4 / 75 Issued: 11.09.2012 Version: KST ForceTorqueControl 2.3 V3 en (PDF)
KUKA.ForceTorqueControl 2.3
6.6 Mounting and connecting the Schunk FTC sensor system ....................................... 36
6.7 Configuring the Schunk FTC sensor system ............................................................. 36
6.8 Configuring the user-specific sensor system ............................................................. 37
7 Programming ............................................................................................... 39
7.1 Creating a configuration file ....................................................................................... 39
7.2 FTCtrlConfig configuration ......................................................................................... 39
7.2.1 Sensor Settings tab .............................................................................................. 40
7.2.2 FT Controller tab ................................................................................................... 41
7.2.3 Break Condition tab .............................................................................................. 42
7.2.4 Path Limit tab ....................................................................................................... 43
7.2.5 Controller Tuning tab ............................................................................................ 44
7.3 Inserting inline forms ................................................................................................. 45
7.4 Inline forms ................................................................................................................45
7.4.1 FTCtrlInit ............................................................................................................... 46
7.4.2 FTCtrlInitComp ..................................................................................................... 47
7.4.3 FTCtrlCalibSens ................................................................................................... 48
7.4.4 FTCtrlOnBreak ..................................................................................................... 48
7.4.5 FTCtrlOnCP .......................................................................................................... 49
7.4.6 FTCtrlOffCP .......................................................................................................... 49
7.4.7 FTCtrlForce .......................................................................................................... 49
7.4.8 FTCtrlTorque ........................................................................................................ 50
7.4.9 FTCtrlEnable ........................................................................................................ 50
7.4.10 FTCtrlBreakTime .................................................................................................. 51
7.4.11 FTCtrlMonitorInit ................................................................................................... 52
7.4.12 FTCtrlMonitorStart ................................................................................................ 53
7.4.13 FTCtrlMonitorStop ................................................................................................ 53
7.5 Configuration examples ............................................................................................. 54
7.5.1 Pressing a cube onto an inclined plane ................................................................ 54
7.5.2 Pressing a cube onto an inclined plane, orientation compensation ...................... 54
7.5.3 Pressing a cube against a beveled edge .............................................................. 55
7.5.4 Pressing a cube against a beveled edge, orientation compensation ................... 56
7.6 Example programs .................................................................................................... 57
7.6.1 Motion program with sensor guidance .................................................................. 57
7.6.2 Motion program with superposed force/torque control ......................................... 58
7.6.3 Visualization program ........................................................................................... 58
8 Diagnosis ...................................................................................................... 61
8.1 Visualizing force/torque control ................................................................................. 61
9 System variables ......................................................................................... 63
9.1 Variable FTCtrlBreak ................................................................................................. 63
10 KUKA Service ............................................................................................... 65
10.1 Requesting support ................................................................................................... 65
10.2 KUKA Customer Support ........................................................................................... 65
Index ............................................................................................................. 73
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2018-05-02
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sinat_181562012019-03-27好东西啊，谢谢
