MTR V8

START UP GUIDE

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Copyright 2012 KUKA France

KUKA FRANCE
Techvalle
6, avenue du Parc
F-91140 Villebon-sur-Yvette
T +33.1.69.31.66.00
F +33.1.69.31.66.01
www.kuka.fr

This documentation or excerpts therefore may not be reproduced or disclosed to third parties without
the express permission of KUKA France.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis,
however, and necessary corrections will be incorporated in the subsequent edition.

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Table of contents

1 MTR software installation and configuration ............................................. 4

1.1 Installing the master on the robot ............................................................... 4

1.2 Configuring the WorkVisual project (by KUKA) ......................................... 7
1.3 Configuring the robot ................................................................................. 12
1.4 Configuring the WorkVisual project (on the integration site) ................. 12
1.5 Configuring the robot (on the integration site) ........................................ 12

2 Special cases .............................................................................................. 14

2.1 Commissioning without PLC ..................................................................... 14

2.2 Commissioning without gun...................................................................... 14
2.3 Commissioning without fluids ................................................................... 14

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1 MTR software installation and configuration

1.1 Installing the master on the robot

Plug and use the USB stick to restore MTR V8 images in silent mode.
The cabinet restarts automatically and the KSS Setup appears.

Click on "OK".

Click on "No" button.

Select the customer language then click on Weiter button.

Click on "Next" button.

Make sure that "Office PC" is not selected. Click on "Next" button.

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Click on "Browse" button.

Choose the robot directory corresponding to your robot then click on "OK"
button.

Check the setup files to be copied then click on "Next" button to start
copying files.

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Select Jetzt ausfhren to validate the cloning window without changing

the computer name.

When setup is finished, the cabinet restarts 2 times and KSS starts.
Currently, the first automatic restart doesnt work, you have to switch OFF
then switch the cabinet ON.
Do not forget to remove the USB stick before switching ON.

According to the hardware, install technologies packages using KSS

plug-in:
Profinet.
Interbus.
safe range monitoring.
ServoGun TC. Its a special ServoGun for MTR.
UserTech, LoadDataDetermination, MTR and CPC technologies
packages are already installed.
(Currently CPC is not automatically installed yet).
Start the cabinet again.

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1.2 Configuring the WorkVisual project (by KUKA)

Start WorkVisual.
Install the MTR KOP file.

Click on Install button then choose the MTR kop file in the right directory.
According to the hardware, install the ArcTechBasis KOP file.
Load the project from the controller to WorkVisual.

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Import all the catalogues with button.

According to the hardware, select KUKARobotsKRC4 catalogue and
install the robot (and linear axis).

According to the hardware, install WagonDriver xml files.

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If ArcTechBasis is used, select in MTR catalogue and install the

PowerSource hardware.
It must be installed before installing the other catalogue devices.
According to the hardware, select in MTR catalogue and install:
The cabinet hardware.
The safety hardware.
The network configuration (Ethercat/ Profinet / Interbus)

According to the hardware, select the ServoGunTC catalogue and install

the gun(s).

For mounted gun: drag and drop the gun on the flange base.

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For static gun: select the cell and link the gun to the robot in Editor->
configure kinematic relations.

Activate the controller.

According to the hardware, activate the safe range monitoring depending
on the options.

According to the hardware, select the customers interface in safety

configuration (SIB, SIB Extended, and Profisafe).

Select a gun and open ServoGun_TC plug-in and configure it. (Gun with
or without pneumatic equalization, program code type : on ILF, force and
thickness from the weld timer).

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Compiling the code.

Transfer the project to the controller with icon.

1.3 Configuring the robot

Configure fluid panel in the "$Config.dat" file (e.g.: no air management

with arc robot) .
Validate the safety configuration.

1.4 Configuring the WorkVisual project (on the integration site)

Configure their own IO links between Master network modules and robot.
Set the Profinet device name.
Set the weld timer Profinet name and IP address.

1.5 Configuring the robot (on the integration site)

Disable CRFZ monitoring if the gun is on the robot flange:

$Config.dat User globals fold
;FOLD MTR SGTC - Safe grippers
tSG_RobotRfzCtrlEnable = FALSE

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Configure the IP address and the virtual Ethernet network.

Set the Interbus configuration
(C:\KRC\ROBOTER\Config\User\Common\IBSPCI.XML)
Set the Profisafe ID.
Load the gun(s) parameters.
If the servo gun is installed, open R1/Mada/$Machine.dat file and set
$async_t1_fast to 1 for each gun.

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2 Special cases

To use the robot without PLC or without gun or without fluids, you have to
change some variables.

Do not forget to restore the original variable values after testing the robot.

2.1 Commissioning without PLC

Then change the following variables:

Variable name Original Value to Comment

value apply
$Config.dat : TRUE FALSE Disable CRFZ
tSG_RobotRfzCtrlEnable check.
/STEU/Machine.dat: $IN[163] $IN[1025] Disable move
$MOVE_ENABLE enable.
/TP/AEVRB.Dat: $IN[161] $IN[1025] Disable AEVRB
AE_PlcAevrb check.

The message robot not on flow is still displayed and the robot can move.

2.2 Commissioning without gun

Start-up the robot without the installation of the ServoGun_TC technology

package.

2.3 Commissioning without fluids

Variable name Original Value to Comment

value apply
$Config.dat : #Analog #None Disable air check.
AI_SensorType
$Config.dat : #Analog #None Disable water check.
tWA1_SensorType

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