Robot cells and a PLC controller with a simple display

KUKA.PLC mxAutomation

KUKA.PLC mxAutomation is a universal PLCopen-certified PLC interface. It allows you to program and operate all important robot functions directly in your familiar control environment.

With the KUKA.PLC mxAutomation control software, it is possible for external controllers with an embedded PLC to command KUKA robots on the basis of elementary motion instructions. This provides an easy route to implementing a central, customer-friendly operator control concept for robot-controlled production machines.

The outstanding kinematic and safety-relevant functions of the KUKA KR?C4 controller remain fully available since the mxAutomation command interpreter of the KR?C4 communicates the PLC commands to the path planning module, which sets the robot in motion with the accustomed precision and reliability.

The simple interface between human and machine?

KUKA.PLC mxAutomation allows your employees to understand, operate and program robotic systems without leaving the familiar control environment.

All important functions of the KUKA.SystemSoftware (KSS) are available directly in the existing PLC (Programmable Logic Controller) of the system. Motions and all safety functions continue to be controlled by the robot controller.

Communication between the robotic system and the PLC is not a one-way street. Just as commands are sent to the robot, diagnostic and status information flows back to the controller.

The robot

With the exception of the KR DELTA, all KUKA robots can be integrated into an existing system controller via mxAutomation.

The robot controller

Each of our machines is supplied with a control module (KRC). This includes the KUKA.SystemSoftware (KSS), which controls all functions.

The controller also handles safety monitoring, path planning, overload limitation, transformations and energy management. These functions and processes run on the robot controller with the usual high performance and reliability.

KUKA.PLC mxAutomation interpreter

For connection to a system PLC, the KUKA.PLC mxAutomation interpreter translates the control commands into predefined function blocks.

Ethernet/field bus

The connection between KCR and PLC is established via Ethernet/field bus. mxAutomation supports all major manufacturers:

Profinet/ProfiSafe
EtherCAT/FSoE
EthernetIP/CIPsafety
UDP

PLC Function Blocks Library

The function blocks of the robot controller are stored on the system PLC in the form of a library for commands and diagnostics. Thus, almost all functions of the KSS can be commanded.

PLC

All PLC function blocks of the library can be addressed directly in the user interface of the system controller. Using the predefined blocks or sequences, a controller configuration is thus possible without robot programming knowledge.

Economic advantages of PLC integration with KUKA.PLC mxAutomation

PLC integration with the mxAutomation interface offers many economic advantages. These are a valuable contribution to lower unit costs, more efficient production and thus a competitive advantage in the industry.?

Greater time saving
- During configuration
- During start-up
- During adaptation to new production processes
Simplified operation
- During configuration
- During PLC programming
- Robot integration without specific programming know-how
Seamless integration
- Use in the familiar control environment
- Fewer errors due to predefined blocks and sequences
- Greater efficiency through central programming
Compatibility
- Simple integration into existing machine controllers
- Suitable for all PLC suppliers
- Ensuring motion algorithms and safety functions

Technical strengths of KUKA.PLC mxAutomation

Simple central programming

With KUKA.PLC mxAutomation, the user requires no specific knowledge of robot programming. The mxAutomation function blocks allow the robot to be commanded within the familiar programming environment.

Certified in accordance with PLCopen

KUKA is the first robot manufacturer to meet the requirements of the PLCopen organization with the KUKA.PLC mxAutomation software and is thus certified in accordance with “PLCopen Motion Control Part 4”.?

High flexibility

If a requirement in production is changed, the appropriate modifications or expansions can be implemented at any time with mxAutomation-based operator control. The flexibility made possible by using robots with regard to processing new series of parts or performing additional tasks is made available for the operator in his customary environment.

Simple control

The combination of robot and machine control enables robot systems to be integrated effortlessly into existing operator control concepts. The robotic systems can thus be controlled via the familiar HMI (Human Machine Interface).

As an alternative to the KUKA.SmartPad, it is also possible to jog, teach and program industrial robots with a customer-specific teach pendant.

Gripping moving workpieces

Connecting KUKA.PLC mxAutomation to?KUKA.ConveyorTech enables systems to pick up moving workpieces. The motions are adapted by the application software to the motions of assembly lines and conveyors.

Using KUKA.VectorMove enables the robot arm to be switched vectorially to “soft” mode in order to facilitate the removal of components from injection molding machines and die-casting machines.

By integrating the optional add-on package KUKA.LoadDataDetermination, simple and precise load data determination via mxAutomation is possible.

With the optional add-on package KUKA.SafeVelocityMonitoring, it is possible to monitor robot systems at a safe velocity. This simplifies the start-up and jogging of the externally controlled cell.

Practical experience for practical applications

A good integration example is offered by Siemens? with the embedding of mxAutomation in the Sinumerik/Simatic world. The resulting products “RunMyRobot Handling” and “SIMATIC Robot Integrator” make robot integration easier than ever before.

In the injection molding sector, the deep integration “ENGEL? easix robot” is used intensively. It offers a consistent operating logic for greater convenience, safety and efficiency. The controller of the ENGEL easix robots is fully and seamlessly integrated into the controller of the ENGEL injection molding machines.

The integration of BOSCH? nexeed automation control plus is used for the global harmonization of Industrie 4.0 applications.

Functions for motion programming

KRC_MoveLinearAbsolute: Move to absolute Cartesian position with linear motion
KRC_MoveLinearRelative: Move to relative Cartesian position with a linear motion
KRC_MoveDirectAbsolute: Move to absolute Cartesian position as fast as possible – PTP motion
KRC_MoveDirectRelative: Move to relative Cartesian position as fast as possible – PTP motion
KRC_MoveAxisAbsolute: Move to axis-specific positions as fast as possible
KRC_MoveCircAbsolute: Move to absolute Cartesian position with a circular motion
KRC_MoveCircRelative: Move to relative Cartesian position with a circular motion
KRC_Jog: Moving in jog mode in the TOOL or BASE coordinate system as well as axis-specific jogging

Administrative functions

KRC_Initialize: Initialize mxA interface
KRC_AutoStart: Automated start of the mxAutomation interface. Sets the interface to an operational state.
KRC_SetOverride: Command reduced program override (POV)
KRC_ReadActualPosition: Read current Cartesian position permanently
KRC_ReadActualAxisPosition: Read current axis position permanently
KRC_ReadActualVelocity: Read current path velocity
KRC_ReadActualAxisVelocity: Read current axis velocity
KRC_ReadActualAcceleration: Read current robot acceleration
KRC_SetCoordSys: Select tool, base and interpolation mode
KRC_ReadToolData: Read TOOL data
KRC_WriteToolData: Write TOOL data
KRC_ReadBaseData: Read BASE data
KRC_WriteBaseData: Write BASE data
KRC_ReadLoadData: Read load data
KRC_WriteLoadData: Write load data
KRC_ReadSoftEnd: Read software limit switches of the robot axes
KRC_WriteSoftEnd: Write software limit switches of the robot axes
KRC_ReadSoftEndExt: Read software limit switches of the external axes
KRC_WriteSoftEndExt: Write software limit switches of the external axes
KRC_ReadAxisGroup: Reading PLC-specific communication into a non-PLC-specific structure
KRC_WriteAxisGroup: Writing a non-PLC-specific structure into PLC-specific communication
KRC_AutomaticExternal: Activate and read Automatic External signals from the robot controller
KRC_Abort: Abort program
KRC_AbortAdvanced: Abort program (advanced)
KRC_Interrupt: Pause robot motion
KRC_Continue: Resume program
KRC_WaitForInput: Wait for digital input
KRC_TouchUP: Teach points with or without smartPAD
KRC_ReadTouchUPState: Read TouchUp state of the TouchUp status keys
KRC_Set/GetAdvance: Change and read settings for the command advance run
KRC_Forward: Calculate Cartesian robot position from axis angles
KRC_Inverse: Calculate axis angle from Cartesian robot position
KRC_TechFunction: Execute any KRL programs
KRC_ReadSysVar: Read system variables of the KUKA controller
KRC_WriteSysVar: Write system variables of the KUKA controller

Switching, reading and trigger functions

KRC_DeclareInterrupt: Declare interrupt
KRC_ActivateInterrupt: Activate the previously declared interrupts
KRC_DeactivateInterrupt: Deactivate the previously declared interrupts
KRC_ReadInterruptState: Read state of an interrupt
KRC_SetDistanceTrigger: Activate switching action to path points
KRC_SetPathTrigger: Activate a path-related switching action
KRC_ReadDigitalInput: Read digital inputs, cyclically and acyclically
KRC_ReadDigitalOutput: Read digital outputs
KRC_WriteDigitalOutput: Write digital outputs, cyclically and acyclically
KRC_ReadAnalogInput: Read analog input
KRC_ReadAnalogOutput: Read analog output
KRC_WriteAnalogOutput: Write analog output

Diagnostic functions

KRmsgNet: Transmit all error messages in plain text. Switch the language and synchronize the time of the KRC
KRC_Error: Read and acknowledge error states
KRC_ReadMXAStatus: Read current state of the mxA interface
KRC_ReadMXAError: Read error messages of the mxA interface
KRC_MessageReset: Acknowledge error messages of the mxA interface
KRC_ReadKRCError: Read error messages of the robot controller
KRC_Diag: Read heartbeats and diagnostic signals

Use non-safe workspaces

KRC_WriteWorkspace: Configuring Cartesian workspaces
KRC_ReadWorkspace: Read configuration of Cartesian workspaces
KRC_WriteAxWorkspace: Configuring axis-specific workspaces
KRC_ReadAxWorkspace: Read configuration of axis-specific workspaces
KRC_ReadWorkstates: Read the state of the workspaces

Technology functions: Safely define and monitor workspaces

In combination with the KUKA.SafeOperation?software, you reduce the space requirements of your system and make your production operations fast, safe and compact. This allows you to use the cell configuration and human-robot collaboration even more cost-effectively.

KRC_BrakeTest: Call brake test
KRC_MasRef: Call mastering test
KRC_ReadSafeOPStatus: Read signals of the safety controller

Note: In order to be able to use these function blocks, KUKA.SafeOperation must be installed on the robot controller.

Technology functions: Organization of conveyor applications

In combination with the KUKA.ConveyorTech software, robot actions can be automatically adapted to the motion of assembly lines and conveyors.

KRC_ConvIniOff: Initialize the conveyor driver
KRC_ConvOn: Activate the conveyor driver
KRC_ConvFollow: Track workpiece on conveyor
KRC_ConvSkip: Pick up defined workpiece from conveyor. A total of up to 1024 workpieces can be monitored in the background
KRC_ConvDelWPS: Delete workpiece from conveyor memory
KRC_ActivateConvInterrupt: Activate interrupts for monitoring
KRC_DeactivateConvInterrup: Deactivate interrupts for monitoring

Note: In order to be able to use these function blocks, KUKA.ConveyorTech must be installed on the robot controller.

Technology functions: Removal of workpieces from injection molding and die-casting machines

By connecting it to the KUKA.VectorMove technology package, a robot can be moved from a standstill position along a previously defined vector in Cartesian space by an external force.

KRC_VectorMoveOn: Activate motion along a vector
KRC_VectorMoveOff: Deactivate motion along a vector

Note: In order to be able to use these function blocks, KUKA.VectorMove must be installed on the robot controller.

Technology functions: Load data determination

KUKA.LoadDataDetermination is an add-on option package for determining the mass, center of gravity and moments of inertia of loads mounted on the robot flange. If these load data are known, the acceleration profile of the robot system can be optimized and overload can be avoided.

KRC_LDDconfig: Configuration of the load data determination
KRC_LDDtestRun: Execution of a test motion for load data determination at reduced process velocity
KRC_LDDstart: Execute load data determination
KRC_LDDwriteLoad: Transfer the measured values to a specific tool

Note: A precondition is that KUKA.LoadDataDetermination V7.2 or higher is installed.

Robot programming via PLC:

Siemens

- STEP 7 V5.4, S7-300 and S7-400
- STEP 7 (TIA Portal), S7-300 and S7-400
- STEP 7 (TIA Portal), S7-1500
- TIA Portal (SIMATIC)
- SIMOTION
- SINUMERIK (Run myRobot); see below

3S/CoDeSys
AllenBradley/Rockwell
Beckhoff/TwinCat
Schneider Electric/Modicon
B&R/X…
Lenze/PLC
Mitsubishi/CNC controller

Simulation of automated palletizing applications

Robot programming via PC (C#):

NI/LabVIEW
Robots in Architecture RIA?

Are you a system manufacturer yourself? Then become an mxAutomation partner now!

As a partner, you too can use KUKA.PLC mxAutomation as a solution for operating your machines and robots.

Please do not hesitate to contact us

Operating and programming instructions: All information always at hand for you?

All specifications and documentation for KUKA.PLC mxAutomation for simple robot integration and for all other software solutions can be found in our digital knowledge database KUKA Xpert. You can also order the software directly in the KUKA Marketplace. All you need is a my.KUKA registration.

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