内容教程kuka培训en.pptx

InterfacesThere are two types of interface:Both interfaces are the same (e.g. safety fence)Both interfaces are pluggable (e.g. robot – gripper)The interface definition can be found or entered under Create \ Behavior. The interface is entered in the object at the place where the connection is to be established, e.g. gantry interface in the last component.A Frame is required for an interface. This is where the connection will be established.Color representation: Green line ? Connection can be established Yellow triangle ? Connection not used Green triangle ? Connection established12/20059_Interface_en.pptInterfacesConnecting objects:To connect objects, the logical connection must be active under PnP.When moving one of the objects towards the other (frame to frame), a green line appears when the objects are optically close enough together. If the objects are pushed closer together, the first object jumps onto the interface (frame over frame) and is thus connected.The connection is not separated by Trans or Rot, i.e. the position e.g. of the gripper can still be changed.12/20059_Interface_en.pptInterfacesObject – object (e.g. safety fence)The interfaces are created under Interface Sections. In the case of a fence, there is an interface to the right and left sides.PnP1 is the frame to which the objects are connected.Under Section Fields and Current Field, the interface property is defined. With fences, a number is assigned so that only interfaces with this number can be connected.12/20059_Interface_en.pptInterfacesRobot (flange) – object (e.g. robot gripper)The gripper is defined in the interface as Child.The robot is defined in the interface on the flange as Parent.Robot Gripper12/20059_Interface_en.pptInterfacesRobot – kinematic system (e.g. robot – servo gun)Objects: KR 150-2 Series 2000 Servo Gun (General \ Applications \ SpotWelding \ X_Guns)In order for the motion of a servo gun to be simulated, the object must have the properties (behaviors) shown here.