If you want to execute a KUKA robot program, you must select it in advance. The robot program is available for selection on the user interface in the navigator. The Cell program (management program for PLC-controlled robots) is always in the folder “R1”. The execution of the program can be selected by pressing the forward program run button and the start reverse program run button. However, before the program is executed, in order to keep the current robot position consistent with the current point position in the robot program, a BCO run must be performed.
For the program to be executed, there are several ways to run the program: the first is that the program runs continuously until the end of the program. In this way, the start key must be pressed during the test run; the second is that in the motion stepping mode, each instruction is executed individually. In this way, the start key must be pressed again after each movement. The third is only for the user expert group. In the incremental stepping, it is executed line by line. After each line is executed, the start key must be pressed again.
The execution of the program is indicated by the capital letter “R” in the status bar. Different colors represent different meanings.
The execution of a KUKA robot program involves several steps. First, the program is loaded into the robot’s control system. Then, based on the defined commands and logic, the robot starts to move axes precisely. Sensors monitor its position and status in real – time. If there are conditional statements, the robot makes decisions accordingly. The process continues until the end of the program, completing various tasks accurately.
Steps to execute the robot program:
1) Click the robot icon to enter the navigator user interface, click the “R1” folder, enter the drop-down file “program”, click the corresponding folder, find the corresponding program file in the data list, and the program status shows the letter “R” in gray, indicating that the program is not selected;
2) Select the program file in the data list and click the “Select” button below. At this time, the program status shows the letter “R” in yellow, indicating that the program status is selected and the statement pointer is in the first line of the program. The blue pointer points to INI, where the program starts, and will run first.
3) Click the palm and arrow icon position in the status bar, and a setting box will pop up. The first line is to set the speed of program running, and the second line is to set the manual speed of the robot. You can use the touch pen to click and drag to change the value. For safety reasons, it is strongly recommended to set the speed between 10 and 50;
4) Click the human icon in the status bar, and the program run mode selection box will pop up, and select the second “Action”.
5) Press and hold the enable button on the back of the teach pendant, start the forward program run button, and start running the program;
6) Then the blue arrow points to the command line “PTP HOME Vel=100% DEFAULT”, and at the same time, the program status “R” is displayed in red, indicating that the program has been started and then paused. At this time, “BCO has been reached” appears in the message bar, indicating that the HOME point has been reached.
7) Then continue to press the program run button, and the program cursor continues to move down until the last line of command is run. At this time, the program status “R” color is black, indicating that the statement pointer is at the end of the selected program and the program is completed;
8) After running the program, if you run the program from the starting position again, you can click the black status display letter “R” and select “Program Reset” in the displayed setting box.
9) After the program is reset, you can restart the program;
10) If you want to exit the program, you can select “Deselect Program” to exit the program.