KUKA工业机器人虚拟实训台仿真调试

Simulation Debugging of KUKA Industrial Robot Virtual Training Platform

根据KUKA工业机器人虚拟实训台控制要求,在KUKA.Sim Pro中导入工业机器人实训台模型,导入传感器,修改部分模型的特征属性,创建工具坐标和基坐标,定义IO信号,编写工业机器人程序,在TIA Portal中编写PLC程序,组态触摸屏监控画面,利用OPC UA实现工业机器人与PLC的通信,完成KUKA工业机器人虚拟实训台仿真调试。

According to control requirements of KUKA industrial robot virtual training platform,models of industrial robot training platform and sensors were imported,characteristic and attribute of some models were improved,tool data and base data were set,IO signals were defined,industrial robot was programmed in KUKA.Sim Pro,PLC was programmed,HMI was configurated in TIA Portal.Communication between industrial robot and PLC was established based on OPC UA.Simulation debugging of KUKA industrial robot virtual training platform was realized.