User Manual
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I/O group
Here you can choose to record “No I/O data”, “I/O data” or the 32 cyclical flags. Select the
desired function in the combo box. In order to record I/Os, it is necessary to open the I/O table
using the softkey “I/O Table” and define the desired input/outputs.
Move around this window as described above.
With the setting “Channels 1/2”, channels 1--16 can be processed, and with the setting
“Channels 3/4”, channels 17--32 can be processed.
Define the individual oscilloscope channels by input/output and enter the number.
Unlike with previous software versions, it is now possible to record any 16 inputs or outputs
simultaneously. This means, for example, that inputs [1], [65] and [250] can be recorded
at the same time.
Files containing traces of the status of inputs and outputs are identified by the end digit “3”.
The cycle rate for recording the activities of inputs and outputs is 12 ms. About 85 data sets
are generated per second.
Here also, it is possible, using the softkeys “DSE Table” or “Main”, to toggle to the respective
windows.
Interpolator data
The interpolator data include the Cartesian position of the robot (X,Y,Z,A,B,C), the path
velocity and the geometric angles of axes 1--12.
You must now choose whether to record the “Actual values”, “Command values” or “No data”.
This function is only available in “Expert” mode.
Test data
These data are analyzed by KUKA Roboter GmbH. If problems occur, the customer can
contact KUKA Support and create a corresponding file for evaluation by KUKA.
This function is only available in “Expert” mode.
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