remote debugging 22.3.1 Overview of user interface – “Debugging” perspective 22.3.2 Break points 22.3.2.1 Creating and deleting break points 22.3.2.2 Deactivating and activating break points 22.3.2.3 Editing the properties of the break points 22.3.2.4 Overview of the “Break points” view 22.3.2.5 Conditional break point 22.3.2.6 Suspend thread property 22.3.3 Command pointer 22.3.4 Overview of the “Debugging” view 22.3.5 Overview of the toolbar in the “Debugging” view 22.3.5.1 Continuing execution (Resume) 22.3.5.2 Jump into the method (Step in) 22.3.5.3 Executing a method completely (Step over) 22.3.5.4 Terminating the executed method (Step back) 22.3.5.5 Executing code sections again (Back to frame) 22.3.5.6 Defining the code section to be executed (Execution to line) 22.3.5.7 Debugging: pausing threads (Pause) 22.3.6 Variables view 22.3.6.1 Displaying and modifying variables 22.3.6.2 Advanced context help for variables 22.3.7 Monitoring processes 22.3.7.1 Adding new monitoring expressions 22.3.7.2 Deleting monitoring expressions 22.3.7.3 Evaluating monitoring expressions 22.3.8 Modifying source code 22.3.8.1 Impermissible modification of the source code 22.3.8.2 Permissible modification of the source code 23 Appendix 23.1 Compatibility and migration of projects 23.1.1 Modified task functions – adapting the programming 24 KUKA Service 24.1 Requesting support 24.2 KUKA Customer Support Index A B C D E F G H I J K L M N O P R S T U V W X