KUKA UserProgramming

SOFTWARE
KR C...
User Programming
KUKA System Software (KSS)

Release 4.1
Issued: 14 Jul 2003 Version: 03

ProgAnwenderR4.1 08.01.03 en
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e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf
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Contents
1 Program editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.1 New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 Selecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.3 Open (Edit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.4 Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.4.1 Current program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.4.2 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.5 Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.6 Saving programs to floppy disk (Archive) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.7 Duplicate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2.8 Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Editing a selected program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.1 Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.2 Find . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.3 Cancel program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3.4 Reset program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 Working with the program editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.1 Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.2 Find . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.3 Close editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2 Program commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Last command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2 Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2.1 Point--to--point motions (PTP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2.2 Linear motions (LIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2.3 Circular motions (CIRC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.3 Motion parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.4.1 Wait functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.4.1.1 Time--dependent wait function (WAIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.4.1.2 Signal--dependent wait function (WAIT FOR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.4.2 Switching functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.4.2.1 Simple switching function (OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.4.2.2 Simple pulse function (PULSE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4.2.3 Path--dependent switching function (SYN OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.4.2.4 Path--dependent pulse function (SYN PULSE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.4.3 Coupling and decoupling the INTERBUS segment (IBUS--Seg on/off) . . . . . . . . . . . . . . . . . 51
2.5 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.5.1 Static . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.5.2 Dynamic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.6 Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
2.6.1 Normal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
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2.6.2 Stamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.6.3 ...changing comment lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
2.6.4 ...Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
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1 Program editing
1 Program editing
1.1 General
Before creating a robot program for the first time, you should familiarize yourself with the
KUKA file manager “Navigator”.
If you wish to create a new program, you must first create a so--called “skeleton program”.
If, on the other hand, you wish to modify an existing program, you simply need to select it
or load it in the editor.
More detailed information on using the file manager may be found in the documentation
[Operator Control], chapter [Navigator].
1.2 Programs
More detailed information about programs can be found in the documentation [Operator
Control], chapter [Navigator], section [“File” menu].
Block functions (e.g. Copy) are also available at expert level. More detailed information can
be found in the Programming Handbook in the documentation [Expert Programming].
1.2.1 New
With the Navigator active, press the softkey “New”.
If a program has been selected or there is a program in the editor, you must first toggle to
the file selection window, otherwise no new program can be created.
Enter the desired program name (max. 24 characters) and the corresponding comment in
the input line.
Program name Comment
Where possible, create user programs in the directory “R1\Program” in order to ensure that
they are automatically saved via the menu item “File” --> “Archive” --> “Applications”.
1.2.2 Selecting
The softkey “Select” is available for the purposes of program execution.
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In this way the program can also to be tested at the same time as being created.
The desired program is displayed in the program window. The assignment of the menu key,
softkey and status key bars changes at the same time, in order to make functions available
which are necessary for programming the robot.
1.2.3 Open (Edit)

If you wish to make modifications to an existing program, you can either select the program
or load it into the editor. While you are editing one program in the editor, another (selected)
program can simultaneously be executed.
The command “Open” is provided in the softkey bar for loading files into the editor.
The desired program is displayed in the program window. The assignment of the menu key,
softkey and status key bars changes at the same time, in order to make functions available
which are necessary for programming the robot.
If a program has already been selected, the option “Open” is no longer available in the
softkey bar.
Instead, use the menu command “File” --> “Open” --> “File/Folder”.
The following options are available for processing two programs simultaneously:
Select program then edit another

Select the desired program, toggle back to the Navigator and load the next program into the
editor via the menu “File” --> “Open”.
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1 Program editing (continued)
A selected program cannot be edited at the same time.
Load program into the editor then select another program

Load the desired program into the editor, toggle to the Navigator and select the next program
for editing using the softkey “Select”.
A program in the editor cannot be selected.
1.2.4 Print
If you have connected a printer to your control computer or network, you can print out
program listings or the logbook. This is done using the command “File” --> “Print”.
The print function is only available if a printer has been configured in the operating system.
More detailed information on this can be found in the “Windows” online help file.
1.2.4.1 Current program

If you wish to print a selected program, you can, if you so desire, include the Folds. It is not
necessary to open the Folds first. The relevant request for confirmation is made in the
message window:
Do you want to print with opened Folds?
The printout contains opened Folds

The Folds are not printed
The action is cancelled; nothing is sent to the printer
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Here is an example of a file without Folds:
File name KRC:\R1\TEST02.SRC
1 INI
2 PTP HOME Vel= 100 % DEFAULT
3 PTP P1 Vel= 100 % PDAT1 Tool[1] Base[0]
4 WAIT FOR IN 1 ’Enable’ State= TRUE
5 PTP P2 Vel= 100 % PDAT2 Too[1] Base[0]
6 WAIT FOR IN 2 ’Periphery’ State= TRUE
9
10 PTP HOME Vel= 100 % DEFAULT
1.2.4.2 Logbook
This function sends the logbook file, which can be viewed via the menu “Display” -->
“Diagnosis” --> “Logbook” --> “Display”, to the printer.
#1
-------------------------------------------------------------------
10:36:08’056 28.03.2000 Nr.:0: New command: SN 63: WAIT FOR IN 2
’Periphery’ State= TRUE
Source: TP_KUKA
#2
-------------------------------------------------------------------
10:35:35’596 28.03.2000 Nr.:0: New command: SN 51: WAIT FOR IN 1
’Enable’ State= TRUE
Source: TP_KUKA
#3
-------------------------------------------------------------------
10:35:20’386 28.03.2000 Nr.:0: Change IO name: Input, 2, Input->
Enable
Source: ProjLangText
.
.
Detailed information on the logbook can be found in the Operating Handbook, in the
documentation [Monitor], chapter [Diagnosis], section [Log book].
1.2.5 Saving changes

You can deselect a selected program by using the menu command “Program” --> “Cancel
program”. A program in the editor can be closed using the command “Program” --> “Close”.
Alternatively, you can press the softkey “Close”. The changes are automatically saved, after
a request for confirmation where relevant.
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The softkey “deselect” is only available in the softkey bar if no program window is open.
1.2.6 Saving programs to floppy disk (Archive)

This function allows you to save important data to floppy disk. All files are saved in
compressed form as Zip files.
Compressed data require much less storage space than the original data, but must be
decompressed before they can be read. This is carried out automatically in this case. With
Navigator, the user can see what is stored in the archives.
*1
*1 Not available below the user group “Expert”
A request for confirmation is generated which must be answered before the saving process
is carried out.
Completion of the operation is indicated in the message window:
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Information about saved files can be found in the documentation [Operator Control],
chapter [Navigator], section [“File” menu].
1.2.7 Duplicate
The option “Duplicate” creates a copy of a program.
Program name Comment
1.2.8 Delete
If you want to delete a program, it must not be currently selected or being edited. You might
first have to deselect the program or close the editor. The program is permanently deleted
after a request for confirmation.
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1.3 Editing a selected program

1.3.1 Delete
Use the arrow keys to move the edit cursor to the line you want to delete.
Edit cursor
Press the menu key “Program” and select the command “Delete” from the menu that is
opened.
Read the message displayed in the message window.
Press the softkey “Yes” if you are sure that you want to delete the selected line. Pressing this
softkey removes the line from the program.
Pressing the softkey “No” or “Cancel” cancels the action.
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1.3.2 Find
Here you can search through the program for a character string of your choice.
Press the menu key “Program” and select the option “Find...” from the menu that is opened.
Alternatively, you can use the keyboard shortcut “CTRL” + “F”.

This function searches through the program for a character string entered by the user. Once
the command has been selected, the search form is displayed in the program window:
This function searches through the program for a character string entered by the user. The
search is started by pressing the softkey “Find” or the Enter key and commences at the
position where the edit cursor is located.
If the search program finds the character string entered, the corresponding line is selected.
The character string entered remains displayed in the search form as a suggestion. You can
now search further through the program by pressing the softkey “Find” or the Enter key, or
search for a new string.
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If the term being searched for is not found, a corresponding text is displayed in the message
window:
Only the visible area of the program is searched.
The expert must switch the option “Detail view ” on if hidden Folds are also to be included
in the search.
Alternatively, you can terminate the search function by pressing the softkey “Cancel” or the
Escape key. The edit cursor is then located in the line in which the last character string was
found.
If the search function is called again, the last string to be entered is shown in the form as
a suggestion.
1.3.3 Cancel program

This command saves the changes made to the program and closes the program window.
Press the menu key “Program” and select the option “Cancel program” from the menu that
is opened.
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1.3.4 Reset program

With the menu function “Program” --> “Reset program”, a program that has been stopped
or interrupted can be returned to the initial state it had when selected.
The yellow block pointer then jumps to the first line of the indicated program. The selected
program can subsequently be restarted.
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1.4 Working with the program editor

1.4.1 Delete
Use the arrow keys to move the edit cursor to the line you want to delete.
Edit cursor
Press the menu key “Program” and select the option “Delete” from the menu that is opened.
Press the softkey “Yes” if you are sure that you want to delete the selected line. Pressing this
softkey removes the line from the program.
Pressing the softkey “No” or “Cancel” cancels the action.
1.4.2 Find
Here you can search through the program for a character string of your choice.
Press the menu key “Program” and select the option “Find...” from the menu that is opened.
Alternatively, you can use the keyboard shortcut “CTRL” + “F”.

This function searches through the program for a character string entered by the user. Once
the command has been selected, the search form is displayed in the program window:
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This function searches through the program for a character string entered by the user. The
search is started by pressing the softkey “Find” or the Enter key and commences at the
position where the edit cursor is located.
If the search program finds the character string entered, the corresponding line is selected.
The character string entered remains displayed in the search form as a suggestion. You can
now search further through the program by pressing the softkey “Find” or the Enter key, or
search for a new string.
If the term being searched for is not found, a corresponding text is displayed in the message
window:
Only the visible area of the program is searched.
The expert must switch the option “Detail view ” on if hidden Folds are also to be included
in the search.
Alternatively, you can terminate the search function by pressing the softkey “Cancel” or the
Escape key. The edit cursor is then located in the line in which the last character string was
found.
If the search function is called again, the last string to be entered is shown in the form as
a suggestion.
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1.4.3 Close editor

This command saves on the hard drive the changes made in the editor and loads them into
the real--time system. The program window is then closed.
Press the menu key “Program” and select the option “Close” from the menu that is opened.
The menu command “Close” is also available in the softkey bar if the editor is displayed
in the program window.
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2 Program commands
2 Program commands
This chapter is intended to provide an overview of the fundamentals of the PLC instructions
available, as well as their functions and the procedure for programming.
Within a program, you can add so--called PLC instructions, for example, to a motion
command. These instructions are then executed depending on the PLC trigger.
Further information about the trigger can be found in the Programming Handbook.
The meaning of the symbols, icons and particular font conventions is explained in the
chapter [About this documentation].
This chapter describes the functions provided in the KCP menu “Commands”.
Overview
Last command Instruction for entering the last command executed

Motion Enables the programming of PTP, LIN and CIRC motions
Moveparams Programming of torque monitoring
Programming of logic commands and wait times,
Logic path--dependent switching and pulse functions, setting
or polling inputs and outputs
Analog output Setting of analog outputs under program control
Comment Used to insert comments in programs
KRL assistant Syntax--supported KRL programming of special functions
The “Commands” menu is only available if a program has been selected or loaded in the
editor.
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2.1 Last command
This instruction allows you to enter the last command executed, with suggested values
already entered in the input boxes.
Use the menu key “Commands” to open the menu and there select the menu item “Last
command”.
If the “GRIPPER Tech” option has been selected from the “Configure -- Status keys” menu,
the softkey “Last Cmd”, which has the same function, is available in the softkey bar.
This softkey is not available if “Configure -- Status keys -- ARC Tech 10” or “ARC Tech 20”
has been selected.
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2 Program commands (continued)
2.2 Motion
To move a robot tool to a point under program control, a corresponding motion instruction
must be programmed. This instruction contains the type of motion and the velocity, the defini-
tion of the end point -- for circular paths also a midpoint -- and other settings depending on
the type of motion.
All the motion instructions, their significance and their intended application are described in
the following sections.
Types of motion
The following types of motion are available for programming movements:
Standard motions
The tool is moved as quickly as possible along a curved path in

PTP (point--to--point)
space to a end point
LIN (linear) The tool is guided at a defined velocity along a straight line
CIRC (circular) Motion of the tool at a defined velocity along a circular path
In sequences of motion instructions, there are two alternatives for selecting how movements
between individual points are executed:
Motion between the individual points
Exact positioning The motion stops exactly at the programmed point.

Approximate A smooth transition can be made from one motion to the next
positioning (Cont) without exact positioning at the end point.
Please note:
If one or more of the robot axes hits its end stop without being braked and at more
than 20 cm/s (manual velocity set by the manufacturer), the buffer concerned must
be replaced immediately.
If this happens to axis 1 of a wall--mounted robot, its rotating column must be
replaced.
Programming
To program a motion command, you must select a program or load it in the editor. More
detailed information on creating and altering programs can be found in the chapter
[Program editing].
Please note the position of the edit

cursor. The next line you add to the
program will be inserted as a new line
after the cursor.
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Open the menu using the menu key “Commands”. From this menu select “Motion”. The
following submenu is displayed:
You can now make your selection from the motion instructions (PTP, LIN or CIRC) offered.
Infinitely rotating axes

All the robot axes (A1 ... A6) are defined by the manufacturer as finitely rotating axes
(i.e. with software limit switches). For certain applications, however, axes A4 and A6 can
be configured as infinitely rotating axes. The corresponding settings are made in the file
“$MACHINE.DAT”.
A4 and A6 also definable as infinitely

rotating axes [$MACHINE.DAT]
All other axes are

finitely rotating axes.
If the machine data have been altered to define the axes A4 and/or A6 as infinitely rotating
axes, please bear in mind that each rotation is executed along the shortest path.
This can cause problems if a tool with supply lines (for example, a welding gun) is
installed on the robot.
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In the following example, two motion instructions (P1 -- P2 and P2 -- P3) are programmed
and the coordinates saved. Please refer to the following sketch.
The first motion instruction in this Tool P3 (220_)

example causes axis A6 to turn
120_ from P1 (0_) to P2. The sec-
ond motion command rotates A6 a P1 (0_) P1 (0_)
further 100_ from P2 (120_) to P3
(220_).
Robot flange P2 (120_)
With the third motion command is actual:

intended to move the tool 200_ in P3 (220_) 160_
P3 (220_)
the opposite direction from P2 to
P3, i.e. to the position 20_ from the
starting position P1. P1 (0_)
When the program is executed,
however, axis A6 will turn along the
P4 (380_)
shorter path from P3 (220_) to P4 P3 (120_)
(380_), covering just 160_. (desired: 200_)
This will inevitably result in any

supply lines from the robot to
the tool being “wound” round
the wrist.
It is therefore necessary for the

second (return) motion to be split
up into two motion instructions. P3 (220_)
In this example, two motions
(P3--P4 and P4--P5) have been
programmed, each with an angle 100_ P5 (20_)
of rotation of 100_. This ensures
that the tool moves to the end point
in the correct direction when the 100_
P4 (120_)
progam is executed.
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2.2.1 Point--to--point motions (PTP)

Here, the robot system is positioned using the quickest route between two points. Since the
motion starts and ends in all of the axes at the same time, the axes have to be synchronized.
The path taken by the robot cannot, therefore, be predicted exactly.
When this instruction is used, motion is executed on a path defined by the robot. In
order to take into account dynamic effects and avoid collisions, the path should
initially be executed at reduced program override (POV).
Point names may not begin with “POINT” as this is a keyword.
PTP motions with exact positioning
In the case of PTP motions with exact positioning, the robot stops exactly at each end point.
Possible Possible
PTP path PTP path
P2
Exact positioning
P3
P1
Exact positioning
PTP motions with approximate positioning
During approximate positioning, the controller monitors a so--called approximate positioning

range around the end point. This, in our example, is the point P2. When the TCP enters this
area, the robot motion immediately proceeds towards the end point of the next motion
command.
Approximate
positioning range P2
P3
P1
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Programming a PTP motion

After the option “PTP” is selected from the menu “Motion”, the inline form for entering the
values required for executing this instruction is opened in the program window.
Box name Function Range of values

PTP Type of motion PTP, LIN, CIRC
P1 Point name Max. 23 characters
Tool Tool number Nullframe, Tool_Data[1]...[16]
Nullframe, Base_Data[1]...[16],
Base Workpiece number
EX_AX_DATA[1]...[6]
external
Robot guides tool/workpiece True, False
TCP
CONT Approximate positioning ON “ ”, Cont
1 to 100% of the maximum value
Vel=100% Velocity
(default: 100%)
PDAT1 Motion parameters
Acceleration Acceleration 0 ... 100
Approximation Approximate positioning
0 ... 100
Distance *1 range
*1 Only available if “CONT” has been switched on
The assignment of the softkey bar changes at the same time, as follows:
It is possible to abort programming of the PTP motion at any time by pressing the softkey
“Cmd Abort” or the ESC key. The command will not be saved in this case.
If the program window is in focus, the various input windows can be selected using the “¯”
and “” arrow keys. The window that is currently selected is highlighted by a color back-
ground.
The program window can be activated by repeatedly pressing the “Window selection” key
until the entire window is highlighted in color.
Move the cursor to the left--hand input box. The status key (at the bottom right of the display)
changes its assignment.
Using this status key, you can choose between the different types of motion again.
The type of motion can also be set using the softkey “LIN/CIRC”.
Move the cursor to the next input box on the right, here “P1”.
A parameter list is opened for entering data relating to the workpiece and tool. Activate this
parameter list using the “Window selection” key.
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User Programming
Tool
Select here from the 16 available tools.
Base
Select here one of the 16 saved workpiece coordinate sys-
tems (BASE).
external TCP
Tell the controller here whether the robot is guiding the tool
or the workpiece:
Robot guiding tool: external TCP = False
Robot guiding workpiece: external TCP = True
Now activate the program window again using the “Window selection” key.
If the softkey “Suggest” is pressed, the program finds the lowest standard point name
available in the local data list and enters this name in the open inline form, i.e. if points P1
and P3 are occupied, P2 will be suggested.
Then move the robot to the end point you wish to program. There press the softkey “Touch
Up”. Read the messages displayed in the message window.
The softkey “Touch Up” allows you, at any moment, to save the current robot coordinates
for the program line in which the edit cursor is positioned. You thus have the possibility, for
example, to program a sequence of motion instructions and then define the exact end point
coordinates later.
The coordinates of the programmed point are saved in the data list.
Move the cursor to the next input box on the right. The status key (at the bottom right of the
display) changes its assignment.
The approximate positioning function can be switched on or off using this status key.
Inline form Press the status key on Using the status key, Press the
“Exact the bottom right--hand side. choose between “Exact Enter key
positioning”. The menu is opened positioning” and “Approxi- and the menu
in the inline form. mate positioning” (CONT). is closed.
Move the cursor to the box “Vel=”.
Here you can specify what percentage of the maximum possible velocity the robot should
use later when executing the motion. You can either enter the value using the keyboard or
alter it using the status key to the right of the display.
Move the cursor to the next input box on the right, here “PDAT2”.
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A parameter list is opened, in which data must be entered characterizing the motion in greater
detail. Activate this status window using the “Window selection” key. You can either enter the
values in the input boxes using the keyboard or alter them using the status key to the right
of the display.
Acceleration
Here you can reduce the acceleration to be used in the
motion.
Depending on the length of the path, the degree of
acceleration and the approximation distance, it is
possible that the programmed velocity will not be
reached.
This is liable to happen when the wrist axes would have
to turn at an infinitely high speed when passing through
the extended position and would thus exceed the
maximum permissible values.
Therefore please be sure to use practically feasible
values.
Approximation Distance
Here you can reduce the approximate positioning range
to be used in the motion.
Now press the softkey “Cmd Ok” or the Enter key. The motion function is now fully
programmed and saved.
If the position of the end point has not yet been taught (Touch Up), the current position of
the robot is automatically saved.
You can use the softkey “Comment” at any time to insert a comment line into your program,
irrespective of the input box that is currently in focus.
Detailed information on comments in robot programs can be found in the section

[Comment].
You can use the softkey “Logic” at any time to insert a so--called logic command into your
program, irrespective of the input box that is currently in focus.
Detailed information on logic commands can be found in the section [Logic].
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User Programming
2.2.2 Linear motions (LIN)

With a linear motion, the robot axes are coordinated in such a way that the TCP or workpiece
reference point is moved along a straight line to the end point.
Linear motions are used if the robot has to follow an exact path to a point at a defined velocity.
Only the reference point follows the programmed path. The actual tool or workpiece is able
to change its orientation during the motion.
LIN motions with exact positioning
In the case of LIN motions with exact positioning, the robot stops exactly at each end point.
Exact positioning
P2
P3
P1
Exact positioning
LIN motions with approximate positioning

range around the end point. This, in our example, is the point P2. When the TCP enters this
area, the robot motion immediately proceeds towards the end point of the next motion
command.
Approximate
positioning range P2
P3
P1
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Programming a LIN motion

After the option “LIN” is selected from the menu “Motion”, the inline form for entering the

LIN Type of motion PTP, LIN, CIRC
Base Workpiece number Nullframe, Base_Data[1]...[16]
external
TCP
Vel=2m/s Velocity 0.001 ... 2 m/s (Default 2 m/s)
CPDAT1 Motion parameters
0 ... 300
Distance *1 range
It is possible to abort programming of the LIN motion at any time by pressing the softkey
ground.
The type of motion can also be set using the softkey “CIRC/PTP”.
If the softkey “Suggest” is pressed, the program finds the lowest standard point name avail-
able in the local data list and enters this name in the open inline form, i.e. if points P1 and
P3 are occupied, P2 will be suggested.
A status window is opened for entering data relating to the workpiece and tool. Activate this
status window using the “Window selection” key.
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User Programming
Tool
Base
tems (BASE).
external TCP
or the workpiece:
coordinates later.
Here you can specify the velocity at which the robot should execute the motion. You can
either enter the value using the keyboard or alter it using the status key to the right of the
display.
Depending on the length of the path, the degree of acceleration and the approximation di-
stance, it is possible that the programmed velocity will not be reached.
Move the cursor to the next input box on the right, here “CPDAT1”.
detail. Activate this parameter list using the “Window selection” key. You can either enter the
of the display.
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Acceleration
motion.
reached.
values.

[Comment].
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User Programming
2.2.3 Circular motions (CIRC)

Here, the TCP or workpiece reference point moves to the target point along an arc. The path
is defined using start, auxiliary and end points. The end point of a motion instruction executed
with exact positioning serves as the start point for the subsequent motion. The orientation
changes uniformly over the whole length of the path.
CIRC motions are used when processing operations are to be executed at a preset velocity
along a circular path.
The start, auxiliary and end points lie in a plane in space. In order for the controller to be
able to determine this plane as accurately as possible, these three points should be as far
apart as possible. Only the reference point follows the programmed path. The actual tool
is able to change its orientation during the motion.
CIRC motions with exact positioning
In the case of CIRC motions with exact positioning, the robot stops exactly at each end point.
Auxiliary point End point
Start
point
End point
Start
point
Auxiliary point
End point
CIRC motions with approximate positioning

range around the end point. When the TCP enters this area, the robot motion immediately
proceeds towards the end point of the next motion command.
Approximate
positioning
range
End point
Start
point
End point
Auxiliary point
Start Auxiliary point
point
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Programming a CIRC motion

After the option “CIRC” is selected from the menu “Motion”, the inline form for entering the

CIRC Type of motion PTP, LIN, CIRC
P1 Auxiliary point name Max. 23 characters
Base Workpiece number Nullframe, Base_Data[1]...[16]
external
TCP
Vel=2m/s Velocity 0.001 ... 2 m/s (Default 2 m/s)
PDAT1 Motion parameters
0 ... 300
Distance *1 range
Teach Aux Teach End

It is possible to abort programming of the LIN motion at any time by pressing the softkey
ground.
The type of motion can also be set using the softkey “PTP/LIN”.
If the softkey “Suggest” is pressed, the program finds the lowest standard point name
available in the local data list and enters this name in the open inline form, i.e. if points P1
and P3 are occupied, P2 will be suggested.
Teach Aux Now move the robot to the auxiliary point. There press the softkey “Teach Aux”. Read the
messages displayed in the message window.
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User Programming
The coordinates of the auxiliary point must be saved manually before conclusion of the
motion command; they are not automatically saved. If you want to define the point
coordinates later, “Teach Aux” can be carried out first in any robot position.
A status window is opened for entering data relating to the workpiece and tool. Activate this
status window using the “Window selection” key.
Tool
Base
tems (BASE).
external TCP
or the workpiece:
Teach End
coordinates later.
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Here you can specify the velocity at which the robot should execute the motion. You can
either enter the value using the keyboard or alter it using the status key to the right of the
display.
Move the cursor to the next input box on the right, here “CPDAT1”.
detail. Activate this parameter list using the “Window selection” key. You can either enter the
of the display.
Acceleration
motion.
reached.
values.

[Comment].
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User Programming
Please note:
A full circle must be made up of at least two segments to prevent the circle from tilting in
the plane.
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2.3 Motion parameters

This function allows the monitoring tunnel for collision monitoring to be changed. The sensiti-
vity of the collision monitoring can be defined in this way.
Detailed information on the subject “TorqMon” may be found in the Programming Hand-
book, in the documentation [Expert Programming], chapter [Motion programming].
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User Programming
2.4 Logic
Inputs and outputs of the controller enable the robot system to communicate with its periph-
eral environment. Specific commands are provided for polling inputs and setting outputs.
It is also possible for wait times to be programmed in order to ensure that operations are
completed before the robot starts moving again.
Programming
To program a so--called logic command, you must select a program or load it in the editor.
More detailed information on creating and altering programs can be found in the chapter
[Program editing].
Pay attention to the position of the

edit cursor. The next program line
created by you will be inserted as a
new line after the cursor.
Open the menu using the menu key “Commands”. From this menu select “Logic”. The follow-
ing submenu is displayed:
You can now make your selection from the logic instructions offered.
2.4.1 Wait functions
2.4.1.1 Time--dependent wait function (WAIT)
You can use this function to program a defined wait time. After selecting the menu item
“WAIT”, the inline form for entering the wait time is opened in the programming window.
It is possible to abort programming of the wait function at any time by pressing the softkey
Pressing the softkey “Motion” switches immediately to motion instruction programming,

cancelling programming of the time--dependent wait function.
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Pressing the softkey “W_F/IBUS” switches immediately to programming of the signal--

dependent wait function, cancelling programming of the time--dependent wait function.
Pressing the softkey “Comment” switches immediately to the programming function for
comment lines, cancelling programming of the time--dependent wait function.
You can alter the default wait time in increments of 0.05 seconds using this status key. You
can also enter the desired value using the numeric keypad.
Now press the softkey “Cmd Ok” or the Enter key. The command is now fully programmed
and saved.
2.4.1.2 Signal--dependent wait function (WAIT FOR)

This function waits until the named input/output has assumed the defined state: True or
False.
After selecting the menu option “WAITFOR”, the inline form for entering the parameters that
are required for executing the signal--dependent wait function is opened in the programming
window.

WAIT FOR IN Type of wait function WAIT FOR IN, WAIT FOR OUT
1 Input/output 1 ... 1024
Demo Long text The long text assigned to the input or
output
State State TRUE, FALSE
CONT Approximate positioning “ ”, CONT
The assignment of the softkey bar changes at the same time:
It is possible to abort programming of the wait function at any time by pressing the softkey
If the programming window is in focus, the various input boxes can be selected using the “¯”
and “” arrow keys. The box that is currently selected is highlighted by a color background.
The programming window can be activated by repeatedly pressing the “Window selection”
key until the window is highlighted in color.
cancelling programming of the signal--dependent wait function.
Pressing the softkey “IBUS/WAIT” switches immediately to the function for coupling and
decoupling an INTERBUS segment under program control. Programming of the signal--
dependent wait function is thus cancelled.
comment lines, cancelling programming of the signal--dependent wait function.
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User Programming
The long text belonging to the corresponding input/output can be modified by pressing the
“Longtext” softkey. This option is not available in the user group “User”.
Move the cursor to the left--hand input box. The assignment of the status key at the bottom
right of the display changes accordingly. Here you can specify whether or not the system
should wait for an input or output signal.
Move the cursor to the next input box, here “1”. The assignment of the status key at the
bottom right of the display changes. Using the numeric keypad, specify the input or output
for which the system is to wait. It is also possible to change the value shown in the input box
using the status key (at the bottom right of the display).
The long text of the input or output can be modified in the next input box. To do so, the user
group “Expert” must be active. Press the “Longtext” softkey and enter the desired name.
Move the cursor to the input box “State”. The assignment of the status key at the bottom right
of the display changes. Using this status key, you can specify the state at which the motion
program is to be resumed.
In the last input box you can activate the option “CONT” (Continue). This option causes the
condition to be checked as soon as the advance run pointer reaches the “WaitFor” line. If the
condition is fulfilled at this time, the advance run pointer jumps to the next line. Otherwise,
it stops at this point and waits until the condition is fulfilled.
and saved.
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2.4.2 Switching functions
After selecting the menu item “OUT”, a submenu with further options is opened:
This menu offers you various switching functions, which are described in detail below.
2.4.2.1 Simple switching function (OUT)
Sets an output to True or False.

After selecting the menu option “OUT”, the inline form for entering the parameters that are
required for executing the simple switching function is opened in the programming window.

1 Output 1 ... 1024
Demo Long text Name of the input or output
It is possible to abort programming of the switching function at any time by pressing the
softkey “Cmd Abort” or the ESC key. The command will not be saved in this case.
ground.
Pressing the softkey “PULSE” switches immediately to programming of the simple pulse
function, cancelling programming of the simple switching function.
Pressing the softkey “SYNOUT” switches immediately to programming of the path--
dependent switching function, canceling programming of the simple switching function.
The long text belonging to the corresponding output can be modified by pressing the
“Longtext” softkey. This option is not available below the user group “Expert”.
Move the cursor to the input box “OUT”. The assignment of the status key at the bottom right
of the display changes. Using the numeric keypad, specify the output that is to be set. It is
also possible to change the value shown in the input box using the status key (at the bottom
right of the display).
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User Programming
The long text of the output can be modified in the next input box. To do so, the user group
“Expert” must be active. Press the “Longtext” softkey and enter the desired name.
of the display changes. With this status key, you can specify the state to which the selected
output is to be set.
Move the cursor to the input box “CONT”. The assignment of the status key at the bottom
right of the display changes. If you set “CONT”, the output is set with the advance run pointer.
If “CONT” is not selected, the output is set with the main run pointer, i.e. as soon as the
advance run pointer reaches this function, it is stopped until the main run pointer has also
reached this function.
and saved.
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2.4.2.2 Simple pulse function (PULSE)
This function sets a selected output to TRUE/FALSE for the duration of a defined pulse time.
After selecting the menu option “PULSE”, the inline form for entering the parameters that are
required for executing the simple switching function is opened in the programming window.

1 Output 1...1024
Time Length of the pulse 0.1 ... 3 s
It is possible to abort programming of the pulse function at any time by pressing the softkey
ground.
Pressing the softkey “OUT” switches immediately to programming of the simple switching
function, cancelling programming of the simple pulse function.
Pressing the softkey “SYNPULSE” switches immediately to programming of the path--
dependent pulse function, cancelling programming of the simple pulse function.
Move the cursor to the input box “PULSE”. The assignment of the status key at the bottom
right of the display changes. Using the numeric keypad, specify the output that is to be set.
It is also possible to change the value shown in the input box using the status key (at the
bottom right of the display).
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User Programming
Move the cursor to the input box “CONT”. The assignment of the status key at the bottom
right of the display changes. If you set “CONT”, the function is executed when reached by
the advance run pointer. If “CONT” is not selected, the function is executed when the main
run pointer arrives, i.e. as soon as the advance run pointer reaches this function, it is stopped
until the main run pointer has also reached this function.
Move the cursor to the input box “Time”. The assignment of the status key at the bottom right
of the display changes. Using this status key, you can set the length of the pulse between
0.1 and 3 seconds in increments of 0.1 seconds.
and saved.
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2.4.2.3 Path--dependent switching function (SYN OUT)
After selecting the menu option “SYN OUT”, the inline form for entering the parameters that
are required for executing the path--dependent switching function is opened in the
programming window.

SYN OUT Output 1...1024
at Time at which the switching START, END, PATH
function is executed
Distance from the end --2000 ... 2000 mm
point at which the output is
set *1)
Delay Delay of the switching --1000 ... 1000 ms
action
*1) Only available if “PATH” is selected as the start option
It is possible to abort programming of the switching function at any time by pressing the
softkey “Cmd Abort” or the ESC key. The command will not be saved in this case.
ground.
Pressing the softkey “SYNPULSE” switches immediately to programming of the path--
dependent pulse function. Programming of the path--dependent switching function is
cancelled first.
Pressing the softkey “OUT” switches immediately to programming of the simple switching
function. Programming of the path--dependent switching function is cancelled first.
Move the cursor to the input box “SYN OUT”. Using the numeric keypad, specify the output
that is to be set. It is also possible to change the value shown in the input box using the status
key (at the bottom right of the display).
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User Programming
Move the cursor to the input box “at”. The assignment of the status key at the bottom right
of the display changes. With this status key, you can specify the point of the path segment
at which the selected output is to be set.
Move the cursor to the input box “Delay”. The assignment of the status key at the bottom right
of the display changes. With this status key, you can shift the time at which the selected out-
put is to be set, by any amount in increments of 1 ms between the start and end points of
the path segment. It is also possible to enter the value via the numeric keypad.
If, on the other hand, you want to set the output in relation to the path, you must select the
option “PATH” in the input box “at”.
An additional input box then appears in the inline form in which you can specify the distance
from the end point at which the output should be set. If, for example, you want the output to
be set between the start point and the end point, you must enter a value with a negative sign.
The current value of the variable $DIST_NEXT can be displayed and altered by means of
the menu function “Monitor” -- “Variable” -- “Single”
The motion commands (type: LIN) before and after the SYN OUT function are important for
determining locally the start and end points and the points along the path.
G Case 1: the start point and end point are exact positioning points
Program: Start
LIN P1 +
SYN OUT
LIN P2 P1 P2
--
END
PATH
G Case 2: the start point is approximated, the end point is an exact positioning point
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Program: P2
P1
LIN P1
LIN P2 CONT
SYN OUT
LIN P3
Start
+ --
END
P3 PATH
G Case 3: the end point is approximated, the start point is an exact positioning point
Program: Start P1
LIN P1
SYN OUT
LIN P2 CONT +
LIN P3
END
-- PATH
P3
P2 +
G Case 4: the start point and end point are approximated
Program: P2
LIN P2 CONT
SYN OUT P1
LIN P3 CONT
LIN P4 Start
END
-- PATH
P4
P3 +
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User Programming
Example:
Adhesive application:
An adhesive gun is to start applying adhesive at a certain point on the workpiece. For this
purpose the command SYN OUT is set. When output 1= TRUE, the adhesive gun is
activated. PATH=10 mm defines the point at which the adhesive application is to begin. The
adhesive gun itself, however, must be activated approximately 15 ms earlier, as a certain
advance time is required before the adhesive begins to flow. The delay time is thus set to
--15 ms.
Extract from the illustration

relating to “case 4”
P2
Output 1 is set to TRUE

at this point
PATH
--15 ms
P4
P3
+10 mm
Adhesive application
and saved.
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2.4.2.4 Path--dependent pulse function (SYN PULSE)
After selecting the menu option “SYN PULSE”, the inline form for entering the parameters
that are required for executing the path--dependent pulse function is opened in the program-
ming window.

SYN Output 1...1024
PULSE
Time Pulse duration 0.1 ... 3 s
at Time at which the pulse START, END, PATH
function is executed
Distance from the end --2000 ... 2000 mm
point at which the output is
set *1)
Delay Delay of the pulse function --1000 ... 1000 ms
*1) Only available if “PATH” is selected as the start option
It is possible to abort programming of the pulse function at any time by pressing the softkey
ground.
Pressing the softkey “SYNOUT” switches immediately to programming of the path--
dependent switching function, cancelling programming of the path--dependent pulse
function.
Pressing the softkey “PULSE” switches immediately to programming of the simple pulse
function, cancelling programming of the path--dependent pulse function.
Move the cursor to the input box “SYN PULSE”. The assignment of the status key at the
bottom right of the display changes. Using the numeric keypad, specify the output that is to
be set. It is also possible to change the value shown in the input box using the status key (at
the bottom right of the display).
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User Programming
of the display changes. With this status key, you can switch between the states to which the
selected output can be set.
Move the cursor to the input box “Time”. The assignment of the status key at the bottom right
of the display changes. You can set the length of the pulse in increments of 0.1 seconds within
the range of 0.1 to 3 seconds using this status key. It is also possible to enter the value via
the numeric keypad.
Move the cursor to the input box “at”. The assignment of the status key at the bottom right
of the display changes. With this status key, you can specify the point of the path segment
at which the selected output is to be set.
Move the cursor to the input box “Delay”. The assignment of the status key at the bottom right
of the display changes. With this status key, you can shift the time at which the selected out-
put is to be set, by any amount in increments of 1 ms between the start and end points of
the path segment. It is also possible to enter the value via the numeric keypad.
If, on the other hand, you want to set the output in relation to the path, you must select the
option “PATH” in the input box “at”.
An additional input box then appears in the inline form in which you can specify the distance
from the end point at which the output should be set. If, for example, you want the output to
be set between the start point and the end point, you must enter a value with a negative sign.
The motion commands (type: LIN and CIRC) before and after the SYN PULSE function are
important for determining locally the start and end points and the points along the path.
Compare cases 1 to 4 for the previous function SYN OUT!
and saved.
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2.4.3 Coupling and decoupling the INTERBUS segment (IBUS--Seg on/off)
After selecting the menu option “IBUS--Seg. on/off”, the inline form for programming the
coupling and decoupling of the INTERBUS segment is opened in the programming window.

IBUS Coupling and decoupling ON, OFF
an IBus segment
It is possible to abort programming of this function at any time by pressing the softkey “Cmd
Abort” or the ESC key. The command will not be saved in this case.
ground.
cancelling programming of the function.
Pressing the softkey “WAIT/W_F” switches immediately to programming of motion instruc-
tions, cancelling programming of the function.
comment lines, cancelling programming of the function.
By pressing the status key “CMD”, you can switch between coupling and decoupling of the
INTERBUS.
and saved.
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User Programming
2.5 Analog output
The eight analog outputs of the robot controller are set under program control using this
function.
Programming
To program the analog output, you must select a program or load it in the editor. More
detailed information on creating and altering programs can be found in the chapter
[Program creation].
Pay attention to the position of the edit

cursor. The next program line created
by you will be inserted as a new line
after the cursor.
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2.5.1 Static
This option is used to set an analog output with a fixed value. After selecting the menu option,
the inline form for entering the necessary values is opened in the program window.

ANOUT Analog output 1 ... 32
0 Output voltage 0 ... 1
It is possible to abort programming of the function at any time by pressing the softkey “Cmd
ground.
right of the display changes. Here you can specify which of the eight analog outputs you want
to set.
bottom right of the display changes. Using the numeric keypad, enter the value the analog
output should take. It is also possible to change the value shown in the input box using the
status key (at the bottom right of the display) in increments of 10 mV.
and saved.
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User Programming
2.5.2 Dynamic
This option is used to set an analog output depending on the velocity or technology. After
selecting the menu option, the inline form for entering the necessary values is opened in the
program window.

ANOUT Switching simulation mode ON, OFF
on and off
CHANNEL 1 Analog output 1 ... 32
1 Multiplier 0 ... 10
VEL ACT Velocity or technology pa- VEL ACT, TECHVAL1 ... TECHVAL6
rameters
Offset Offset voltage --1 ... 1
Delay Delay --0.2 ... 0.5 s
It is possible to abort programming of the function at any time by pressing the softkey “Cmd
ground.
right of the display changes. Here you can specify whether you wish to switch the analog
output on or off.
Move the cursor to the next input box, here “Channel 1”. The assignment of the status key
at the bottom right of the display changes. Here you can specify which of the eight analog
outputs you want to set or reset.
bottom right of the display changes. Using the numeric keypad, enter the factor by which the
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corresponding velocity/technology parameters are to be multiplied. It is also possible to

change the value shown in the input box using the status key (at the bottom right of the
display) in increments of 0.05.
Move the cursor to the next input box, here “VEL_ACT”. The assignment of the status key
at the bottom right of the display changes. Here you can specify the velocity/technology
parameters with which the selected analog output is to be combined.
Move the cursor to the next input box, here “Offset”. The assignment of the status key at the
bottom right of the display changes. Using the numeric keypad, enter the value of the offset
voltage for the selected analog output. It is also possible to change the value shown in the
input box using the status key (at the bottom right of the display) in increments of 100 mV.
Move the cursor to the next input box, here “Delay”. The assignment of the status key at the
bottom right of the display changes. Using the numeric keypad, enter a delay value. It is also
possible to change the value shown in the input box using the status key (at the bottom right
of the display) in increments of 1/100 second.
and saved.
55 of 60
User Programming
2.6 Comment
For the purpose of giving your programs a clearer structure, comment lines should be
inserted containing texts explaining the program modules.
Place the edit cursor one line above the position where you want to insert the comment line.
Open the menu by means of the menu key “Commands” and from it select the submenu
“Comment”.
You can now select one of the comment types “Normal” or “Stamp”.
2.6.1 Normal
Using the command “Normal”, you can insert a comment line containing any text into your
program. A semicolon ( ; ) will automatically be inserted at the beginning of the comment line.
Any text
Press the softkey “Cmd Abort” to discard your entries and close the inline form without
inserting a comment line into the program listing.
You can switch to the inline form for the stamp directly by using the softkey “Stamp”.
If you would like to enter a different text, you can delete the entry by means of the softkey
“New text”.
Press the softkey “Cmd Ok” to discard your entries and close the inline form without entering
them into the program listing.
Any text
When the “Comment” command is selected again, the previously entered string will already
be offered as a default text in the inline form.
56 of 60
2.6.2 Stamp
You can also insert a stamp in your program, however. In this instance, it is a comment line
with the time and date added. A semicolon ( ; ) will automatically be inserted at the beginning
of the line in this case as well.
Any text
Use this type of comment to document changes to programs.
You can enter your name in the first input box after NAME. Enter an abbreviation for the
change that has been made in the second box after CHANGES.
inserting a comment line into the program listing.
You can switch to the inline form for a normal comment directly by using the softkey “Normal”.
The new system time and the system date are entered into the inline form by pressing the
softkey “New time”.
If you would like to enter a different name, the previous entry can be deleted by pressing the
softkey “New name”.
If you want to enter something else after CHANGES, press the softkey “New text”. This
deletes the previous entry and a new text can now be entered.
Use the softkey “Cmd Ok” to save your entry, close the inline form and insert the comment
line.
Any text
When the “Comment” command is selected again, the previously entered string will already
be offered as a default text in the inline form.
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User Programming
2.6.3 ...changing comment lines
Move the program cursor to the line that is to be altered and press the softkey “Change”. This
opens an inline form. The existing text is displayed as a suggestion in the input box.
Depending on the type of comment, ’Normal’ or ’Stamp’, the softkey bar has one of these
two assignments:
Now alter the text as desired.

carrying out the change to the program.
You can switch to the inline form for the stamp directly by using the softkey “Stamp”.
You can switch to the inline form for a normal comment directly by using the softkey “Normal”.
The new system time and the system date are entered into the inline form by pressing the
softkey “New time”.
If you would like to enter a different name, the previous entry can be deleted by pressing the
softkey “New name”.
If you would like to enter a different text, you can delete the entry by means of the softkey
“New text”.
Use the softkey “Cmd Ok” to terminate your entry, close the inline form and alter the comment
line accordingly.
2.6.4 ...Delete
Use the “” or “¯” arrow key to move the edit cursor to the line you want to delete.
Press the menu key “Program” and select the option “Delete” from the menu that is opened.
58 of 60
Press the softkey “Yes” if you are sure that you want to delete the selected line. When you
press this softkey, the selected line will be removed from the program.
Pressing the softkey “No” cancels the action.
59 of 60
User Programming
NOTES:
60 of 60
Index
A Linear motions, 28
Acceleration, 25, 27, 29, 31, 33, 35 Loading and saving programs, 9
Analog output, 52 Logic, 38
Long text, 40, 41, 43, 45, 49
Approximate positioning, 21, 28, 32
Approximation Distance, 25, 29, 33
at, 46, 50 M
Motion, 21, 39, 51
Motion commands, 21
C
Motion parameters, 37
Changing comment lines, 58
CIRC, 21, 32
N
Circular motions, 32
Close editor, 17 New, 5
CMD, 51 New name, 57
Comment, 39, 51, 56 New text, 57
CONT, 21, 25, 26, 29, 30, 33, 34, 40, 42, New time, 57
44 Normal, 56, 57, 58
CPDAT1, 29
O
D Offset voltage, 55
Delay, 46, 50 Open, 6
Orientation, 28, 32
Delay value, 55
OUT, 41, 43, 45
Delete, 15, 58
Deleting comment lines, 58
Deleting programs, 10 P
Depending on the technology, 54 PATH, 46, 50
Depending on the velocity, 54 PDAT1, 25, 33
Duplicate, 10 Point--to--point motions, 24
Program editing, 5
Program editor, 15
E
Programmed velocity, 27, 31, 35
Edit, 6 Programming, 38, 52
Edit cursor, 21, 38, 52 Programming a LIN motion, 29
Exact positioning, 21, 28, 32 Programming a PTP motion, 25
Programming movements, 21
F Programs, 5
Find, 12, 15 PTP, 21, 24
Full circle, 36 PTP motions with approximate positioning, 24
PTP motions with exact positioning, 24
PULSE, 41, 43, 49
I
IBUS--Seg on/off, 51 R
IBUS/WAIT, 39
Robot coordinates, 26, 30, 34
Infinitely rotating axes, 22
S
L
Save, 27, 31, 35
Last command, 20 Save the current robot coordinates, 26, 30,
LIN, 21, 28 34
Index -- i
Index
Select/open/save a program, 5
Stamp, 57
Standard motions, 21
State, 40, 42, 43, 46, 50
SYN OUT, 45
SYN PULSE, 49
SYNOUT, 41, 49
SYNPULSE, 43, 45
T
Technology parameters, 55
Time, 44, 50
Touch Up, 26, 30, 34
Types of motion, 21
V
Vel, 25, 29, 33
Velocity parameters, 55
W
W_F/IBUS, 39
WAIT, 38
WAIT FOR, 39
Wait functions, 38
WAIT/W_F, 51
Z
Zip file, 9
Index -- ii

KUKA UserProgramming

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SOFTWARE

KUKA System Software (KSS)

Issued: 14 Jul 2003 Version: 03

Program name Comment

1.2.3 Open (Edit)

Select program then edit another

A selected program cannot be edited at the same time.

Load program into the editor then select another program

A program in the editor cannot be selected.

1.2.4.1 Current program

Do you want to print with opened Folds?

The printout contains opened Folds

The action is cancelled; nothing is sent to the printer

Here is an example of a file without Folds:

File name KRC:\R1\TEST02.SRC

1.2.5 Saving changes

1.2.6 Saving programs to floppy disk (Archive)

*1 Not available below the user group “Expert”

Completion of the operation is indicated in the message window:

Program name Comment

1.3 Editing a selected program

Read the message displayed in the message window.

Pressing the softkey “No” or “Cancel” cancels the action.

Alternatively, you can use the keyboard shortcut “CTRL” + “F”.

Only the visible area of the program is searched.

1.3.3 Cancel program

1.3.4 Reset program

1.4 Working with the program editor

Read the message displayed in the message window.

Pressing the softkey “No” or “Cancel” cancels the action.

Alternatively, you can use the keyboard shortcut “CTRL” + “F”.

Only the visible area of the program is searched.

1.4.3 Close editor

Last command Instruction for entering the last command executed

2.1 Last command

The tool is moved as quickly as possible along a curved path in

Motion between the individual points

Exact positioning The motion stops exactly at the programmed point.

Please note the position of the edit

Infinitely rotating axes

A4 and A6 also definable as infinitely

All other axes are

The first motion instruction in this Tool P3 (220_)

With the third motion command is actual:

This will inevitably result in any

It is therefore necessary for the

2.2.1 Point--to--point motions (PTP)

Point names may not begin with “POINT” as this is a keyword.

PTP motions with exact positioning

PTP motions with approximate positioning

During approximate positioning, the controller monitors a so--called approximate positioning

Programming a PTP motion

Box name Function Range of values

Move the cursor to the box “Vel=”.

Detailed information on comments in robot programs can be found in the section

Detailed information on logic commands can be found in the section [Logic].

2.2.2 Linear motions (LIN)

LIN motions with exact positioning

LIN motions with approximate positioning

During approximate positioning, the controller monitors a so--called approximate positioning

Programming a LIN motion

Box name Function Range of values