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首页库卡机器人软浮动功能说明
库卡机器人软浮动功能说明
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更新于2023-03-16
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机器人软浮动功能主要应用于工件抓取和机器人机床上、下料步骤,软浮动功能在开启后,机器人可以受外力改变姿态。
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204 / 477 Issued: 24.01.2014 Version: KSS 8.3 SI V2
KUKA System Software 8.3
6.16 Torque mode
6.16.1 Overview of torque mode
Description The torque mode function consists of the sub-functionalities torque limita-
tion and deactivation of monitoring functions.
Torque limitation:
The torques, i.e. the motor current, can be limited for individual axes or multi-
ple axes. Torque limitation enables the following applications:
The axis can push or pull with a defined torque against a resistance.
Example:
application of a defined pressure on the workpiece by an electric motor-
driven spot welding gun.
The axis can be set to soft. It can then be moved by application of an ex-
ternal force. It can be pushed away, for example.
Examples:
The robot must grip a workpiece in a press that is then ejected by the
press. In order for the robot to be able to yield and absorb the ejector
stroke, the affected axis is set to soft.
The robot must set a workpiece down at a point from which it can be pulled
into exactly the right position by means of clamps. The robot must be com-
pliant for this.
Deactivation of monitoring functions:
The torque limitation generally results in a relatively large deviation between
the command position and the actual position. Certain monitoring functions
are triggered by this deviation, although this is undesirable with torque limita-
tion. These regular monitoring functions can thus be deactivated.
Restriction The following restriction must be taken into consideration if axes are to absorb
ejector motions:
A diagonal ejector motion cannot generally be absorbed by switching a single
axis to soft. Remedy:
In the case of slightly diagonal ejector motions, a possible remedy is to in-
stall the robot with a slight inclination.
Or contact KUKA Roboter GmbH.
6.16.1.1 Using torque mode
Torque mode is only possible in program mode, not in manual mode.
Inclined installation of the robot is only permissible up to a certain an-
gle of inclination. Further information is contained in the robot operat-
ing or assembly instructions.
205 / 477Issued: 24.01.2014 Version: KSS 8.3 SI V2
6 Configuration
Procedure 1. Set the torque limits for the desired axis and/or deactivate the regular mon-
itoring functions.
(>>> 6.16.2 "Activating torque mode: SET_TORQUE_LIMITS()"
Page 207)
If the regular monitoring functions are deactivated, other monitoring func-
tions specially adapted to torque mode are automatically activated.
(>>> "Monitoring functions" Page 206)
2. If the axis is to be set to soft: move the axis so that the torque limit be-
comes active. At the end of the motion, the brakes of this axis remain
open.
Alternatively, a motion to the current position can be executed. The robot
does not move, but the brakes are released.
3. Optionally: generate a signal indicating that the axis is stationary (e.g. sig-
nal to an injection molding machine).
4. Perform the desired action, e.g. move to workpiece and build up pressure
or push the axis away.
5. Optionally: wait for a signal to end torque mode.
6. Deactivate torque mode again.
(>>> 6.16.3 "Deactivating torque mode: RESET_TORQUE_LIMITS()"
Page 210)
The torque limits are canceled and the regular monitoring functions are re-
activated. Furthermore, the command position is adjusted to the actual po-
sition.
Activated/deacti-
vated
Torque mode is considered to be activated in the following case:
If the upper torque limit is less than or equal to the upper value of the
$TORQUE_AXIS_MAX interval.
(>>> 6.16.5.3 "$TORQUE_AXIS_MAX" Page 212)
And/or: If the lower torque limit is greater than or equal to the lower value
of the $TORQUE_AXIS_MAX interval.
And/or: If the regular monitoring functions are deactivated.
Torque mode is considered to be deactivated in the following case:
If no limits are set or if the limits are invalid. A limit is invalid if it is outside
the $TORQUE_AXIS_MAX interval.
By default, the robot controller is configured so that only
limits that exceed the holding torque of the axis
($HOLDING_TORQUE) can be set. It is nonetheless possible that the axis
with limited torque is no longer able to achieve the necessary torque for brak-
ing, holding or moving the axis. This can be the case, for example, if the de-
fault configuration of the robot controller has been changed or incorrect load
data are used.
Incorrectly set values can result in unexpected behavior of the robot control-
ler, e.g. motion in a different direction or with different acceleration.
For this reason:
Only ever limit the torque in small steps, gradually approaching the re-
quired limit.
Do not limit the torque further than necessary.
Failure to take this precaution into consideration may result in death, injuries
or damage to property.
If an application requires torque limits that no longer exceed the hold-
ing torque of the axis, KUKA Roboter GmbH must be contacted.
206 / 477 Issued: 24.01.2014 Version: KSS 8.3 SI V2
KUKA System Software 8.3
And: If the regular monitoring functions are deactivated.
Automatic deacti-
vation
Torque mode is automatically deactivated in the following cases:
End of program
Program reset
Program deselection
Block selection (but no deactivation if the target of the block selection is in
an interrupt program)
RESUME (but no deactivation if the RESUME statement returns to an in-
terrupt program)
Manual mode is activated. Planning is carried out from the current actual
position and motion is resumed with full torque.
Monitoring
functions
Torque mode generally results in a relatively large deviation between the com-
mand position and the actual position. Certain monitoring functions are trig-
gered by this deviation, although this is undesirable in torque mode. These
regular monitoring functions can thus be deactivated using
SET_TORQUE_LIMITS().
If the regular monitoring functions are deactivated, other monitoring functions
specially adapted to torque mode are automatically activated for the actual ve-
locity and following error. If required, user-defined values can be set for these
special monitoring functions using SET_TORQUE_LIMITS().
The following messages belong to the regular monitoring functions. They are
no longer displayed if the regular monitoring functions are deactivated.
It is also possible, however, to retain the regular monitoring functions in torque
mode. This may be useful, for example, if torque mode is used to avoid dam-
age in the case of collisions.
(>>> 6.16.6.2 "Robot program: avoiding damage in the event of collisions"
Page 214)
6.16.1.2 Robot program example: setting A1 to soft in both directions
Description This simple example illustrates the basic principle of torque mode.
In this example, A1 is to be set to soft in both directions. For this purpose,
both the positive and negative current limits are set to 0 Nm. This allows A1 to
be moved by application of an external force.
Program
Monitoring Message no. / message
Following error monitoring 26024: Ackn. Max. following error
exceeded ({Drive}).
Standstill monitoring 1100: Stopped {(Axis number)}
Positioning monitoring 1105: Positioning monitoring {(Axis num-
ber)}
Monitoring whether motor
blocked
26009: Motor blocked ({Drive}).
...
1 PTP {A1 10}
2 SET_TORQUE_LIMITS(1, {lower 0, upper 0, monitor #off})
3 PTP {A1 11}
...
4 RESET_TORQUE_LIMITS(1)
5 PTP {A1 -20}
...
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