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1、 Copyright by KUKA Roboter GmbH College12/20051Tutorial_9_Gantry_Robot_en.pptExercise 9: Gantry with robot Copyright by KUKA Roboter GmbH College12/20052Tutorial_9_Gantry_Robot_en.pptExercise 9: Gantry with robotStep 1:Insert required CAD data into a new layout and position them:Insert CAD data into

2、 the layout via Geometry and renameZ axis:Rotate: B 90Translate: X 1224 ; Y 1920 ; Z -275Carriage:Rotate: B 90Translate: X 1224 ; Y 1920 ; Z 150Gantry:Rotate: B 90Translate: X 1224 ; Y 1611 ; Z 150Rails:Rotate: B 90Translate: X 1313 ; Y 1611 ; Z 150 Copyright by KUKA Roboter GmbH College12/20053Tuto

3、rial_9_Gantry_Robot_en.pptExercise 9: Gantry with robotStep 2: Create links and assign objects- New links can be inserted using the right mouse button.- Drag geometries into the desired link using the mouse- Insert robot controller and define the axes.3 linear axes are required for the gantry, with

4、the following axis ranges:AxisMin.Max.Joint_X-11001100Joint_Y-11001100Joint_Z0750Step 3: Define axes Copyright by KUKA Roboter GmbH College12/20054Tutorial_9_Gantry_Robot_en.pptExercise 9: Gantry with robotStep 4: Assign axesLinkJointX_AchseTx(Joint_X)Y_AchseTy(Joint_Y)Z_AchseTz(Joint_Z)Double-click

5、 on the linkUnder Joint, enter the direction of motion and the name of the axisStep 5: Add Jog Info- Add a Jog Info to every link- Adapt the DOF and Variable fields Copyright by KUKA Roboter GmbH College12/20055Tutorial_9_Gantry_Robot_en.pptExercise 9: Gantry with robotStep 6: Set up interface1. Pre

6、paration- Create a new frame within theZ-Axis link (To_Robot)- Translate frame by Z 1000 and rotate it by C 180- Insert Base Container- Create new base Copyright by KUKA Roboter GmbH College12/20056Tutorial_9_Gantry_Robot_en.pptExercise 9: Gantry with robot2. Define interface- Add a one-to-one interface- Configure the interfaceHierarchy Z_Achse | To_Robot | ParentJoint Export GantryController | ExportBase Export BaseContainer| ExportStep 7:Save comp