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S7-1500控制KUKA机器人.pdf

A KUKA industrial robot is to be fully programmed and operated using a SIMATIC S7-1500 controller. The KUKA.PLC mxAutomation block library in the TIA Portal is used; this provides all the function blocks required for this purpose. Additional programming of the robot controller is therefore not required.
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Legal information
S7-1500 / KUKA mxAutomation
Entry ID: 109482123, V1.2, 05/2018
2
Siemens AG
2018 All rights reserved
Legal information
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Table of Contents
S7-1500 / KUKA mxAutomation
Entry ID: 109482123, V1.2, 05/2018
3
Siemens AG
2018 All rights reserved
Table of Contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 5
1.1 Overview............................................................................................... 5
1.2 How it works ......................................................................................... 5
1.3 Aim of this Application Example ........................................................... 7
1.4 Components used ................................................................................ 7
2 Basics ................................................................................................................. 9
2.1 Configuration of an industrial robot ...................................................... 9
2.2 KUKA.PLC mxAutomation.................................................................. 10
2.2.1 Overview............................................................................................. 10
2.2.2 KUKA.PLC mxAutomation block library ............................................. 11
2.2.3 Interpreter on the KUKA robot controller ............................................ 11
2.3 Configuration of the block library ........................................................ 11
2.3.1 Block types ......................................................................................... 11
2.3.2 Block inputs and outputs .................................................................... 12
3 Creating a program .......................................................................................... 14
3.1 Hardware configuration ...................................................................... 14
3.1.1 Robot as PROFINET device .............................................................. 14
3.1.2 Installing the GSDML file of the robot ................................................ 14
3.1.3 Integrating a robot into the hardware configuration ........................... 16
3.1.4 Connecting the SIMATIC S7 and the robot ........................................ 18
3.1.5 Controlling several robots using a SIMATIC S7 ................................. 18
3.2 Importing a block library ..................................................................... 19
3.2.1 Unpacking a block library ................................................................... 19
3.2.2 Opening a block library ....................................................................... 19
3.2.3 Transferring blocks to the user program ............................................ 20
3.3 Basic program structure ..................................................................... 21
3.4 "SiemensKuka" block ......................................................................... 22
3.4.1 KRC_ReadAxisGroup ........................................................................ 23
3.4.2 KRC_WriteAxisGroup ......................................................................... 23
3.4.3 Function blocks for robot movements ................................................ 24
3.5 "KukaControl" function block .............................................................. 25
3.5.1 KRC_Initialize ..................................................................................... 27
3.5.2 KRC_ReadMXAStatus ....................................................................... 27
3.5.3 KRC_ReadKRCError .......................................................................... 28
3.5.4 KRC_Diag .......................................................................................... 29
3.5.5 KRC_ReadMXAError ......................................................................... 30
3.5.6 KRC_MessageReset .......................................................................... 31
3.5.7 KRC_AutomaticExternal..................................................................... 31
3.5.8 KRC_AutoStart ................................................................................... 32
3.5.9 KRC_SetOverride ............................................................................... 33
3.5.10 KRC_ReadActualPosition .................................................................. 34
3.5.11 KRC_ReadActualAxisPos .................................................................. 36
3.5.12 KRC_Jog ............................................................................................ 37
3.5.13 KRC_TouchUP ................................................................................... 38
3.6 "PickPlace" block ................................................................................ 39
3.6.1 KRC_Abort ......................................................................................... 41
3.6.2 KRC_Interrupt .................................................................................... 41
3.6.3 KRC_Continue ................................................................................... 41
3.6.4 mxA_ValuesToCOORDSYS .............................................................. 42
3.6.5 mxA_ValuesToAPO ........................................................................... 42
3.6.6 MC_MoveAxisAbsolute ...................................................................... 44
3.6.7 MC_MoveLinearAbsolute ................................................................... 46

Table of Contents
S7-1500 / KUKA mxAutomation
Entry ID: 109482123, V1.2, 05/2018
4
Siemens AG
2018 All rights reserved
3.7 "Circle" block ...................................................................................... 48
3.7.1 mxA_ValuesToE6POS ....................................................................... 50
3.7.2 MC_MoveDirectAbsolute.................................................................... 51
3.7.3 MC_MoveCircAbsolute ....................................................................... 52
3.8 Operation ............................................................................................ 55
3.8.1 Status bar and Override ..................................................................... 55
3.8.2 Control functions ................................................................................ 56
3.8.3 Jogging the robot ................................................................................ 57
3.8.4 Example Programs ............................................................................. 58
3.9 Error handling ..................................................................................... 59
3.9.1 HMI only shows rhombuses ............................................................... 59
3.9.2 No connection to the robot controller ................................................. 60
3.9.3 MxA interface is not initialized ............................................................ 60
3.9.4 The robot cannot be switched on ....................................................... 61
4 Additional function .......................................................................................... 62
4.1 Safety Integrated ................................................................................ 62
4.1.1 Components ....................................................................................... 62
4.1.2 Functionality ....................................................................................... 62
4.1.3 Control ................................................................................................ 62
4.2 Receive robot messages in plain text ................................................ 63
5 Appendix .......................................................................................................... 64
5.1 Advanced Example ............................................................................ 64
5.2 Service and support ........................................................................... 65
5.3 Contact partners ................................................................................. 66
5.3.1 KUKA Roboter GmbH ........................................................................ 66
5.3.2 KUKA Roboter GmbH Hotline ............................................................ 66
5.3.3 Sales and Marketing for KUKA.PLC mxAutomation .......................... 66
5.4 Links and Literature ............................................................................ 67
5.5 Change documentation ...................................................................... 68

1 Introduction
S7-1500 / KUKA mxAutomation
Entry ID: 109482123, V1.2, 05/2018
5
Siemens AG
2018 All rights reserved
1 Introduction
The use of industrial robots continues to grow. They are increasingly being used in
machines and plants. Their standardized mechanics are well-developed and highly
flexible in terms of their movement; as a result, robots are increasingly replacing
expensive specialist mechanics. This also enables production from the first
production batch without expensive modifications to machines and plants.
Unfortunately, plant controllers and robot controllers usually constitute two different
systems. Communication between the two controllers usually occurs solely on the
bit level and the movement programs of the robot are stored on the robot controller
and may only be called up by the plant controller. It is therefore difficult to trigger
flexible robot reactions to specific plant events.
Also, the plant controller and the robot are usually very different in terms of their
programming, which means that it is not possible for one person to control both
systems. Interface and coordination problems are therefore pre-programmed.
1.1 Overview
A complete integration of the actuation and the movement control of the robot into
the machine and plant controller should make the use of the industrial robot in a
production plant easier and more flexible.
The following requirements are imposed on the automation task:
• The robot should be fully programmable via the machine and plant controller
(PLC).
• The robot can be operated via the same HMI of the PLC/machine (Single Point
of Operation).
• Robot diagnostics should be fully possible via the PLC.
• It should be possible to integrate further functions such as Safety Integrated
and PROFIenergy and control them via the PLC.
1.2 How it works
A KUKA industrial robot is to be fully programmed and operated using a SIMATIC
S7-1500 controller. The KUKA.PLC mxAutomation block library in the TIA Portal is
used; this provides all the function blocks required for this purpose. Additional
programming of the robot controller is therefore not required.
Communication between the SIMATIC S7-1500 controller and the KUKA industrial
robot takes place via a PROFINET connection. All commands and status
information between the SIMATIC controller and the robot are exchanged via this
connection.
Note
With a SIMATIC S7-1500 controller, up to five KUKA industrial robots can be
simultaneously controlled in the TIA Portal using the KUKA.PLC mxAutomation
block library.
The Application Example presented here, however, is limited to the coupling of a
robot to a SIMATIC S7-1500.
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