自动配置步骤

前提条件：RoboDK 版本为 5.5.2 或更高，操作系统为 Windows，安装路径为 C:\RoboDK。

1.打开命令提示符：用START➔All programs➔ Accessories➔Command Prompt或START➔Run➔cmd。

2.切换至RoboDK安装目录并启动kukabridge.exe：

c:

cd C:\RoboDK\bin

..\api\Robot\kukabridge.exe

3.此时KUKA桥接驱动进入交互模式。

4.输入以下命令连接控制系统：CONNECT <robot IP address> <port> <number of robot axes>

CONNECT 172.1.1.10 7000 6

5.如果连接成功，你将看到以下输出：

SMS:Connecting

Connected

SMS:Working...

SMS:Ready

6.输入CJNT命令，请求当前机器人关节位置：

CJNT

SMS:Working...

JNTS 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000

SMS:Ready

7.使用CONFIGUREFORCE命令执行自动配置：

CONFIGURE FORCE

SMS:Working...

Requesting robot program state

Current robot program state is #P_FREE

Reading current configuration ($config.dat)

Read complete, updating configuration

Adding definition of variable COM_ACTION

Adding definition of variable COM_ACTCNT

Adding definition of variable COM_ROUNDM

Adding definition of variable COM_VALUE1

Adding definition of variable COM_VALUE2

Adding definition of variable COM_VALUE3

Adding definition of variable COM_VALUE4

Adding definition of variable COM_E6AXIS

Adding definition of variable COM_FRAME

Adding definition of variable COM_POS

Adding definition of variable COM_E6POS

Configuration lines have been updated: 11 added, 0 removed, 0 updated, 659 total

Checking existence of old backup file ($config.bak)

Old backup file exists, deleting it

Creating new backup file ($config.bak)

Backup completed, writing new configuration

New configuration was successfully written

Checking existence of program file (RoboDKsync543.src)

Program file does not exists

Writing program file to robot system

Configuration is complete

SMS:Ready

8.配置完成后，选择并运行程序RoboDKsyncVER.src（VER 为版本号，如 543）。