KUKA Robot Sim Pro Tutorial

Software Introduction

1.1sim pro function

1. Predict the working cycle
2. Create offline programs
3. Simulate complex work unit concepts

1.2 sim pro features

1. High-definition video output
2、3D-PDF
3. Collision detection
4. 2D graphics

Teaching

1. Pinch pen

a. Click the program first - (If you want to write the program, tick the upper left corner)
Preparation:
1. Create a tool coordinate system, steps:
a. Select the robot and the jog in the lower right corner
b. Base table
Tool coordinates – select a tooldate1 – right “Select” – point upper left corner “Snap” – fixture >> two-point method (set + Y) alignment axis
After clicking, select the object in the coordinate system – “Jok” at the upper left corner of the point, reset the return position at the point (|<<) and create it.
2. Set initial posture
a. Jog-select robot-adjust the 6-axis joint value-below the settings of the floating window-Save posture
3. Programming (the instructions are below the homework diagram on the left)
(The ps:PTP instruction can avoid singularities unless it is required to use slin in a straight line. Otherwise, use PTP.)
a. Save point: click ptp again to save
b. Avoid singularity, add subroutines, and drag singularity into
c. Re-snap (top left corner in the program) – 2 points method – Cancel the setting direction – Point the two points of the pen again – In the adjustment tool, make it parallel to the pen (check for collision)
(ps: 1. Start the left snapping - change the position and align it together 2. Start the right snapping - set the origin 3. The upper left corner of the program is used to capture tool coordinates and target points)
d. Adjustment steps, debugging: reset (|<<) - run (|>)

2. Practical Training 2 - Writing

Thinking: When capturing the target, the fixture is on the paper, so the tool coordinate system tooldate2 needs to be added.
a. Exercise to the right position
b. Create a new tool coordinate system: select the robot - jog the lower right corner - tool: tooldate2 - select - capture 1 point - select the tip of the pen - world coordinate system - adjust the posture (because you want to write, the Z axis is facing down)
c. The corner radius in lin should be modified: (Instruction line - right action attribute - continuous: select blank (CONT is corner radius)
ps: (Same attribute, press Ctrl to select multiple options and modify them at one time)
d. Put the pen:

4. Export
a. Video: Floating Window: Video—Recording
b、PDF：