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MAN Kap12 Rob Doku StoppingDistance en

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28 views5 pages

MAN Kap12 Rob Doku StoppingDistance en

Uploaded by

jorge.deluna
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Erwin Graf KUKA Roboter GmbH 17 Feb 2016

Documentation for determination


of stopping distances

General information:
A function for determining the stopping distances has been integrated for the BMW 35up project.

If a protected space is violated, the axis angles are recorded when the limit of the protected space is
violated and again after the robot has come to a standstill.

These values are used to calculate and output the stopping distance.

Implementation:
The function can be activated and deactivated using Configuration/BMW
application/A01_Plc/StoppingPathLogging.

If a protected space is violated, the ir_Stopm() routine is called by default in the program and the
robot is stopped.

A “BrakeMeas” fold is inserted into BMW technology A01_PLC. If the function is activated, the
BrakeMeas() routine – in which the stopping distance is calculated and output – is then called here.
Erwin Graf KUKA Roboter GmbH 17 Feb 2016

The result is output in the message display:

The axis angles of the trigger point, the axis angles of the standstill and then the calculated distance
are output. In addition, the current motion point is output first so that an assignment of outputs to
the program and the motion point is possible.

To enable data collection for the determined stopping distances, the message outputs are stored
internally in the temporary memory.

The saved data can be displayed via the Display/BMW application/A01_Plc/SysMessageLog plug-in
and saved in an xml file.
Erwin Graf KUKA Roboter GmbH 17 Feb 2016

If data are available, both the “generate data” and “delete data” buttons are activated. If no data are
available, both buttons are deactivated.

By pressing the “generate data” button, the saved data are read and listed in the display. The data
are then deleted from the memory. At the same time, a default file name is entered in the “File
name” box. This can be edited.

Depending on when it is done, pressing the “delete data” button can delete the data from the
memory or the list. A request for confirmation is displayed before deletion.

Switching to the “Explorer” tab makes it possible to save the data.


Erwin Graf KUKA Roboter GmbH 17 Feb 2016

A directory tree can be shown in Explorer. The root directory must already exist. Further
subdirectories can be edited accordingly using the “Add”, “Delete” and “Rename” buttons.

In the adjacent image, the “test3” directory is


selected. Following selection, the
“Save”/“Delete”/“Rename” buttons are
activated.

Save: If “Save” is pressed, the current data are


written into the file defined in the “File name”
box and saved in the “test3” directory.

Delete: If “Delete” is pressed, the “test3”


directory is deleted.

Rename: If “Rename” is pressed, the “test3”


directory is renamed as “hans”. There must be a
name in the text box under Explorer.
Erwin Graf KUKA Roboter GmbH 17 Feb 2016

In the example, “Save” was pressed. The file “overrun_20160217_1125.xml” was then created in the
“test3” directory.

The saved data have been written to the file “overrun_20160217_1125.xml”.

Data volume:

The number of saved measurement points is limited. The data must therefore be sensibly divided
and saved.
Before the data limit is reached, a corresponding notification message is generated.

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