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库卡机器人多层多道-中文版.pdf
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更新于2023-03-03
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MultiLayer2 is programmed and tested on following software versions: KRC V5.2 and V5.4. UserTech and V2.2 and V2.3 The use of MultiLayer with other software versions is possible, but hasn’t been tested. Problem can be that the development has made changes in the basic software what can affect the Multilayer2 software.
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Software: MultiLayer KUKA Roboter GmbH
Application Support Center
Dok_MultiLayer2_en.doc 1/14
Software:
MultiLayer v2.0.0
Documentation
Version 1.0
September 2007
KUKA Roboter GmbH
ASC-KT-L
Software: MultiLayer KUKA Roboter GmbH
Application Support Center
Dok_MultiLayer2_en.doc 2/14
1 General note............................................................................................................. 3
2 Constituents / requirements of MultiLayer2 .............................................................. 3
2.1 Requirements for MultiLayer2 ........................................................................... 3
2.2 Installation of MultiLayer2.................................................................................. 3
2.2.1 New files of MultiLayer2 ............................................................................. 3
2.2.2 Changes in following files will have to be done .......................................... 3
2.2.3 Files which replaced existing files .............................................................. 3
2.2.4 Registration file .......................................................................................... 3
3 Necessary Settings .................................................................................................. 4
3.1 TCP Setting....................................................................................................... 4
4 New InLineForms (ILF)............................................................................................. 5
4.1 PathMemo InLineForums .................................................................................. 5
4.2 LayerControl InLineForms................................................................................. 5
4.2.1 LayerControl.Root ...................................................................................... 5
4.2.2 LayerControl.Layer..................................................................................... 5
4.2.3 LayerControl.OFF ...................................................................................... 6
4.2.4 LayerControl.POINT_CORR ...................................................................... 6
4.2.5 LayerControl.OFFSET ............................................................................... 6
4.3 TECH_INI InLineForms ..................................................................................... 7
5 MultiLayer Menu....................................................................................................... 8
5.1 Main MultiLayer Menu ....................................................................................... 8
5.2 PathMemorization Menu ................................................................................... 8
5.3 LayerControl Menu............................................................................................ 8
5.4 TECH_INI Menu................................................................................................ 8
6 New MultiLayer Template......................................................................................... 9
7 Programming MultiLayer welding-seams................................................................ 10
7.1 Example program 1 ......................................................................................... 11
7.2 Example program 2 (with ArcSense)............................................................... 13
8 Error messages ...................................................................................................... 14
Software: MultiLayer KUKA Roboter GmbH
Application Support Center
Dok_MultiLayer2_en.doc 3/14
1 General note
Be sure to read KUKA Safety documentation. …..
2 Constituents / requirements of MultiLayer2
2.1 Requirements for MultiLayer2
The software MultiLayer2 needs following KUKA Tec Packages:
KUKA.UserTech
MultiLayer2 is programmed and tested on following software versions:
KRC V5.2 and V5.4.
UserTech and V2.2 and V2.3
The use of MultiLayer with other software versions is possible, but hasn’t been tested.
Problem can be that the development has made changes in the basic software what can
affect the Multilayer2 software.
2.2 Installation of MultiLayer2
2.2.1 New files of MultiLayer2
Copy following files in the specified (new) folders:
\R1\TP\MultiLayer\
multilayer.src and multilayer.dat
\R1\TP\MultiLayer\
multilayer_errmsg.src and multilayer_errmsg.dat
\R1\TP\MultiLayer\
multilayer_user.src and multilayer_user.dat
C:\KRC\TP\MultiLayer\Template\
vorgabe_multilayer.src and vorgabe_multilayer.dat
C:\KRC\TP\MultiLayer\Template\
multilayer.kfd
2.2.2 Changes in following files will have to be done
\R1\System\
$config.dat
\R1\System\
sps.sub
C:\KRC\Roboter\INIT\
MenueKeyUser.ini
2.2.3 Files which replaced existing files
C:\KRC\Roboter\Drivers\
libodrv.o
2.2.4 Registration file
Double click ML.reg and the registry entries will automatically be installed.
For removing the registry entries use the MLRemove.reg.
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