The SUBMIT interpreter (Submit Interpreter) of the KUKA robot is a unique and powerful functional module in its control system. It allows users to run multiple tasks in parallel on the robot controller, thereby realizing complex control logic and efficient operation processes. The SUBMIT interpreter is mainly responsible for processing submission programs (SUB programs), which can perform various operator control or monitoring tasks, such as safety equipment monitoring, cooling circuit monitoring, etc. Through the SUBMIT interpreter, the KUKA robot can process other key tasks in parallel while keeping the motion program running, improving the flexibility and efficiency of the system.
The KUKA robot SUBMIT interpreter is a crucial tool. It serves as a bridge between the user – written programs and the robot’s control system. It parses commands, ensuring accurate execution. This interpreter enables efficient programming and operation, allowing the robot to perform tasks precisely, flexibly and efficiently, thus enhancing productivity in various industrial applications.
- Working principle of the SUBMIT interpreter
- Parallel task processing
Robot interpreter: This is the core interpreter of the KUKA robot control system, responsible for running the motion program and controlling the robot’s axes to move according to the predetermined trajectory and speed. The motion program is the basis for the robot to complete the main work, such as welding, assembly, handling, etc.
SUBMIT interpreter: runs in parallel with the robot interpreter and is specifically responsible for processing SUB programs. SUB programs are user-defined scripts used to perform other tasks besides motion control, such as logical judgment, data acquisition, system monitoring, etc.
- Start and manage SUB programs
Automatic start: When the robot controller is powered on and started, the SUBMIT interpreter automatically starts and loads the predefined SUB program (default is SPS.SUB) to start execution. The program started is the one defined in the KRC/STEU/MADA/$custom.dat file. Manual control: The user can manually stop, deselect or restart the SUBMIT interpreter through the robot teach pendant or external control system. In addition, different SUB programs can be selected for execution. When using the teach pendant, select the operation through the menu sequence Configuration > SUBMIT Interpreter > Start/Select, or directly operate through the status bar in the status display SUBMIT interpreter. When touched, a window with executable options will open.
Status indicator: In the status bar of the robot teach pendant, there is a special status indicator that shows the current status of the SUBMIT interpreter, such as running, stopped, deselected, etc. 3. Writing and calling SUB programs
Writing: SUB programs need to be written in a specific programming language provided by KUKA (such as KRL – KUKA Robot Language). This language provides a rich set of instructions and function libraries, and supports complex control logic and data processing. When programming, please note that you cannot execute any robot motion instructions, such as PTP, LIN, CIRC, etc., and you cannot call subroutines containing robot motion, nor can you call instructions for robot motion, such as TRIGGER or BRAKE. At the same time, avoid any stop caused by waiting instructions or waiting loops that will further delay the processing of the SUBMIT interpreter.
Calling: In a SUB program, other SUB programs or function modules can be called through specific syntax and functions to achieve code reuse and modular design. At the same time, SUB programs can also communicate and exchange data with other interpreters (such as robot interpreters).
Specific steps:
(1). Program in the stopped or deselected state
(2). The standard program SPS.sub is loaded into the editor
(3). Perform necessary declarations and initialization. For this purpose, the prepared Fold should be used
(4). Expand the program in the Fold USER PLC
(5). Close and save the SUBMIT interpreter
(6). If it cannot be submitted automatically, start it manually. III. Application examples of the SUBMIT interpreter
- Safety equipment monitoring
Application scenario: In a robot workstation, the normal operation of safety equipment is crucial. If a safety device (such as a light barrier, safety door, etc.) fails or is triggered, the robot must stop moving immediately to avoid danger.
Implementation method: A SUB program is executed through the SUBMIT interpreter, which regularly checks the status of the safety device. If an abnormality is found, the operation of the robot interpreter is immediately stopped through the interrupt mechanism, and the corresponding safety measures (such as emergency stop, alarm, etc.) are triggered.
- Cooling circuit monitoring
Application scenario: During long-term operation or high-load working conditions, the robot’s cooling system may fail due to overheating, causing the robot to stop or even be damaged.
Implementation method: Use the SUBMIT interpreter to execute a monitoring SUB program, which monitors key parameters such as temperature and flow of the cooling circuit in real time. Once it is found that the parameters are out of the normal range, an alarm will be issued immediately and corresponding cooling measures will be taken (such as increasing the fan speed, starting the backup cooler, etc.). At the same time, the SUB program can also record the historical data of the cooling system for subsequent analysis and optimization.
- Multi-threaded task processing
Application scenario: In complex processing, the robot may need to perform multiple tasks at the same time, such as loading and unloading, processing, and testing. The traditional single-threaded control method is difficult to meet the needs of efficient production.
Implementation method: Multi-threaded task processing is implemented through the SUBMIT interpreter. Each task is written as a SUB program, and these programs are executed in parallel through the SUBMIT interpreter. In this way, the robot can complete multiple tasks simultaneously in one working cycle, greatly improving production efficiency and flexibility.
- Advantages and limitations of the SUBMIT interpreter
- Advantages
Improve system flexibility: Executing the SUB program through the SUBMIT interpreter can realize complex control logic and multi-threaded task processing, making the robot system more flexible and efficient.
Enhance system security: Using the SUBMIT interpreter to monitor safety devices and system status can timely discover and deal with potential safety hazards and ensure the safety of robots and personnel.
Simplify system architecture: For some simple applications (such as monitoring tasks that do not require additional PLC control), the SUBMIT interpreter can simplify the system architecture, reduce hardware costs and maintenance difficulties.
- Limitations
Not applicable to applications with strict time requirements: Since the SUBMIT interpreter shares system performance with the robot interpreter, and the running time of the SUB program is affected by many factors (such as the number of lines, comments, etc.), it may not be applicable in applications with very strict time requirements.
High programming complexity: Writing and debugging SUB programs requires certain programming experience and skills, which may be difficult for beginners. In addition, error and exception handling in SUB programs also need to be carefully designed and tested.
V. Summary
The SUBMIT interpreter of KUKA robots is a powerful and flexible tool that provides users with the ability to implement complex control logic and multi-threaded task processing. By deeply understanding and mastering the working principle and application method of the SUBMIT interpreter, the potential of KUKA robots can be fully utilized to improve production efficiency and system safety.