자동

전제조건: RoboDK 버전 5.5.2 이상, Windows 운영체제, 설치경로 C:\RoboDK.

1.START → All programs → Accessories → Command Prompt, 또는 START → Run → cmd로명령셸을여십시오.

2.C:\RoboDK\bin으로디렉터리를변경하고다음명령을실행하여 kukabridge.exe를시작하십시오:

c:

cd C:\RoboDK\bin

..\api\Robot\kukabridge.exe

1.이제 KUKA Bridge Driver가대화형모드로실행됩니다.

2.CONNECT <로봇 IP 주소> <포트> <로봇축수>를입력하여제어시스템에대한연결을설정하십시오. 예:

CONNECT 172.1.1.10 7000 6

1.성공하면다음과같은출력이표시됩니다:

SMS:Connecting

Connected

SMS:Working...

SMS:Ready

1.CJNT 명령을입력하여현재로봇관절위치를요청하십시오:

CJNT

SMS:Working...

JNTS 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000

SMS:Ready

1.CONFIGURE FORCE 명령으로자동설정을실행하십시오:

CONFIGURE FORCE

SMS:Working...

Requesting robot program state

Current robot program state is #P_FREE

Reading current configuration ($config.dat)

Read complete, updating configuration

Adding definition of variable COM_ACTION

Adding definition of variable COM_ACTCNT

Adding definition of variable COM_ROUNDM

Adding definition of variable COM_VALUE1

Adding definition of variable COM_VALUE2

Adding definition of variable COM_VALUE3

Adding definition of variable COM_VALUE4

Adding definition of variable COM_E6AXIS

Adding definition of variable COM_FRAME

Adding definition of variable COM_POS

Adding definition of variable COM_E6POS

Configuration lines have been updated: 11 added, 0 removed, 0 updated, 659 total

Checking existence of old backup file ($config.bak)

Old backup file exists, deleting it

Creating new backup file ($config.bak)

Backup completed, writing new configuration

New configuration was successfully written

Checking existence of program file (RoboDKsync543.src)

Program file does not exists

Writing program file to robot system

Configuration is complete

SMS:Ready

1.이제로봇이준비되었습니다. RoboDKsyncVER.src 프로그램(VER은동기화프로그램의버전, 예: 543)을선택하여 실행하기만하면됩니다.