KUKA System Technology KUKA Roboter GmbH

KUKA.TouchSense 2.0

For KUKA System Software 8.3

Issued: 25.07.2013

Version: KST TouchSense 2.0 V1 en (PDF)

 KUKA.TouchSense 2.0

© Copyright 2013
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
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, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC

Publication: Pub KST TouchSense 2.0 (PDF) en

Book structure: KST TouchSense 2.0 V1.2
Version: KST TouchSense 2.0 V1 en (PDF)

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 Contents

Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Terms used ................................................................................................................ 6

2 Product description ..................................................................................... 7

2.1 Overview of KUKA.TouchSense ................................................................................ 7
2.2 Communication .......................................................................................................... 7
2.3 Workpiece search ...................................................................................................... 8
2.3.1 Single Touch mode ............................................................................................... 8
2.3.2 Double Touch mode ............................................................................................. 9

3 Safety ............................................................................................................ 11
4 Installation ................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.2 Installing or updating TouchSense ............................................................................. 13
4.3 Uninstalling TouchSense ........................................................................................... 14

5 Operation ...................................................................................................... 15
5.1 Menus ........................................................................................................................ 15
5.2 Status keys ................................................................................................................ 15

6 Configuration ............................................................................................... 17
6.1 Configuring TouchSense via the smartHMI ............................................................... 17
6.1.1 “General settings” tab ........................................................................................... 17
6.1.2 “Search dynamic” tab ............................................................................................ 18
6.1.3 “Sensor configuration” tab .................................................................................... 19
6.2 Configuring TouchSense with WorkVisual ................................................................. 19
6.2.1 Setting parameters ............................................................................................... 20

7 Programming ............................................................................................... 21
7.1 Instructions for programming ..................................................................................... 21
7.2 Preparation ................................................................................................................ 21
7.3 Inline form “Search” ................................................................................................... 21
7.3.1 Option window “Set new reference” ...................................................................... 23
7.3.2 Option window “Search parameter” ...................................................................... 24
7.4 Linked search ............................................................................................................. 25
7.4.1 Example of a linked search: searching for the position of a single-V butt weld .... 26
7.5 Programming a correction instruction ........................................................................ 27
7.5.1 Inline form “Corr” (1-dimensional) ......................................................................... 27
7.5.2 Inline form “Corr” (2-dimensional) ......................................................................... 28
7.5.3 Inline form “Corr” (3-dimensional) ......................................................................... 29
7.5.4 Inline form “Corr” (freely programmable) .............................................................. 30
7.5.4.1 Freely programmable correction – detailed explanation .................................. 32
7.5.5 Inline form “Corr Off” ............................................................................................. 33
7.5.6 Inline form “Check Point” ...................................................................................... 33
7.5.6.1 Option window “Position evaluation criteria” .................................................... 35

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 KUKA.TouchSense 2.0

8 Example programs ...................................................................................... 37

8.1 Example program with 3-dimensional correction ....................................................... 37

9 Messages ...................................................................................................... 39
9.1 Error messages ......................................................................................................... 39

10 KUKA Service ............................................................................................... 43

10.1 Requesting support ................................................................................................... 43
10.2 KUKA Customer Support ........................................................................................... 43

Index ............................................................................................................. 51

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 1 Introduction

1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of the robot controller system
 Advanced KRL programming skills

For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the KUKA System Software
 Documentation relating to options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.

These warnings mean that death or severe injuries may

occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if

no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.

This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:

Procedures marked with this warning must be followed

exactly.

Notes These hints serve to make your work easier or contain references to further
information.

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 KUKA.TouchSense 2.0

Tip to make your work easier or reference to further information.

1.4 Terms used

Term Description
Square butt A square butt weld is formed when 2 workpieces, e.g. 2
weld plates, lie parallel to each other. A square butt weld
takes the form of a straight line.
Single-V butt A single-V butt weld is formed when 2 workpieces
weld stand at right angles to each other. A single-V butt weld
takes the form of a triangle with two sides of equal
length.
Fast Measure- Fast Measurement interface X33 can be used to pro-
ment gram search commands in the robot controller for mea-
suring workpieces using digital sensors. Interface X33
is located on the connection panel of the robot control-
ler.

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 2 Product description

2 Product description

2.1 Overview of KUKA.TouchSense

KUKA.TouchSense is an add-on technology package e.g. for welding applica-

tions that require a high degree of dimensional accuracy. Correction of the
originally programmed path is often necessary in order to compensate for de-
viations in the shape or position of workpieces. This is possible with KU-
KA.TouchSense.

Functional The original position of the workpiece is detected using the sensor, a live weld-
principle ing wire. This is done by means of search instructions which are programmed
via inline forms. When the welding wire touches the workpiece, the current
flow is registered. At the same time, the search motion is interrupted by an in-
terrupt signal and the position of the robot when the welding wire touches the
workpiece is saved. Depending on the workpiece, one or more search instruc-
tions must be programmed.

Fig. 2-1: Functional principle

1 Welding power source 4 Welding wire

2 Relay 5 Workpiece
3 “Fast Measurement” cable 6 Current flow on contact

If the workpiece is then offset, the new position of the workpiece is determined
using the same program. The robot controller calculates correction data sets
from the difference between the original position and the new position.
When making the correction, the programmed path data are offset by the cor-
rection data. This is done by means of one or more correction instructions,
which are likewise programmed via inline forms.

2.2 Communication

If KUKA.TouchSense is used e.g. for arc welding, a short-circuit between the

welding wire and the workpiece causes a 24 volt signal from the robot to be
returned to the robot by the welding power source via a floating contact and a
fast measuring input and to be evaluated by the robot controller.

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 KUKA.TouchSense 2.0

Fig. 2-2: Communication principle

1 Robot controller 5 Workpiece / clamping fixture

2 Fast Measurement input or 6 Welding power source
standard input
3 Robot 7 Relay / optocoupler
4 Sensor / welding wire

KUKA Roboter GmbH does not supply universal touch hardware.

When setting up the hardware, observe the specifications of the pow-
er source used.

Further information on connecting the Fast Measurement inputs can

be found in the assembly and operating instructions “Optional Inter-
faces for KR C4”.

2.3 Workpiece search

Overview There are two methods available for this:

 Single Touch
(>>> 2.3.1 "Single Touch mode" Page 8)
 Double Touch
(>>> 2.3.2 "Double Touch mode" Page 9)

2.3.1 Single Touch mode

This method can be used to determine the positional offset of a workpiece.

The robot moves the sensor from the start point along a defined search path.
The search direction is defined by the Via point. The search motion is stopped
when the sensor touches the workpiece.
The axis values determined during the search are saved as a correction data
set. The robot then returns to the start point.
The search path must be programmed in such a way that both the original and
new positions of the workpiece lie within the limits of the search motion and

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 2 Product description

can thus be detected. The search path is dependent on the search distance X,
which is set in the Search Parameter option window.

Fig. 2-3: Example: search motion, original position of the workpiece

Fig. 2-4: Example: search motion, new position of the workpiece

1 Start point of the search

2 Via point of the search: determines the search direction
3 Touch position: sensor touches workpiece
4 Search distance
5 Workpiece

The number of search instructions needed depends on the possible changes

in position of the workpiece. Up to 3 search instructions are generally neces-
sary (for the offset and rotation of each axis) in order to adapt a path to the
changed position. In the case of unfavorable geometries or poor accessibility,
the number of search motions can be extended as required.

2.3.2 Double Touch mode

This method can be used to determine the center of a gap between 2 work-
pieces, e.g. for a square butt weld.
The start point of the search lies within the gap. The search direction is defined
by the Via point. The search motion is stopped when the sensor touches the
side of the gap. The search is then started automatically in the opposite direc-
tion. The search motion is stopped when the sensor touches the other side of
the gap.
From the axis values determined during the search, the center of the gap is
calculated and saved as a correction data set. The robot then returns to the
start point.
The start point and the search path must be programmed in such a way that
both the original and new positions of the gap lie within the limits of the search
motion and can thus be detected. The search path is dependent on the search
distance X, which is set in the Search Parameter option window.

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 KUKA.TouchSense 2.0

Fig. 2-5: Example of a search motion: center of gap, touch 1

Fig. 2-6: Example of a search motion: center of gap, touch 2

1 Start point of the search

2 Via point of the search: determines the search direction
3 Touch position 1: sensor touches the first side of the gap
4 Center of gap
5 Search distance
6 Touch position 2: sensor touches the second side of the gap

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 3 Safety

3 Safety
This documentation contains safety instructions which refer specifically to the
software described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the Operating and Programming Instructions for End Users.

The “Safety” chapter in the operating and programming instructions

of the KUKA System Software (KSS) must be observed. Death to per-
sons, severe injuries or considerable damage to property may other-
wise result.

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 4 Installation

4 Installation

4.1 System requirements

Robot Hardware:
controller  KR C4 with interface X33
Software:
 KUKA System Software 8.3.2 or higher

Laptop/PC Software:
 WorkVisual 3.0
The requirements for installation of WorkVisual are contained in the
WorkVisual documentation.

4.2 Installing or updating TouchSense

It is advisable to archive all relevant data before updating a software

package.

Precondition  “Expert” user group

 Software on USB stick

Recommendation: Always use KUKA sticks. Data may

be lost if sticks from other manufacturers are used.

Procedure 1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry TouchSense must be displayed in the
Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
If not, the drive from which the software is being installed must be config-
ured first:
 Press the Configuration button. A new window opens.
 Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
 Press Path selection. The available drives are displayed.
 Select E:\. (If stick connected to the robot controller.)
Or select K:\. (If stick connected to the smartPAD.)
 Press Save. The window closes again.
The drive only needs to be configured once and then remains saved for
further installations.
5. Select the entry TouchSense and click on Install. Answer the request for
confirmation with Yes.
6. Confirm the reboot prompt with OK.
7. Remove the stick.
8. Reboot the robot controller.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

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 KUKA.TouchSense 2.0

4.3 Uninstalling TouchSense

It is advisable to archive all relevant data before uninstalling a soft-

ware package.

Precondition  “Expert” user group

Procedure 1. In the main menu, select Start-up > Additional software. All additional
programs installed are displayed.
2. Select the entry TouchSense and click on Uninstall. Reply to the request
for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

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 5 Operation

5 Operation

5.1 Menus

The following menus and commands are specific to this technology package:
Main menu:
 Configuration > TouchSense
Menu sequence:
 Commands > TouchSense
 Search
 Correction
 Switch off correction
 Check position correction

5.2 Status keys

Procedure Displaying the status keys:

 In the main menu, select Configuration > Status keys > TouchSense.

Description The status keys are only available if the following conditions are met:
 “Expert” user group
 Operating mode T1 or T2
 Program is selected
 Submit interpreter running
 The parameter TouchSense active is activated in the configuration
 The enabling switch is pressed (only for status key Sensor On)
 TouchSense is activated via the status key Option Off (only for status key
Sensor On)
Status key Description
Status key Option Off (not pressed)
TouchSense is active. Search and correction are carried
out.
Pressing the status key deactivates TouchSense.
Status key Option Off (pressed)
TouchSense is not active. Neither search nor correction is
carried out.
Status key Force Mastering (pressed)
Remastering is active. At the next search routine, the posi-
tion data of the workpiece will be saved as reference data.
In the case of a reference run, the reference coordinates
are recalculated. The reference coordinates of the previous
mastering are overwritten.
Status key Force Mastering (not pressed)
Remastering is not active.
Pressing the status key activates remastering.
Status key Corr Off (not pressed)
Correction is not active.

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 KUKA.TouchSense 2.0

Status key Description

Status key Corr Off (not pressed)
Correction has been switched on and is now active.

Status key Corr Off (pressed)

Correction is deactivated and cannot be switched on via
the program.
Or, if correction was switched on, it has been deactivated
by means of this status key.
Status key Sensor On (pressed)
The sensor is switched on.

Status key Sensor On (pressed)

The sensor is switched on and the welding wire is touching
the component.
Status key Sensor On (not pressed)
The sensor is switched off.
Pressing the status key switches the sensor on.

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 6 Configuration

6 Configuration

6.1 Configuring TouchSense via the smartHMI

Precondition  “Expert” user group

 No program is selected.

Procedure 1. In the main menu, select Configuration > TouchSense.

2. Set the parameters on the tabs as required.
(>>> 6.1.1 "“General settings” tab" Page 17)
(>>> 6.1.2 "“Search dynamic” tab" Page 18)
(>>> 6.1.3 "“Sensor configuration” tab" Page 19)
3. Close the window. Respond to the request for confirmation asking whether
the change should be saved by pressing Yes.

6.1.1 “General settings” tab

Parameter Description
TouchSense active Activate or deactivate TouchSense.
 Activated: TouchSense is active; the TouchSense commands are
executed.
 Deactivated: TouchSense is inactive; the TouchSense commands
are ignored.
Steps for messaging Set the messaging level.
 Low: Only the most important messages are displayed, including
safety messages.
 Medium: The displayed messages enable a diagnosis to be carried
out by the user.
 High: The displayed messages enable a diagnosis to be carried out
by the expert.
Default setting: Low
Note: Performance is highest with the setting Low, as every message is
prepared and logged in the system.
Number of search or If an error (e.g. component not found) occurs during a search or mea-
measurement repeats surement, the robot controller automatically repeats the search up to the
after error specified number of retries (as long as errors still occur). Following the
last repetition, and depending on the setting of the parameter Display
dialog in event of error, either a dialog message is generated or the
program stops with an acknowledgement message.
 0…5
Default setting: 0
Note: In the case of a search with welding wire, it is advisable to set this
parameter to the value 0. Otherwise, the welding wire may bend in the
case of a faulty search. If the search is repeated, this leads to incorrect
measurement values.
Wait time before auto- Before the repetitions configured under Number of search or mea-
matic repeat [s] surement repeats after error, the robot controller waits for the time
specified here.
 0.3 … 2.00 s
Default setting: 0.3 s

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 KUKA.TouchSense 2.0

Parameter Description
Show dialog message This parameter determines whether a dialog message is displayed in
in case of error the case of an error.
 No dialog: No dialog message is displayed; the robot stops the pro-
gram.
 Always: A dialog message is displayed in all operating modes.
 T1|T2: A dialog message is only displayed in operating modes T1
and T2.
 T1|T2|AUT: A dialog message is only displayed in operating modes
T1, T2 and AUT.
Default setting: T1|T2
Output number for This parameter determines whether an output is set in the event of a
error correction error, in order to signal the error to the PLC.
 0: No output is set.
 ≠0: The output with the specified number is set.
Default setting: 0
Interrupt priority char- Priority of the interrupt for detection of the feature
acteristic found
 10 … 32
Default setting: 15
Note: The priority of this parameter must be lower than the priority of the
parameter Interrupt priority technology package. Only alter the
default setting if the value is already assigned.
Interrupt priority tech- Priority of the interrupt for the technology package in the case of an error
nology package
 11 … 32
Default setting: 16
Note: The priority of this parameter must be higher than the priority of
the parameter Interrupt priority characteristic found.

6.1.2 “Search dynamic” tab

Description In the option window Search parameter set a dynamic profile can be selected
for the search (Fast, Medium or Slow).
(>>> 7.3.2 "Option window “Search parameter”" Page 24)
Here on the Search dynamic tab, the following velocities and accelerations
can be configured for each profile:

Parameter Description
Search velocity [mm/ Velocity for the search
s]
 2 … 250 mm/s
Retract velocity [mm/ Velocity at which the robot returns to the start point after the search
s]
 2 … 2000 mm/s
Search acceleration Acceleration for the search and return motion
[%]
The value refers to the maximum value specified in the machine data.
Return acceleration The maximum value depends on the robot type and the selected operat-
[%] ing mode.
 1 … 100%

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 6 Configuration

6.1.3 “Sensor configuration” tab

Description Up to 4 sensors can be displayed on this tab. As standard, 1 sensor is dis-

played. To change the number of sensors displayed, the value of the variable
TSg_NumSensors must be changed via the variable correction function.
The following parameters can be configured for each sensor:

Parameter Description
Sensor name Name of the sensor
Note: The name must not exceed 24 characters.
Output number touch Number of the output for activating the touch voltage
voltage
 0: No input configured
Default setting: 0
Input number system Number of the input used by the external system to communicate to the
ready robot that it is ready
 0: No input configured
Default setting: 0
Compensation time Wait time between the setting of the output “Touch voltage” and the start
[s] of the search motion. The compensation time ensures that the touch
voltage is set by the power source and is stable at the welding wire.
 0.0 … 1.0 s
Default setting: 0.1 s
Input number touch Number of the input that is used to signal that the component has been
signal found. This input can be defined as a Fast Measurement input or stan-
dard input.
Default setting: 1
Kind of the touch Type of touch signal
input
 Fast: The input is defined as a Fast Measurement input.
 Standard: The input is defined as a standard input (via a field bus).
Note: The stop reaction and the position data acquisition of the robot
are fastest and most accurate with a Fast Measurement input. If a stan-
dard input is used, the search velocity should not be greater than
10 mm/s.
Switching level of the Type of touch signal level when the component is found
touch input
 High active: The edge from Low to High signals that the component
has been found.
 Low active: The edge from High to Low signals that the component
has been found.

6.2 Configuring TouchSense with WorkVisual

As an alternative to configuration via the smartHMI, TouchSense can be con-

figured with WorkVisual.

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 KUKA.TouchSense 2.0

Step Description
1 Install the TouchSense option package in WorkVisual.
2 Transfer the project from the robot controller to WorkVisual.
Precondition: TouchSense is installed on the robot controller.
Note: This project should be used for the configuration of
TouchSense in WorkVisual, otherwise the entries installed on
the robot controller by TouchSense could be lost when the
project is transferred back to the robot controller (see step 4).
3 Configure TouchSense in the Editor TouchSense Configura-
tion.
(>>> 6.2.1 "Setting parameters" Page 20)
4 Transfer the project from WorkVisual to the robot controller.
Note: During project transfer, the technology-specific files are
copied to the robot controller and activated. If an earlier proj-
ect has already been transferred, the files of this project are
overwritten. It is therefore recommended to archive the files of
the earlier project before transferring the new project.

Information about installing and managing option packages can be

found in the WorkVisual documentation.

Information about bus configuration and project deployment can be

found in the WorkVisual documentation.

6.2.1 Setting parameters

Precondition  A project is open.

 The robot controller has been set as the active controller.

Procedure 1. Open the editor TouchSense Configuration: menu sequence Editors >
Options packages > Configure TouchSense....
2. Set the parameters on the tabs as required.
(>>> 6.1.1 "“General settings” tab" Page 17)
(>>> 6.1.2 "“Search dynamic” tab" Page 18)
(>>> 6.1.3 "“Sensor configuration” tab" Page 19)
3. Save the settings.

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 7 Programming

7 Programming

7.1 Instructions for programming

When a new program is created or an existing program is changed, a

test run must be performed in T1 mode.

The programming descriptions refer to a sensor installed on the

mounting flange unless stated otherwise. If a fixed sensor is used, the
programming must be adapted accordingly.

7.2 Preparation

The following questions must be considered in preparation for programming:

1. In what ways are the workpieces liable to be offset in relation to the refer-
ence workpiece?
 Linear offset along the length, width and/or height
 And/or: Tilted along the length and/or width, and/or rotated in the plane
2. If only linear offsets are able to occur: Can the reference workpiece be cal-
ibrated as a BASE?
3. At what points do measurements have to be carried out in order to detect
the offsets?
4. Are these points accessible for the sensor?
5. Which CDx data of the measurement register the offset?
6. To what extent are the workpieces liable to be offset in relation to the ref-
erence workpiece? Therefore, do the measurements have to be pro-
grammed with or without a search?

7.3 Inline form “Search”

Description This instruction is used to measure the position of the workpiece.

The search is also suitable for robots with mathematically coupled external ax-
es, or robots with a workpiece and a fixed tool (external TCP).
The external axis must be in position before starting the search. It may be
moved into new positions for the next search procedure. If teaching with ex-
ternal axes (mathematically coupled or otherwise), these must remain station-
ary, i.e. only the 6 robot axes may be moved.
A search instruction is also a motion instruction (PTP, LIN, CIRC, SLIN or
SCIRC). The search is initiated at the end point of this motion. As soon as the
workpiece has been found, the robot is stopped. The position of the workpiece
is saved and the robot moves back to the starting point (single touch).
An additional point must be taught for the search (Via point). This Via point de-
fines the search direction. The maximum length of the search motion and other
properties of the search are defined using the parameter list.
Programming a search instruction involves the following steps:
 Saving the coordinates of the start point.
 Saving the coordinates of the Via point.
 Setting various parameters, e.g. search velocity.

Precondition  A program is selected.

 Operating mode T1 or T2

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 KUKA.TouchSense 2.0

 The welding wire must not be bent.

Preparation  It is easier to program the search if the workpiece is positioned in the XY

plane of a calibrated $BASE or parallel to $WORLD.
 If the welding wire is bent or pushed back on contact with the workpiece,
this will falsify the correction data. To reduce the risk of this occurring, it is
recommended that the maximum search velocity is determined before pro-
gramming the search.

There is a risk of collisions if differently calibrated posi-

tions are used in search instructions. When program-
ming search instructions, it must be ensured that teaching is carried out using
either a robot tool or an external tool or an external kinematic system.

Procedure 1. Select the menu sequence Commands > TouchSense > Search.
2. Select the motion type in the inline form.
3. Only if CIRC or SCIRC has been selected as the motion type:
Move the TCP to the position for the auxiliary point. Press Teach Aux.
4. Move the TCP to the position for the end point (= start point for the search).
Press Touchup.
The start point must be approached in such a way that the welding wire is
not perpendicular to the workpiece during the search, otherwise the resul-
tant correction data will be falsified. Ideally, the welding wire should be po-
sitioned at an angle of approx. 45° to the search direction at the start
position.

Fig. 7-1: Start position for search

5. Set the other parameters in the inline form.

6. Move the TCP to the position that is to be taught as the Via point. Press
Touchup Via.
7. If the search instruction is to detect the original position of the workpiece
(instead of the deviation from the original position), set the parameter to
Yes in the option window Set new reference. The data are saved as ref-
erence data.
(>>> 7.3.1 "Option window “Set new reference”" Page 23)
8. Set the desired parameters in the option window “Search parameter”.
(>>> 7.3.2 "Option window “Search parameter”" Page 24)
9. Save instruction with Cmd OK.

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 7 Programming

Fig. 7-2: Inline form “Search”

Define the Via point and search distance so there is no

risk of a collision if the component is not found and the
robot therefore has to cover the full length of the search distance. Damage to
property may otherwise result.

Item Description
1 Via point
The Via point defines the direction of the search. It does not spec-
ify the end point of the search. (This is derived from the search
distance.)
The system automatically generates a name. The name can be
changed.
2 Name of the feature.
The system automatically generates a name. The name can be
changed. Touch the arrow to edit the data. The corresponding
option window is opened.
(>>> 7.3.1 "Option window “Set new reference”" Page 23)
3 Search parameter
The system automatically generates a name. The name can be
changed. Touch the arrow to edit the data. The corresponding
option window is opened. The search distance and the velocity
profile for the search are defined here.
(>>> 7.3.2 "Option window “Search parameter”" Page 24)

7.3.1 Option window “Set new reference”

Fig. 7-3: Option window: Set new reference

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 KUKA.TouchSense 2.0

Item Description
1 Set new reference
 Yes: The position of the reference workpiece is referenced
again for the search. Once referencing has been carried out,
this parameter is automatically set to No so that the referenc-
ing is not overwritten.
 No: The position of the reference workpiece is not referenced
again for the search.

7.3.2 Option window “Search parameter”

Fig. 7-4: Option window: Search parameter

Item Description
1 Enter the search distance.
 5 … 250 mm
Default value: 50 mm
2 Set the velocity and acceleration for the search.
 Slow, Medium or Fast
The exact values can be configured on the Search dynamic tab.
(>>> 6.1.2 "“Search dynamic” tab" Page 18)
3 Select the Touch mode.
 Single Touch
(>>> 2.3.1 "Single Touch mode" Page 8)
 Double Touch
(>>> 2.3.2 "Double Touch mode" Page 9)
4 Select the sensor to be used for the search.

Define the Via point and search distance so there is no

risk of a collision if the component is not found and the
robot therefore has to cover the full length of the search distance. Damage to
property may otherwise result.

The stop reaction and the position data acquisition of the robot are
fastest and most accurate with a Fast Measurement input. If a stan-
dard input is used, the search velocity should not be greater than 10
mm/s.

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 7 Programming

7.4 Linked search

Description With searches consisting of more than one search motion, there may be such
a large deviation in one direction that a further search instruction no longer lo-
cates the workpiece. This can be avoided by linking searches as illustrated in
the following diagrams.
Linking the searches leads to a higher hit rate and greater accuracy. The
linked search is suitable for all linear offsets and slight rotations.

Example ...
LIN P1 TouchSense SEARCH VIA P2 CD1
LIN P3 TouchSense SEARCH VIA P4 CD2
TouchSense Corr 2D CD1 CD2
...

Fig. 7-5: Original position

The second search command no longer locates the workpiece:

Fig. 7-6: New position, without linked search

Remedy: Program a linked search. The second search command then takes
into account the first change in position.
...
LIN P1 TouchSense SEARCH VIA P2 CD1
TouchSense Corr 1D CD1
LIN P3 TouchSense SEARCH VIA P4 CD2
TouchSense Corr 2D CD1 CD2
...

Fig. 7-7: New position and linked search

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 KUKA.TouchSense 2.0

7.4.1 Example of a linked search: searching for the position of a single-V butt weld

Description A single-V butt weld may be subject to a linear offset in 2 directions:

 Horizontally to the right or left
 Vertically up or down
In order to determine the position of the single-V butt weld, a linked search is
carried out, combining a search in Single Touch mode with a search in Double
Touch mode.
1. Single Touch: search for the upper edge of the weld
2. Double Touch: search for the center of the weld

Fig. 7-8: Search for upper edge of weld, Single Touch

Item Description
1 Start point P1 of the search
2 Via point P2 of the search: determines the search direction
3 Touch position: upper edge of the weld
4 Workpiece

Fig. 7-9: Search for center of weld, Double Touch

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 7 Programming

Item Description
1 Start point P3 of the search
2 Via point P4 of the search: the search direction must be pro-
grammed so that it is perpendicular to the upper edge of the weld.
3 Touch position 1: from this point, the search motion is started in
the opposite direction.
4 Touch position 2
5 Workpiece

Example 1 ...
2 LIN P3 TouchSense SEARCH VIA P4 CD1
3 TouchSense Corr 1D CD1
4 LIN P1 TouchSense SEARCH VIA P2 CD2
5 TouchSense Corr 2D CD1 CD2
6 ...

Line Description
2 Search instruction for determining the center of the weld
(Double Touch)
3 Correction instruction 1 dimensional: Correction of the hori-
zontal offset of the weld
4 Search instruction for determining the upper edge of the weld
(Single Touch)
5 Correction instruction 2 dimensional: Correction of the hori-
zontal offset of the weld, linked to correction of the vertical off-
set of the weld
6… Weld program

7.5 Programming a correction instruction

If the workpieces are possibly inclined and/or rotated in

relation to the reference workpiece, the correction in-
struction Corr Free must be used. The correction instructions Corr 1D, Corr
2D and Corr 3D can only be used to determine or correct linear offsets and
not rotations or inclinations.

7.5.1 Inline form “Corr” (1-dimensional)

Description This correction instruction is used if the workpiece has a linear offset in one
direction:
 Length
 Width
 or height
A correction instruction overwrites the data of a previous correction instruction.

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 KUKA.TouchSense 2.0

Fig. 7-10: Example: 1-dimensional offset

1 Original position 2 Offset position

Precondition  All search instructions have been programmed.

Procedure 1. Select the menu sequence Commands > TouchSense > Correction.
2. Select 1D in the inline form.

Fig. 7-11: Inline form: Corr (1D)

Item Description
1 Enter the correction data set.
All correction data sets created in the current program can be
entered.

7.5.2 Inline form “Corr” (2-dimensional)

Description This correction instruction is used if the workpiece has a linear offset in two
directions:
 Length
 Width
 or height
A correction instruction overwrites the data of a previous correction instruction.
The following example is valid for an unlinked search.

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 7 Programming

Fig. 7-12: Example: 2-dimensional offset

1 Original position 2 Offset position

Precondition  All search instructions have been programmed.

Procedure 1. Select the menu sequence Commands > TouchSense > Correction.
2. Select 2D in the inline form.

Fig. 7-13: Inline form: Corr (2D)

Item Description
1, 2 Enter the correction data set.
All correction data sets created in the current program can be
entered.

7.5.3 Inline form “Corr” (3-dimensional)

Description This correction instruction is used if the workpiece has a linear offset in all di-
rections:
 Length
 Width
 and height
A correction instruction overwrites the data of a previous correction instruction.
The following example is valid for an unlinked search.

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 KUKA.TouchSense 2.0

Fig. 7-14: Example: 3-dimensional offset

1 Original position 2 Offset position

Precondition  All search instructions have been programmed.

Procedure 1. Select the menu sequence Commands > TouchSense > Correction.
2. Select 3D in the inline form.

Fig. 7-15: Inline form: Corr (3D)

Item Description
1…3 Enter the correction data set.
All correction data sets created in the current program can be
entered.

7.5.4 Inline form “Corr” (freely programmable)

Description This correction instruction is used if the workpiece is rotated in one or more
directions:
 Length
 Width
 Height
The workpiece may additionally have a linear offset in the other directions.
A correction instruction overwrites the data of a previous correction instruction.

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 7 Programming

Fig. 7-16: Example: Angular offset

1 Original position 2 Offset position

Precondition  All search instructions have been programmed.

Procedure 1. Select the menu sequence Commands > TouchSense > Correction.
2. Select Free in the inline form.

Fig. 7-17: Inline form: Corr (freely programmable)

Item Description
1…6 Enter the correction data set.
All correction data sets created in the current program can be
entered.

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 KUKA.TouchSense 2.0

7.5.4.1 Freely programmable correction – detailed explanation

Description

Fig. 7-18: Freely programmable correction, dimensions

 Boxes 1, 2 and 3 in the inline form define a plane between dimensions

CD1, CD2 and CD3.
The dimensions can be freely assigned to the boxes. (Dimension CD1
does not have to be entered in box 1. It could also be entered in box 2 or 3.)
 Boxes 4 and 5 in the inline form define a line between dimensions CD4 and
CD5.
The dimensions can be freely assigned to the boxes.
 Box 6 in the inline form defines the dimension CD6.
The amount of input required depends on the specific correction. If, for exam-
ple, only a rotation of the surface needs to be corrected, it is only necessary to
enter correction data sets in boxes 1 to 3. The default value -1 is entered in
boxes 4 to 6.

Point Description
CD1 Defines the surface.
CD2 1st rotational dimension of the surface
CD3 2nd rotational dimension of the surface
CD4 Defines the line.
CD5 1st rotational dimension of the line
CD6 Defines the offset.

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 7 Programming

Example

Fig. 7-19: Example: Freely programmable correction, dimensions

Fig. 7-20: Example: Freely programmable correction, inline form

7.5.5 Inline form “Corr Off”

Description Each correction instruction switches the correction mode on. This instruction
switches the correction mode off. This means that all following motion com-
mands are executed without correction.

If correction mode is switched off and the position of the

workpiece does not correspond to the reference position,
collisions may result.

Procedure  Select the menu sequence Commands > TouchSense > Switch off cor-
rection.

Fig. 7-21: Inline form: Corr Off

7.5.6 Inline form “Check Point”

Description This instruction checks whether a point is still within certain limits after the cor-
rection. If the limits are exceeded, a message is displayed. This enables incor-
rectly loaded workpieces to be detected, for example.

Recommendation: Always check corrections with the instruction

Check Point.

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 KUKA.TouchSense 2.0

The instruction Check Point should be programmed directly after the correc-
tion instruction. It may be inserted at any distance before the point to be
checked.
The limits can be defined as a sphere about the original point, or as X, Y, Z
and angle values.

Procedure  Select the menu sequence Commands > TouchSense > Check position
correction.

Fig. 7-22: Inline form: Check Point (Radius)

Fig. 7-23: Inline form: Check Point (Set)

The Set box can be displayed by pressing the Parameter button. The Radius
box can be displayed by pressing the Radius button.

Item Description
1 Point whose position is to be checked.
All points created in the current program are available for selec-
tion.
2 The system checks whether the point is still within a sphere of this
radius.
 0.1 … 200 mm
3 The system checks whether the point lies within the defined limits.
Name of the data set containing the limit values. The system auto-
matically generates a name. The name can be overwritten.
Touch the arrow to edit the limits. The corresponding option win-
dow is opened.
(>>> 7.5.6.1 "Option window “Position evaluation criteria”"
Page 35)

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 7 Programming

7.5.6.1 Option window “Position evaluation criteria”

Fig. 7-24: Option window: Position evaluation criteria

Item Description
1 Permitted deviation in the X values
2 Permitted deviation in the Y values
3 Permitted deviation in the Z values
4 Permitted deviation in the angle values

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 KUKA.TouchSense 2.0

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 8 Example programs

8 Example programs

8.1 Example program with 3-dimensional correction

Program 1 DEF Example( )

2 INI
3
4 PTP HOME Vel= 100 % DEFAULT
5
6 PTP P1 CONT Vel=100 % PDAT1 Tool[1]:Torch1 Base[0]
7 PTP P2 CONT Vel=100 % PDAT2 Tool[1]:Torch1 Base[0]
8 LIN P3 Vel=2 m/s CPDAT1 TouchSense SEARCH VIA P4 CD1 SP1
TOOL[1]:Torch1 BASE[1]:Table
9 PTP P5 Vel=100 % PDAT3 Tool[1]:Torch1 Base[0]
10
11 TouchSense Corr 1D CD1
12
13 TouchSense Check Point P8 Radius=3 mm
14
15 PTP P6 CONT Vel=100 % PDAT4 Tool[1]:Torch1 Base[0]
16 PTP P7 CONT Vel=100 % PDAT5 Tool[1]:Torch1 Base[0]
17 LIN P8 Vel=2 m/s CPDAT2 TouchSense SEARCH VIA P9 CD2 SP2
Tool[1]:Torch1 BASE[1]:Table
18
19 TouchSense Corr 2D CD1 CD2
20
21 TouchSense Check Point P13 Radius=3 mm
22
23 PTP P10 Vel=100 % PDAT6 Tool[1]:Torch1 Base[0]
24 LIN P11 Vel=2 m/s CPDAT3 TouchSense SEARCH VIA P12 CD3 SP3
Tool[1]:Torch1 BASE[1]:Table
25 PTP P13 Vel=100 % PDAT7 Tool[1]:Torch1 Base[0]
26
27 TouchSense Corr 3D CD1 CD2 CD3
28
29 TouchSense Check Point P17 Set=CP1
30 TouchSense Check Point P18 Radius=5 mm
31
32 PTP P14 CONT Vel=100 % PDAT8 Tool[1]:Torch1 Base[0]
33 LIN P15 CONT Vel=2 m/s CPDAT4 Tool[1]:Torch1 Base[0]
34 PTP P16 Vel=100 % PDAT9 Tool[1]:Torch1 Base[0]
35 LIN P17 Vel=0.2 m/s CPDAT5 Tool[1]:Torch1 Base[0]
36 LIN P18 Vel=0.2 m/s CPDAT6 Tool[1]:Torch1 Base[0]
37 PTP P19 CONT Vel= 100% PDAT10 Tool[1]:Torch1 Base[0]
38
39 PTP HOME Vel= 100 % DEFAULT
40
41 END

Description Line Description

8 First search instruction with correction data set CD1
11 Correction instruction 1 dimensional
13 The instruction checks that point P8 is no more than 3 mm
away from the original position following the correction.
15 … 17 These motions are executed with the data from the 1-dimen-
sional correction instruction.
17 Second search instruction with correction data set CD2
19 Correction instruction 2 dimensional
21 The instruction checks that point P13 is no more than 3 mm
away from the original position following the correction.
23 … 25 These motions are executed with the data from the 2-dimen-
sional correction instruction.
24 Third search instruction with correction data set CD3
27 Correction instruction 3 dimensional

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 KUKA.TouchSense 2.0

Line Description
29 The instruction checks that point P17 is within the limits de-
fined in the Correction set option window.
30 The instruction checks that point P18 is no more than 5 mm
away from the original position following the correction.
32 … 37 These motions are executed with the data from the 3-dimen-
sional correction instruction.
39 The HOME position is not affected by the correction.

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 9 Messages

9 Messages

9.1 Error messages

No. Message Description

1003 Power source or the control of Remedy:
touch sensing is not ready or is
 Check whether the weld power source or con-
off.
troller is switched on.
 Or: Check the configuration of the input system
and modify if necessary.
 Or: Check “Compensation time - Relay” if readi-
ness is coupled with the “Touch voltage” output.
1007 Calculation of the motion frame Cause: The distance between the start point and
for dynamic measurements is not the Via point is too small.
possible! Check the taught posi-
Remedy: Increase the distance by reteaching the
tions of the search motion.
start point and/or the Via point.
1008 The motion could not be initial- Remedy: Analyze previous messages and restart
ized, since the process state program.
does not permit this.
1011 The search will not be done, Cause: TouchSense is not active.
because option TouchSense is
Remedy: Activate TouchSense via the status key or
not active
by means of the configuration.
1015 The measurement could not be Cause: The sensor is not initialized.
carried out, since the process
Remedy: Check the configuration of the sensor.
state does not permit this.
1017 Error on sensor switch-off! Cause: The sensor is incorrectly configured.
Remedy: Check the configuration of the sensor.
1018 Correction data is not set, Cause: TouchSense is not active.
because option TouchSense is
Remedy: Activate TouchSense via the status key or
not active
by means of the configuration.
1020 Correction data cannot be calcu- Cause: The interpolation mode in which the mea-
lated or set! suring instructions are executed is incorrect.
Remedy: Check the interpolation mode at the start
position and repeat the measurement.
1021 Correction data cannot be set, Cause: The process state is not #MeasureOkSe-
because Process state not ful- nOffMovOff.
filled
Remedy: Repeat the measurement.
1022 The correction will not be calcu- Cause: TouchSense is not active.
lated, because option Touch-
Remedy: Activate TouchSense via the status key or
Sense is not active
by means of the configuration.
1038 Function "Check Point" will not Cause: TouchSense is not active.
be executed, because option
Remedy: Activate TouchSense via the status key or
TouchSense is not active
by means of the configuration.
1057 Process state #SenInitializedMo- Remedy: Reset the program and contact KUKA
veNot not possible! Support if the message occurs again.
1058 Process state #SensorAnd- Remedy: Reset the program and contact KUKA
MoveInitialized not possible! Support if the message occurs again.
1059 Process state #SensorOn not Remedy: Reset the program and contact KUKA
possible! Support if the message occurs again.

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 KUKA.TouchSense 2.0

No. Message Description

1060 Process state #SensorOnMeas- Remedy: Reset the program and contact KUKA
MovementOn not possible! Support if the message occurs again.
1061 Process state #SensorFound- Remedy: Reset the program and contact KUKA
Workpiece not possible! Support if the message occurs again.
1062 Process state #ErrorSearchLimit Remedy: Reset the program and contact KUKA
not possible! Support if the message occurs again.
1063 Process state #ErrorStopAtMeas Remedy: Reset the program and contact KUKA
not possible! Support if the message occurs again.
1064 Process state #ErrorStopAtMeas- Remedy: Reset the program and contact KUKA
Movement not possible! Support if the message occurs again.
1065 Process state #MeasureOkSe- Remedy: Reset the program and contact KUKA
nOffMovOff not possible! Support if the message occurs again.
1066 Process state #SetCorrData- Remedy: Reset the program and contact KUKA
DoneFirstDoub not possible! Support if the message occurs again.
1067 Unknown state of state machine Remedy: Reset the program and contact KUKA
Support if the message occurs again.
1500 The via-position is the same as Cause: The start point corresponds to the Via point
the start position or the distance or the distance between the two points is too small.
is too short. The search, mea-
Remedy: Re-teach the Via point at a distance far
surement will be aborted.
enough away (min. 5 mm) from the start point.
1502 Search direction cannot be deter- Cause: The distance between the start point and
mined. Calculation of Start and the Via point is too small.
destination position not possible!
Remedy: Increase the distance by reteaching the
start point and/or the Via point.
1503 Unknown motion type on prepar- Remedy:
ing search motion
1. Open the inline form Search, check the entries
and close the form again with Cmd OK.
2. Execute the search instruction again.
3. Contact KUKA Support if the message occurs
again.
1506 Unknown touch type in Cause: An inadmissible touch type has been used.
TSM_SearchLoop().#Single or
Remedy: Check the entries in the inline form.
#Double expected.
1508 Unknown motion type in subrou- Remedy: Reset the program and contact KUKA
tine BFM_SearchLoop(), Support if the message occurs again.
"#MoveWithLin" expected
1509 Search vector is too short to Cause: The calculated search vector is too short to
define a search direction define a search direction.
Remedy: Re-teach the Via position. Check the
entries in the inline form. Check the variable
“TSM_MinSearchVectorLen”.
1511 Start of the search not possible, Cause:
1512 because the fast input "touch sig-
 The welding wire is touching the component.
1536 nal" is already active before
searching is started.  Or: The switching level of the touch input is in-
correctly set.
Remedy:
 Move the robot so that the welding wire is no lon-
ger touching the component.
 Or: Set the switching level of the touch input dif-
ferently.

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 9 Messages

No. Message Description

1514 Start of the search not possible, Cause:
1515 because the standard input
 The welding wire is touching the component.
1537 "touch signal" is already active
before searching is started.  Or: The switching level of the touch input is in-
correctly set.
Remedy:
 Move the robot so that the welding wire is no lon-
ger touching the component.
 Or: Set the switching level of the touch input dif-
ferently.
1519 Unknown touch type in Cause: An inadmissible touch type has been used.
TSM_SearchLoopCP(). "#Sin-
Remedy: Check the entries in the inline form.
gle", "#FirstDouble" oder "#Sec-
ondDouble" expected.
1526 Calculated target position Cause: The complete search distance was covered
reached but workpiece not recog- without the workpiece being detected. Many possi-
nized ble reasons, including: The workpiece is located
outside the search window of the sensor. Or fouling
in the field of view of the sensor.
Remedy: Depends on the reason, for example:
Reprogram the search with a longer search path.
2000 The selected sensor is Null Cause: There is no valid sensor selected.
Remedy: Check the selection of the sensor in the
inline form and the configuration of the sensor.
2001 The selected sensor is not con- Cause: A sensor that is not configured has been
figured selected in the inline form.
Remedy: Either configure the selected sensor or
select a configured sensor in the inline form.
2002 Input for "Touch signal" exceeds Cause: The value for the touch signal input is
the system input range. greater than the number of inputs.
Remedy: Enter a value for the touch signal input
that is lower than the number of inputs.
2500 No correction is calculated. Indi- Cause: For some CDx either no measurement or no
vidual data sets are incorrectly successful measurement has been performed.
preset.
Remedy: Repeat all the measurements.
2501 No correction calculated. Correc- Cause: The CDx originate from measuring instruc-
tion data set type mismatch. tions that are executed partly with interpolation
mode = TRUE and partly with FALSE. This mixture
is not permissible.
Remedy: Execute all measuring instructions in the
same mode. (The interpolation mode is defined in
the Frames option window.)

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 KUKA.TouchSense 2.0

No. Message Description

2530 Calculation of normalized vector Cause:
cross product from [Y] or [Y-A.1]
 Unsuitable CDx were selected in the correction
is not possible!
instruction. The required values cannot be cal-
culated from them.
 Or: CDx were selected in the correction instruc-
tion whose directions meet at an angle of 90°.
Remedy:
 Check the correction instruction and select suit-
able CDx.
 Or: Repeat the measurements, altering the an-
gle of the sensor slightly between measure-
ments.
2541 The current interpolation mode Cause: The interpolation mode in which the mea-
(TCP) differs from IPO mode of suring instructions were executed differs from the
measurement data. A mixture is current interpolation mode. This mixture is not per-
not allowed and can not be calcu- missible.
lated.
Remedy: Change the modes so that they match.
The current interpolation mode can be changed
using the system variable $TCP_IPO.
2542 No frame correction can be cal- Initial situation: The sensor is defined as a fixed tool
culated with the current coordi- (= BASE), the workpiece is moving (= TOOL).
nate system ($ACT_TOOL
Cause: Before the correction instruction a motion
smaller 0).
must have been carried out with the moving work-
piece. This is not the case. Therefore the robot con-
troller cannot determine the current TOOL.
Remedy: Program a motion with the workpiece
before the correction instruction.
2543 Current interpolation mode Cause: The interpolation mode in which the mea-
(BASE) differs from IPO mode of suring instructions were executed differs from the
measurement data. A mixture is current interpolation mode. This mixture is not per-
not allowed and can not be calcu- missible.
lated.
Remedy: Change the modes so that they match.
The current interpolation mode can be changed
using the system variable $TCP_IPO.

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 10 KUKA Service

10 KUKA Service

10.1 Requesting support

Introduction The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please con-
tact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Model and serial number of the manipulator
 Model and serial number of the controller
 Model and serial number of the linear unit (if applicable)
 Model and serial number of the energy supply system (if applicable)
 Version of the KUKA System Software
 Optional software or modifications
 Archive of the software
 Application used
 Any external axes used (if applicable)
 Description of the problem, duration and frequency of the fault

10.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]

Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
[email protected]
www.headland.com.au

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Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl

China KUKA Robotics China Co.,Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1888
Fax +86 21 6787-1803
www.kuka-robotics.cn

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

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France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

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Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]

Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]

Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
[email protected]
www.kuka-roboter.at

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Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]

Russia OOO KUKA Robotics Rus

Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

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Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
[email protected]
www.kuka-e.com

South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

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Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]

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 Index

Index
C Single Touch 8
Check Point (inline form) 33 Single-V butt weld 6
Communication 7 Square butt weld 6
Configuration 17 Status keys 15
Corr Off (inline form) 33 Support request 43
Correction, 1D (inline form) 27 System requirements 13
Correction, 2D (inline form) 28
Correction, 3D (inline form) 29 T
Correction, freely programmable (inline form) 30 Terms used 6
Correction, programming 27 TouchSense, configuring (HMI) 17
TouchSense, configuring (WorkVisual) 19
D Training 5
Documentation, industrial robot 5
Double Touch 8 U
Uninstalling TouchSense 14
E Updating TouchSense 13
Error messages 39
Example programs 37 V
Via point 23
F
Fast Measurement 6 W
Fixed sensor 21 Warnings 5
Functional principle 7

G
General settings (tab) 17

I
Installation 13
Installing TouchSense 13
Introduction 5

K
KUKA Customer Support 43

M
Menus 15
Messages 39

O
Operation 15
Overview, KUKA.TouchSense 7

P
Parameters, setting 20
Product description 7
Programming 21
Programming, correction 27
Programming, instructions 21

S
Safety 11
Safety instructions 5
Search (inline form) 21
Search dynamic (tab) 18
Sensor configuration, tab 19
Sensor, fixed 21
Service, KUKA Roboter 43

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