Using the KUKA LWR4+

Configuration

Define Tool

In order to define a new tool for the robot follow:

For defining the new tool frame:

Setup (U5) > Measure > Tool > Numeric Input

For defining the mass properties of the tool:

Setup (U5) > Measure > Tool > Payload Data

Use an existing tool

First if you don't know the tool number you can see the available tools by

Configure (U3) > Set tool/base

TODO

For manual mode

Set the tool frame for manual mode:

Configure (U3) > Set tool/base

For automatic mode

In order to define a tool for running in automatic mode (e.g. running a program with FRI) first

1. Select the script FRIL/FRIControl2

2. Log on as expert:

   Configure (U3) > User Group > Log on as expert

3. Unfold the code of the script :

   Program (U2) > Fold > All folds open

4. Go to line 69, press backspace (under number 3), insert your tool number and press the down arrow to save the change.

Set the control cycle

Change inside the FRIL/FRIControl2 script the rate in line 129.

Usage

Automatic mode

In order to run in automatic mode (e.g. use the FRI) everytime you want to run the FRI do the following

1. Close the FRI FRI (L3) > FRICLOSE (D3)
2. Acknowledge errors, if any (D7)
3. Reset the script Program (U2) > Reset Program
4. Set position control KUKA arm icon (L6) > Position (D2)
5. Press the Start button
6. Press the green button with the plus and the arrow twice (button A)

The above assume that you have already selected the desired script (FRIL/FRIControl2).

Send the arm to parking position

After you have finished your work on the robot always park the robot in its home position:

1. Select the script screen with button B.
2. Press Navigation (D7)
3. Deselect the current script
4. Select the script kostas/gohome
5. The same sequence in automatic mode as you would open FRI
6. Press the green button with the plus and hold it