KUKA KCP2 00-130-547 Roboter Control Panel

The DMC-18x2 provides forward and reverse limit switches which inhibit motion in the respective direction. There is also a special label for automatic execution of a limit switch subroutine. The #LIMSWI label specifies the start of the limit switch subroutine. This label causes the statements following to be automatically executed if any limit switch is activated. The RE command ends the subroutine and resumes the main program where it left off. The state of the forward and reverse limit switches may also be interrogated or used in a conditional statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. X,Y,Z, or W following _LR or _LF specifies the axis. The CN command can be used to configure the polarity of the limit switches.

Overview 

The following discussion may help you get your system running if a problem is encountered. Potential problems have been divided into groups as follows: 1. Installation 

2. Communication 

3. Stability and Compensation 

4. Operation The various symptoms along with the cause and the remedy are described in the following tables.

The operation of such a system can be divided into three levels

 as illustrated in Fig. 10.2. The levels are: 1. Closing the Loop 2. Motion Profiling 3. Motion Programming The first level, the closing of the loop, assures that the motor follows the commanded position. This is done by closing the position loop using a sensor. The operation at the basic level of closing the loop involves the subjects of modeling analysis, and design. These subjects will be covered in the following discussions. The motion profiling is the generation of the desired position function. This function, R(t), describes where the motor should be at every sampling period. Note that the profiling and the closing of the loop are independent functions. The profiling function determines where the motor should be and the closing of the loop forces the motor to follow the commanded position

Common problem

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