Take your chance and become a certified DKR Robotics Practitioner.
We offer courses for different skill levels to help you to unleash your potential!
We offer the benefits of world leading German industrial robotics and automation expertise for international student groups for a fraction of the price. We offer a unique program where you can learn industrial robotics and automation programming and operation while developing crucial enterprise skills, making you highly employable.
KUKA ROBOT Programming -Basic PalletizingLearn about Variable and Declaration apply to Simple Palletizing Programnote: I will not provide any document or sof. Traditional programming methods would be restrictive for such operators. Each programming method has advantages and disadvantages. Here are three popular methods of robot programming that certainly don't require strips of hole-punched paper. Teaching Pendant. The most popular method of robot programming is probably the teach pendant.
In addition, the training offers opportunities to see and feel breathtaking nature and get to known the friendly people and welcoming culture of the people in Bosina and Herzegovina. Mingle with automotive industry experts, and listen to their success stories. Experience firsthand industry 4.0 and learn how to utilize it to create a brighter future.
Course - Robot programming Basic KUKA/ABB/FANUC
Description:
You will learn the basic knowledge of robot programming and will be able to create, save and change simple programs on your own. You will get an overview of the use of industrial robots. You could be taught on KUKA, FANUC or ABB robots.
You will then deepen your programming knowledge and apply complex program structures and communication with PLCs, sensors and actuators. You can train on KUKA, FANUC or ABB robots.
Duration: 16h
Content:
- Safety instructions
- System Description
- Activation and shutdown of the program
- Jogging a robot with a joystick
- Routine & Modules
- Basic instructions
- Error codes
- Basic theory of programming RAPID
- Tool calibration
- Calibration of working objects
- Program Editing
Course - Robot programming ABB ADVANCED
Description:
The aim of the PRO course is to update the upskilling of knowledge in handling the robot cell, to modify the program, to work in the programming language KRL, to understand the extended instructions and critical programming elements and for the picking intended for the management and maintenance of the robot system.
Duration: 32h
Content:
- Safety instructions
- Data (Rob Target, Joint Target)
- Routine & Modules
- Sequences
- External TCP
- World zones
- Advanced functions
- Dispatch
- Trigger statements
- Trap routines
- Work facilities
- Malfunctions
- Definition of TCP & orientation via routines
- Use logical functions in the robot program
- Flex Pendant Communication
- Robot Studio
Course - Robot programming KUKA Advanced
Description:
The aim of the PRO course is to update the upskilling of knowledge in handling the robot cell, to modify the program, to work in the programming language KRL, to understand the extended instructions and critical programming elements and for the picking intended for the management and maintenance of the robot system.
Duration: 32h
Content:
- Safety instructions
- Data
- Basics of successful programming
- Checking the execution of the program
- External TCP
- Data types
- Overview
- Types of Structures
- Sequences
- Logical statements
- Movement programming
- Geometric operators
- Trigger statements
- Subroutines and Functions
- Switching commands
Course - Transfer course
Description:
Transfer courses are designed for professionals who already have experience in programming industrial robots and want to acquire skills in programming and handling another control system.
Duration: 24h
Content:
- Safety instructions
- System Description
- Starting and stopping the program
- Jogging a robot with a joystick
- Tool calibration
- Program editing
- Error codes
KUKA:
- The basic theory of KRL programming
- Calibration of the base
- Checking the execution of the program
- Calibration
- Fundamentals of the KRL programming language
- Subroutines and functions
ABB:
- The basic theory of RAPID programming
- Robot Studio
- Working with U / I signals
- Additional instructions and functions
Course - Welding with robots
Description:
Special course for the use of industrial robots for the MIG / MAG welding process. The training takes place on the robot ABB IRB 2400, with the help of Robot Studio and with the EWM alpha Q 352 welding source.
Duration: 40h
Content:
- Safety instructions
- Description of the system
- Starting and stopping the program
- Routines & Modules
- Basic instructions
- Definition of the system parameters of the ABB industrial robot integrated in the welding cell
- Error codes
- Basic theory of programming RAPID
- Tool Calibration
- Calibration of working objects
- Programming of the welding control code according to the guidelines for the generation of programs
Robot ProfiNet - configuration with Fieldbus
Description:
The course is designed for candidates who have some knowledge of robotics and related fields, and candidates who want to build their knowledge of digital communication. The course includes theoretical and practical lessons where you can learn the basics of managing complex industrial systems and using PLCs to manage management components.
You will get to know the interaction of robots and fieldbus participants and apply it in practice. Mac torrent spotify crack. You will apply the integration of components using specific project software such as Works Visual, Robot Studio and Robo Guide.
Duration: 40h
Content:
- Safety instructions
- Description of the system
- Starting and stopping the program
- Customize and change the program
- Adjustment
- Inline forms of the KRL movement
- Tool Calibration
- Base calibration
- Program Editing
- Creating a KRC4 project
- Structure of the PROFINET driver KRC4
- Working in TIA PORTAL V13
- Programming self-adjusting KUKA CELL.SRC
Course - TIA Basic
Description:
Future PLC programmers who have little or no previous knowledge of PLC programming in the TIA Portal will learn the basics of TIA Portal programming. You will learn the process of developing simple projects, from the hardware level to the creation of user interfaces on HMI screens using example macros.
This lays the foundation for your future career as a PLC programmer.
Duration: 120 hours (96 hours Leadtec)
Content:
- introduction to the basics of the TIA portal
- navigation through the TIA portal
- Automation pyramid
- Data Types
- programming languages
- Program modules
- Simple functions in the TIA Portal
- project engineering of PLC programs
- Project Creation
- Use of the “Siemens Proneta” software tool
- Hardware creation
- Software development
- project engineering of HMI panels
- Integration HMI – SPS
- use of basic image building blocks
- Use of visualization effects
- further functions of the TIA portal
- Program simulation with PLC SIM
- observation and forcetables
- Traces
Course - TIA Advanced - HMI
Description:
As a PLC programmer in the industry, you are expected not only to have sufficient knowledge of PLC programming, but also to have no difficulty in developing more complex HMI systems. To further develop your skills as an HMI programmer, we offer the course TIA Advanced – HMI. The focus here is on the creation and generation of error messages and warnings, programming of user-defined image blocks and a brief introduction to Visual Basic programming.
Duration: 60 hours
Content:
- extended HMI functions
- User administration
- error messages and warnings
- User-defined screen modules
- 2nd Introduction to Visual Basic
Course - TIA Safety
Description:
In this course we will teach you the project planning, programming, commissioning, diagnosis and troubleshooting of the fail-safe SIMATIC controllers and the fail-safe, decentralized ET 200 systems. Using practical exercises on a training device, you will learn to put your theoretical knowledge into practice with the STEP 7 Safety software in the TIA Portal.
Duration: 24 hours
Content:
- safety in automation technology
- basics of fail-safe programming
- Fail-safe CPUs
- Fail-safe peripherals Parameters
- Components for fail-safe programming
- F-IO Device
- programming of fail-safe objects
- Safety doors
- Compressed air feeds
Course - TIA Advanced
Description:
You can deepen your theoretical knowledge with numerous practical exercises on a TIA system model. This consists of a SIMATIC S7-1500 automation system, ET 200SP distributed I/O, Touchpanel TP700, drive SINAMICS G120 and a belt model.
Duration: 40 hours
Content:
- IO-Link
- Introduction to the world of IO-Links
- Interface setting with S7-PCT Tool
- RF200 RFID Sample Project
- Sinamics
- identity systems
- Technology Objects
- Ident Blocks
- Ident Profiles
- MV540 sample project
Course - CNC operating
Description:
Computer Numerical Control (CNC) courses teach students how to set-up, maintain, operate and dismantle machining tools that are controlled by computers. The candidates will be taught on Fanuc ROBODRILL α-DiB5 series, high-performance vertical machining center.
Duration: 120 hours
Content:
- Basic principles of serving CNC machine
- Introduction in cutting tools, setting them and their offset up in CNC machine
- Standard G, M, T code functions in CNC programming
- Fundamentals of standard CNC program
- Manual programming of CNC machines
- Simulation of CNC program’s for parts on machine or using CAM software
- Practical excercise of programming and making part’s on CNC machine
Customer-specific qualification measures
Description:
We adapt all offered courses specifically to the concrete needs. Together with our customers we work out wishes and needs in a project-oriented way.
Content:
- Qualification within the scope of major projects or production start-ups
- Individual customer-specific employee qualification
Special Courses – Mechatronic Workshop
Description:
DKR is providing a project “Mechatronic Workshop” where the aim is to train young people, students and high school students, as well as employed and unemployed persons to diagnose, maintain, and service industrial robots.
– that’s our motto.
Our participants are keeping up with the rapid development in robotics and gain a higher level of professionalism.
Participants become certified robot commissioning engineers, programmers and PLC programmers.
We train international professionals, students and employees of emerging companies. Our participants know that education and training are the best investments in the future. Our Programs have been developed step by step based on concrete needs and have real relevance to the modern working world.
Cartesian trajectories for the KUKA robots (KRC/KRL).
| Teach pendant | “KCP” (KUKA Control Panel) or smartPAD |
| Programming / simulation software | OrangeEdit editor / KUKA simulator Sim Pro |
| Software | KUKA System Software (KSS) |
| User interface | KUKA smartHMI (smart Human-Machine Interface) |
| Programming language | KRL (KUKA Robot Language) |
| Relevant hardware | KR C2 / KR C3 / KR C4 and probably others |
- Further reading
Trajectory composition¶
Cartesian trajectories can be composed in three ways (see manual_slides p. 23-32).:
- Linear Cartesian motions
LIN
- Circular motions
- Joint space interpolation
PTP
joint space movement to a given goal, which can be specified in joint space or in Cartesian space.
controller calculates the necessary angle differences for each axis
Preferred motion if a high TCP speed is wanted and the interpolation between both waypoints doesn’t have to follow a predefined path.
- Additional
SLIN
- The Spline Linear motion uses splines between linear motions
SCIRC
- The Spline Circular motion uses splines between circular motions
SPTP
- The Spline Point to Point motion is similar to PTP but it allows continuous spline motions.
Waypoint representation¶
Saints row the third clothes mod. (see kuka_system_software and manual_slides)
- Angles of rotation of the robot coordinate systems
- S and T specify a robot’s position unambiguously if more than one axis position is possible forthe same point in space (because of kinematic singularities). This is often written in integerform, thus the values above.
- S (status): 3-bit binary value describing the robot’s configuration with predefined criteria
- T (turn): direction of a turn.6-bit binary value, containing flip bits for each axis (0 when axis >= 0 deg, 1 when axis < 0deg)
| Angle | rotation axis |
|---|---|
| A | Z |
| B | Y |
| C | X |
Trajectory parameterization and execution¶
(see manual_advanced)
Kuka Krc2 Controller Manual
Specification of velocity¶
Speed of TCP can be set within a move instructions in % by the ‘vel’ argument.
For Continuous path motions ([LIN], [CIRC]) the velocity is constant from start to end.
Realtive Joint Velocity can be set by: setJointVelocityRel(0.3)
KUKA operation mode influence velocity
Mode description velocity T1 Manual Reduced Velocity max of 250mm/s T2 Manual High Velocity as programmed AUT Automatic as programmed EXT Automatic external as programmed CPR Safe Operation max of 250mm/s
specification of acceleration¶
Relative Joint Acceleration can be set by: setJointAccelerationRel(0.5)
Blending¶
(source Angerer and Vistein)
Blending is enabled by the advance run mechanism enabling planning the next motion while executing a motion.
To activate blending a motion needs to be marked as blendable by adding a keyword to the motion instruction. C PTP`for PTP motions and `C_DIS, C_VEL or C_ORI for motions in operation space.
Blending between all motion types is supported. It is even possible to blend a PTP (joint space) into a LIN (Cartesian space) and vice versa.
Blending can be done by defining a blend radius
- as a relative value: IMotion.setBlendingRel(0.2)
- in millimeters: IMotion.setBlendingCart(20)
Parallel IO operations¶
No information found so far
Online (real-time) trajectory modifications¶
Kuka Robot Manuals Pdf
Robot Sensor Interface (RSI) (see RobotSensorInterface)
Kuka Advanced Programming Manual User
- supported since KRC-4 controller
- influence the position of the robot by external sensors.
- robot position can be influenced by external sensors through overlaying a programmed motion with external control, like position correction from a sensor-based system
- default 4 ms cycle time for accepting set point, hence external controller requires hard real-time
- usually correction data is provided in relative values and applied directly to the running program. However, as absolute values are possible, the robot can be controlled externally while a KRL program only providing a fixed start position runs in the background.
- communication between KUKA and external controller via UDP/IP on a dedicated network segment
- RSI context is a library with RSI objects for configuration of the signal flow
- RSI monitor offers online a visualization of the RSI signals.