94de4d6a-e810-4505-9f90-b2d3865077b6_Spez_KR_C2_ed05_en

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Controller KUKA Roboter GmbH KR C2 edition2005 Specification Issued: 03.07.2009 Version: Spez KR C2 ed05 V3 en KR C2 edition2005 © Copyright 2009 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 the KUKA Roboter GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, howev
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  Issued:03.07.2009Version:Spez KR C2 ed05V3en KUKA Roboter GmbH Controller  KR C2 edition2005 Specification  © Copyright 2009KUKA Roboter GmbHZugspitzstraße 140D-86165AugsburgGermanyThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties withoutthe express permission of the KUKA Roboter GmbH.Other functions not described in this documentation may be operable in the controller. The user hasno 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 softwaredescribed. Nevertheless, discrepancies cannot be precluded, for which reason we are not able toguarantee 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 srcinal operating instructionsKIM-PS5-DOC KR C2 edition2005 2 /73 Issued:03.07.2009Version:Spez KR C2 ed05V3en Publication:Pub Spez KR C2 ed05enBook structure:Spez KR C2 ed05V4.1Label:Spez KR C2 ed05V3  3 /73 Issued:03.07.2009Version:Spez KR C2 ed05V3enContents 1Product description .....................................................................................5 1.1Overview of the robot system ....................................................................................51.2Overview of the robot controller .................................................................................51.3Description of the control PC .....................................................................................61.3.1Control PC interfaces ............................................................................................71.3.2PCI slot assignment ..............................................................................................81.4Description of the KUKA Control Panel (KCP) ...........................................................91.4.1Front view .............................................................................................................91.4.2Rear view ..............................................................................................................101.5Electronic Safety Circuit (ESC) safety logic ...............................................................101.5.1Overview of CI3 boards ........................................................................................121.6Description of interfaces ............................................................................................121.6.1Power supply connection X1/XS1 .........................................................................131.6.2Interface X11 ........................................................................................................141.6.3Wiring example X11 ..............................................................................................171.6.4EMERGENCY STOP circuit and safeguard .........................................................18 2Technical data ..............................................................................................23 2.1Robot controller ..........................................................................................................232.2Dimensions of robot controller ...................................................................................262.3Minimum clearances, robot controller ........................................................................262.4Minimum clearances, top-mounted / technology cabinet ...........................................272.5Dimensions of boreholes ...........................................................................................282.6Swing range for cabinet door .....................................................................................28 3Safety ............................................................................................................29 3.1General ......................................................................................................................293.1.1Liability ..................................................................................................................293.1.2Representation of warnings and notes .................................................................293.1.3Designated use of the robot system .....................................................................303.1.4EC declaration of conformity and declaration of incorporation .............................303.1.5Description of the robot system ............................................................................313.1.6Terms used ...........................................................................................................313.2Personnel ...................................................................................................................323.3Safety equipment and safeguards in the robot system ..............................................343.3.1Overview of the safety equipment and safeguards ...............................................343.3.2ESC safety logic ...................................................................................................343.3.3Category for safety-related controller components ...............................................353.3.4Mode selector switch ............................................................................................353.3.5Stop reactions .......................................................................................................363.3.6Workspace, safety zone and danger zone ...........................................................373.3.7Operator safety .....................................................................................................373.3.8EMERGENCY STOP device ................................................................................383.3.9Enabling device ....................................................................................................393.3.10Connection for external enabling device ...............................................................393.3.11Jog mode ..............................................................................................................403.3.12Mechanical end stops ...........................................................................................40 Contents  4 /73 Issued:03.07.2009Version:Spez KR C2 ed05V3enKR C2 edition2005 3.3.13Software limit switches .........................................................................................403.3.14Overview of operating modes and safety measures ............................................403.3.15Mechanical axis range limitation (option) .............................................................413.3.16Axis range monitoring (option) ..............................................................................413.3.17Release device (option) ........................................................................................413.3.18KCP coupler (optional) .........................................................................................423.3.19External safety equipment and safeguards ..........................................................423.3.20Labeling on the robot system ...............................................................................433.4Safety measures ........................................................................................................433.4.1General safety measures .....................................................................................433.4.2Transportation ......................................................................................................443.4.3Start-up and recommissioning ..............................................................................443.4.4Virus protection and network security ...................................................................463.4.5Manual mode ........................................................................................................463.4.6Simulation .............................................................................................................473.4.7Automatic mode ...................................................................................................473.4.8Maintenance and repair ........................................................................................473.4.9Decommissioning, storage and disposal ..............................................................483.4.10Safety measures for “single point of control” ........................................................493.5Applied norms and regulations ..................................................................................50 4Transportation .............................................................................................53 4.1Transportation with the set of rollers (optional) .........................................................534.2Transportation using lifting tackle ..............................................................................534.3Transportation by pallet truck ....................................................................................544.4Transportation by fork lift truck ..................................................................................55 5Start-up and recommissioning ...................................................................57 5.1Start-up overview .......................................................................................................575.2Installing the robot controller .....................................................................................595.3Connecting the connecting cables .............................................................................595.4Connecting the KCP ..................................................................................................605.5Connecting the PE equipotential bonding .................................................................605.6Connecting the robot controller to the power supply .................................................605.7Reversing the battery discharge protection measures ..............................................605.8Connecting the EMERGENCY STOP circuit and safeguard .....................................605.9Configuring and connecting connector X11 ...............................................................615.10Switching on the robot controller ...............................................................................615.11Checking the direction of rotation of the external fan ................................................615.12Electromagnetic compatibility (EMC) .........................................................................62 6KUKA Service ...............................................................................................63 6.1Requesting support ...................................................................................................636.2KUKA Customer Support ...........................................................................................63 Index .............................................................................................................69
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