In this tutorial I want to show the basics of KUKA.PLC mxAutomation.
Download this project for educational purposes:
[ Ссылка ]
(does not include mxA or the KR30 models, see 5:06:29)
00:00 Introduction
02:21 Hardware setup for this tutorial
03:30 Software setup for this tutorial
04:32 Unboxing the KUKA robot and powering it up
06:02 Select the operating mode
06:52 Jog the robot in start-up mode
09:32 The safety plug X11
12:26 Copy data from the KRC4 hard drives
13:52 The KUKA.PLC mxAutomation USB flashdrive
14:42 Install KUKA WorkVisual
15:30 Connect the KRC to the PROFINET network
16:50 Install mxAutomation on the KUKA controller
23:42 Creating a TIA Portal project from scratch
26:08 Importing the KUKA GSDML files
29:20 Importing the mxA library
34:07 myKRC_Playground
49:03 Initialize mxA and power up the robot
54:53 Adding the mxA library function blocks to the playground
58:13 KRC_SetOverride
1:03:03 KRC_ReadActualAxisPos
1:03:59 KUKA robot coordinate systems
1:05:46 KRC_ReadActualPosition
1:07:28 KRC_WriteBaseData/KRC_ReadBaseData
1:12:22 KRC_SetCoordSys
1:14:43 KRC_WriteToolData/KRC_ReadToolData
1:17:42 KRC_Jog
1:32:42 Euler angles yaw-pitch-roll
1:35:12 KRC_JogToolRelative
1:39:12 KRC_JogLinearRelative
1:40:23 The robot wrist singularity
1:44:55 MC_MoveAxisAbsolute
1:46:45 MC_MoveLinearAbsolute
1:54:32 MC_MoveLinearRelative
1:57:24 QueueCount/KRC_Interrupt/KRC_Continue/KRC_Abort
2:03:23 Status and Turn
2:12:39 MC_MoveDirectAbsolute
2:16:49 MC_MoveDirectRelative
2:20:39 MC_MoveCircAbsolute
2:24:01 MC_MoveCircRelative
2:26:55 myKRC_RobotWebViewer
2:39:57 KRC_TouchUP
2:44:38 KRC_WriteWorkspace/KRC_ReadWorkspace
2:50:05 KUKA robot payload/compose
2:53:16 KRC_WriteLoadData/KRC_ReadLoadData
2:54:22 myKRC_GetSmartPadMessages
2:58:58 KRC_ReadSysVar
3:00:26 myKRC_Dashboard
3:09:17 KRC_ReadActualAxisVelocity
3:10:47 Difference between LIN and PTP motion
3:14:19 myKRC_WebViewerRecordTrace
3:17:42 KRCWriteToolData advanced example
3:23:58 KRC_WriteSoftEnd/KRC_ReadSoftEnd
3:26:36 KUKA robot PROFIsafe setup
3:36:57 Robot program 1: Approximation
4:13:27 Robot program compared to sequential step program
4:15:37 Operator push button to start the robot
4:29:57 Robot program 2: Subroutines
4:37:53 Record a robot trace
4:42:03 Robot program 3: myMC_MoveUniversal
4:50:29 Robot program 4: TouchUP points
4:55:17 KUKA_Playground for AxisGroupIdx 1..5
5:04:34 Control the robot with your smartphone
5:06:29 Download the myKRC_Playground
