3 / 53Issued: 20.02.2014 Version: KST TouchSense 2.0 V2
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.TouchSense ................................................................................ 7
2.2 Communication .......................................................................................................... 7
2.3 Workpiece search ...................................................................................................... 8
2.3.1 Single Touch mode ............................................................................................... 8
2.3.2 Double Touch mode ............................................................................................. 9
3 Safety ............................................................................................................ 11
4 Installation ................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.2 Installing or updating TouchSense ............................................................................. 13
4.3 Uninstalling TouchSense ........................................................................................... 14
5Operation ...................................................................................................... 15
5.1 Menus ........................................................................................................................ 15
5.2 Status keys ................................................................................................................ 15
6 Configuration ............................................................................................... 17
6.1 Configuring TouchSense via the smartHMI ............................................................... 17
6.1.1 “General settings” tab ........................................................................................... 17
6.1.2 “Search dynamic” tab ............................................................................................ 18
6.1.3 “Sensor configuration” tab .................................................................................... 19
6.2 Configuring TouchSense with WorkVisual ................................................................. 19
6.2.1 Setting parameters ............................................................................................... 20
7 Programming ............................................................................................... 21
7.1 Instructions for programming ..................................................................................... 21
7.2 Preparation ................................................................................................................ 21
7.3 Inline form “Search” ................................................................................................... 21
7.3.1 Option window “Set new reference” ...................................................................... 23
7.3.2 Option window “Search parameter” ...................................................................... 24
7.4 Linked search ............................................................................................................. 25
7.4.1 Example of a linked search: searching for the position of a single-V butt weld .... 26
7.5 Programming a correction instruction ........................................................................ 27
7.5.1 Inline form “Corr” (1-dimensional) ......................................................................... 27
7.5.2 Inline form “Corr” (2-dimensional) ......................................................................... 28
7.5.3 Inline form “Corr” (3-dimensional) ......................................................................... 29
7.5.4 Inline form “Corr” (freely programmable) .............................................................. 30
7.5.4.1 Freely programmable correction – detailed explanation .................................. 32
7.5.5 Inline form “Corr Off” ............................................................................................. 33
7.5.6 Inline form “Check Point” ...................................................................................... 33
7.5.6.1 Option window “Position evaluation criteria” .................................................... 35
Contents
