KUKA System Technology
KUKA.RoboTeam 2.0
For KUKA System Software 8.3
KUKA Roboter GmbH
Issued: 30.04.2013
Version: KST RoboTeam 2.0 V2 en (PDF)
KUKA.RoboTeam 2.0
2 / 69 Issued: 30.04.2013 Version: KST RoboTeam 2.0 V2 en (PDF)
© Copyright 2013
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication: Pub KST RoboTeam 2.0 (PDF) en
Bookstructure: KST RoboTeam 2.0 V1.1
Version: KST RoboTeam 2.0 V2 en (PDF)
3 / 69Issued: 30.04.2013 Version: KST RoboTeam 2.0 V2 en (PDF)
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Terms used ................................................................................................................ 6
2 Product description ..................................................................................... 7
2.1 Overview of KUKA.RoboTeam .................................................................................. 7
2.2 Synchronization ......................................................................................................... 7
2.2.1 Program synchronization ...................................................................................... 7
2.2.2 Motion synchronization ......................................................................................... 8
2.3 Geometric coupling (master/slave) ............................................................................ 9
2.3.1 Load sharing (geometric coupling) ....................................................................... 10
2.3.2 Process-dependent mode (indirect geometric coupling) ...................................... 10
2.3.3 Combined mode ................................................................................................... 12
2.3.4 Extended master/slave principle ........................................................................... 12
3 Safety ............................................................................................................ 15
4 Installation ................................................................................................... 17
4.1 System requirements ................................................................................................. 17
4.2 Installing or updating RoboTeam ............................................................................... 17
4.3 Uninstalling RoboTeam .............................................................................................. 18
5Operation ...................................................................................................... 19
5.1 Commands ................................................................................................................. 19
5.2 Switching to other controllers on the smartPAD ........................................................ 19
5.3 RoboTeam plug-in ..................................................................................................... 20
5.3.1 Simulating and synchronizing robots .................................................................... 21
5.4 Displaying the status of a workspace ......................................................................... 21
5.5 Restoring the status of a workspace .......................................................................... 23
6 Start-up and recommissioning ................................................................... 25
6.1 Overview ....................................................................................................................25
6.2 Connecting the system bus ........................................................................................ 25
6.3 Connecting the KLI .................................................................................................... 26
6.4 Configuring the RoboTeam with WorkVisual ............................................................. 27
6.5 Calibrating tools and entering load data .................................................................... 28
6.6 Comparing and merging projects ............................................................................... 28
6.7 Calibrating the RoboTeam participants in relation to one another ............................. 28
6.8 Checking the calibration and geometric coupling ...................................................... 29
7 Programming for user group “User” (inline forms) ................................. 31
7.1 Names in inline forms ................................................................................................ 31
7.2 Synchronizing the program advance run ................................................................... 31
7.2.1 Inline form PROGSYNC ....................................................................................... 31
7.3 Synchronizing motions ............................................................................................... 32
7.3.1 Synchronizing individual motion blocks ................................................................ 32
7.3.1.1 Inline form LIN/CIRC/SLIN/SCIRC with SYNC ................................................ 33
Contents
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KUKA.RoboTeam 2.0
7.3.2 Synchronizing spline blocks ................................................................................. 33
7.3.2.1 Inline form SPLINE block with SYNC .............................................................. 35
7.3.2.2 Inline form SPL/SLIN/SCIRC with SYNC ........................................................ 35
7.4 Geometric coupling of robots ..................................................................................... 35
7.4.1 Inline form GEOLINK ............................................................................................ 36
7.5 Option window: Synchronization ............................................................................... 36
7.6 Programming remote access to programs on other controllers ................................. 37
7.6.1 Inline form: REMOTE START ............................................................................... 38
7.6.2 Inline form: REMOTE WAIT ................................................................................. 38
7.7 Programming Enterspace .......................................................................................... 38
7.7.1 Inline form ENTERSPACE ................................................................................... 39
7.8 Programming Exitspace ............................................................................................ 39
7.8.1 Inline form EXITSPACE ........................................................................................ 39
8 Programming for user group “Expert” (KRL syntax) ............................... 41
8.1 SyncCmd() ................................................................................................................. 41
8.2 RemoteCmd() ............................................................................................................ 41
8.3 CancelProgSync() ..................................................................................................... 42
8.4 Linked Kinematic (LK) ............................................................................................... 43
9 System variables ......................................................................................... 45
9.1 $COOP_KRC[ ] ......................................................................................................... 45
9.2 $PINGCOOPKRC ...................................................................................................... 45
9.3 $LOCAL_NETWORK_OK ......................................................................................... 45
9.4 $COMPLETE_NETWORK_OK ................................................................................. 46
9.5 $WORKSPACERESTOREACTIVE ........................................................................... 46
9.6 $LK_MASTER[ ] ........................................................................................................ 46
9.7 $LK_SLAVES[ ] ......................................................................................................... 47
9.8 $SYNC_ID ................................................................................................................. 47
9.8.1 Peculiarities in the case of block selection to synchronized spline blocks ........... 47
9.9 $SYNC_LIST ............................................................................................................. 48
10 Example programs ...................................................................................... 51
10.1 Example program with 2 defined workspaces ........................................................... 51
10.2 Example program with REMOTE commands ............................................................ 51
10.3 Example program: load sharing with 2 robots ........................................................... 52
10.4 Example of load sharing with 2 robots and an external axis kinematic system ......... 52
10.5 Example program: process-dependent mode ........................................................... 54
11 Troubleshooting .......................................................................................... 57
11.1 Deadlock between cooperating robots ...................................................................... 57
11.1.1 Detecting deadlocks ............................................................................................. 57
12 KUKA Service ............................................................................................... 59
12.1 Requesting support ................................................................................................... 59
12.2 KUKA Customer Support ........................................................................................... 59
Index ............................................................................................................. 67
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1 Introduction
1Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills:
Advanced KRL programming skills
Advanced knowledge of the robot controller system
Basic knowledge of network connections
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:
Documentation for the manipulator
Documentation for the robot controller
Operating and programming instructions for the KUKA System Software
Documentation relating to options and accessories
Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
This warning draws attention to procedures which serve to prevent or remedy
emergencies or malfunctions:
Notes These hints serve to make your work easier or contain references to further
information.
For optimal use of our products, we recommend that our customers
take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.
These warnings mean that it is certain or highly probable
that death or severe injuries will occur, if no precautions
are taken.
These warnings mean that death or severe injuries may
occur, if no precautions are taken.
These warnings mean that minor injuries may occur, if
no precautions are taken.
These warnings mean that damage to property may oc-
cur, if no precautions are taken.
These warnings contain references to safety-relevant information or
general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.
Procedures marked with this warning must be followed
exactly.
