Guide for Creating and Running KUKA Robot Standard Interface Programs in the Background

[Mech-Mind.Support]

1. Introduction

This passage introduces how to create a background program on the teach pendant for a KUKA robot when using the Standard Interface Communication and enable the program to run in the background.

2. Prerequisites

Before using this guide, please ensure that the following prerequisites are met:

1. Program Files have been successfully loaded to the robot by following the instructions in Set up Standard Interface Communication with KUKA.
2. The TCP/IP Socket connection can be successfully established between the robot and Mech-Center.

3. Procedures

3.1 Switching to Expert

This procedure switches the logged-on user to Expert so a program file can be created and edited.

1. Click the user group icon, switch to the Expert mode. The default password is kuka.

   

3.2 Creating a Submit Program

This procedure creates a new Submit program to trigger the image capture and data retrieval.

1. Select the R1 folder in the Navigator, click New in the bottom left corner, and create a new folder to store the new Submit program. In this guide, we name the new folder “test”.

   

2. Under the newly-created folder test, select No objects and click new to open the Template selection pane.

   

3. On the Template selection pane, double-click the Submit template to create a new Submit program.

   

   Enter the name of the program and click ENTER to save it. In this guide, for example, we name the new Submit program mmtrigger.

   

4. Select the newly-created mmtrigger.sub program and click EDITOR to open the Editor interface, and edit the program for triggering the image capture and data retrieval.

   

   An example program is shown below.
   

   

3.3 Configuring the Submit Program

This procedure uses the SUBMIT interpreters to start the newly-created Submit program and keep it running in the background.

1. Click S to open the SUBMIT interpreters, and click Display/Assign to configure programs.

   

2. Click Current display/assignment, select mmtrigger for EX1, and click Select/Start to start the mmtrigger program.

   

3. Click Cold start configuration, select mmtrigger for EX1, and check the Autostart checkbox for the mmtrigger program.

   

3.4 Creating a Main Modul Program

This procedure creates a main modul program and edits the program based on the actual scenarios. With the Submit program started and running in the background, we can use a certain trigger in the main modul program to trigger the Submit program.

1. Navigate to the test folder, select mmtrigger, and click New in the bottom left corner to open the Template selection pane.

   

2. On the Template selection pane, double-click Modul to create a new main modul program. In this guide, for example, we name the new modul MainModul.

   

3. Select the newly-created MainModul.src program and click EDITOR to open the Editor interface, and edit the main program.

   

   An example program is shown below. In this example program, the FLAG is used as a trigger for image capturing, corresponding to the FLAG used in the example Submit program above.

   Note: Before checking the vision results of the Submit program, please ensure all the image capture and data retrieval procedures have been completed and halted.