Kuka KR C2 Manuals

Manuals and User Guides for Kuka KR C2. We have 5 Kuka KR C2 manuals available for free PDF download: Operating Instructions Manual, Assembly Instructions Manual, Operating Handbook, User Manual

Kuka KR C2 Operating Instructions Manual (215 pages)

edition 2005

Brand: Kuka | Category: Control Systems | Size: 12 MB

Table of Contents
3
Introduction
9
Industrial Robot Documentation
9
Representation of Warnings and Notes
9
Terms Used
9
Purpose
11
Target Group
11
Intended Use
11
Product Description
13
Overview of the Industrial Robot
13
Overview of the Robot Controller
13
Description of the Control PC
14
Control PC Interfaces
15
PCI Slot Assignment
16
Motherboard
16
Hard Drive
18
Multi-Function Card (MFC3)
18
Digital Servo-Electronics (DSE-IBS-C33)
19
Overview of Resolver Digital Converter (RDC)
20
Resolver Digital Converter
20
Force Sensor Card (KSK) for RDC (Option)
22
KSK Switch Box (Option)
23
Fast Measurement with RDC (Option)
24
Saferdc
26
I/O Print Card for Saferdc
28
Force Sensor Card for Saferdc (Option)
29
Fast Measurement with Saferdc (Option)
29
KUKA VGA Card (KVGA)
30
Batteries
31
Description of the KUKA Control Panel (KCP)
31
Front View
32
Rear View
33
KCP Coupler (Optional)
33
Electronic Safety Circuit (ESC) Safety Logic
35
ESC Nodes
36
Overview of CI3 Boards
37
CI3 Standard Board
38
CI3 Extended Board
40
CI3 Bus Board
41
CI3 Tech Board
43
Description of the Power Unit
44
Fuses
45
Power Supply Unit KPS 600
46
Low-Voltage Power Supply KPS-27
48
KUKA Servo Drive (KSD)
49
Mains Filter
50
Cabinet Cooling
50
Description of Interfaces
51
Power Supply Connection X1/XS1
53
KCP Connector X19
54
Motor Connector X20, Axes 1 to 6
55
Motor Connector X7 (Optional)
56
Data Cable X21, Axes 1 to 8
57
Saferobot X21.1
57
Interface X40
59
Safe KSK XA7
60
Safe KSK XA8
61
Description of the Mounting Plate for Customer Components (Optional)
61
Technical Data
63
Robot Controller
63
Saferdc
65
KCP Coupler (Optional)
66
Dimensions of Robot Controller
66
Minimum Clearances, Robot Controller
67
Minimum Clearances, Top-Mounted / Technology Cabinet
68
Dimensions of Boreholes for Floor Mounting
68
Swing Range for Cabinet Door
69
Plates and Labels
69
Safety
73
General
73
Liability
73
Intended Use of the Industrial Robot
73
EC Declaration of Conformity and Declaration of Incorporation
74
Terms Used
75
Personnel
75
Workspace, Safety Zone and Danger Zone
77
Triggers for Stop Reactions
77
Safety Functions
78
Overview of Safety Functions
78
ESC Safety Logic
79
Mode Selector Switch
79
Operator Safety
80
EMERGENCY STOP Device
81
External EMERGENCY STOP Device
82
Enabling Device
82
External Enabling Device
83
Additional Protective Equipment
83
Jog Mode
83
Software Limit Switches
83
Mechanical End Stops
84
Mechanical Axis Range Limitation (Optional)
84
Axis Range Monitoring (Optional)
84
Release Device (Optional)
85
KCP Coupler (Optional)
85
Labeling on the Industrial Robot
85
External Safeguards
86
Overview of Operating Modes and Safety Functions
86
Emergency Stop
86
Safety Measures
87
General Safety Measures
87
Testing Safety-Related Controller Components
88
Transportation
88
Start-Up and Recommissioning
89
Virus Protection and Network Security
91
Manual Mode
91
Simulation
92
Automatic Mode
92
Maintenance and Repair
92
Decommissioning, Storage and Disposal
94
Safety Measures for "Single Point of Control
94
Applied Norms and Regulations
95
Planning
97
Overview of Planning
97
Electromagnetic Compatibility (EMC)
97
Installation Conditions
98
Connection Conditions
100
Power Supply Connection
101
Power Supply Connection Via X1 Harting Connector
102
Power Supply Connection Via CEE Connector XS1
102
EMERGENCY STOP Circuit and Safeguard
102
Interface X11
105
PE Equipotential Bonding
109
Load Voltage US1 and US2 (Optional)
111
Visualization of the KCP Coupler (Option)
111
RDC Power Supply for Fast Measurement (Option)
111
Saferdc Power Supply for Fast Measurement (Option)
112
Performance Level
114
PFH Values of the Safety Functions
114
Transportation
117
Transportation with the Set of Rollers (Optional)
117
Transportation Using Lifting Tackle
117
Transportation by Pallet Truck
118
Transportation by Fork Lift Truck
119
Start-Up and Recommissioning
121
Start-Up Overview
121
Installing the Robot Controller
123
Connecting the Connecting Cables
123
Connecting the KCP
124
Connecting the PE Equipotential Bonding
124
Connecting the Robot Controller to the Power Supply
124
Reversing the Battery Discharge Protection Measures
124
Connecting the EMERGENCY STOP Circuit and Safeguard
125
Configuring and Connecting Connector X11
125
Switching on the Robot Controller
125
Checking the Direction of Rotation of the External Fan
125
Operation
127
Display and Operator Control Elements of the KCP Coupler (Optional)
127
Uncoupling the KCP
127
Coupling the KCP
128
Booting the Robot Controller from a KUKA USB Stick
128
Maintenance
129
Cleaning the Robot Controller
130
Repair
131
Wiring Example X11
131
Exchanging the Internal Fan
132
Exchanging the External Fan
133
Removal, Installation of the Control PC
134
Exchanging the PC Fans
134
Exchanging the Motherboard Battery
135
Exchanging the Motherboard
135
Exchanging DIMM Memory Modules
135
Exchanging the KVGA Card
136
KVGA Card Settings
137
Exchanging the MFC3 Card
137
Exchanging the DSE-IBS-C33 Card
137
Exchanging the Hard Drive
138
Exchanging the CI3 Board
139
Exchanging the RDC Board
139
Exchanging the Force Sensor Card for RDC
141
Exchanging the Saferdc Board
141
Exchanging the Force Sensor Card for Saferdc
143
Exchanging the I/O Print Board for Saferdc
144
Exchanging the Batteries
145
Exchanging the KPS600
146
Exchanging the KSD
147
Exchanging the KPS-27
148
Exchanging the KCP Coupler Card
148
Exchanging the Pressure Relief Plug
149
Installing the KUKA System Software (KSS)
150
Troubleshooting
151
Repair and Procurement of Spare Parts
151
Control PC Errors
151
MFC3 Errors
152
Field Bus Communication Errors
153
Checking the KCP
153
Fuses and LED Indicators on the CI3 Board
154
CI3 Standard Board
154
CI3 Extended Board
155
CI3 Bus Board
157
CI3 Tech Board
158
Checking the KPS600
160
Checking the KPS-27
163
Testing the KSD
163
Heat Sink Temperature
164
Checking the Temperature Sensor Ballast Resistor
165
Checking the Fans
166
Checking the Motor Winding and Brake
166
Checking the DSE-IBS-C33
167
KCP Coupler LED Display (Optional)
167
KCP Coupler Troubleshooting
169
Leds on the RDC Board
170
Leds on the Saferdc Board
170
Leds on the Force Sensor Card (KSK) for Saferdc (Option)
173
Leds on the I/O Print Board
173
Checking the Saferdc
174
DSE-RDW Diagnosis
174
Description of the User Interface
175
Setting the Language
176
MFC3 Register Display
176
DSE-IBS Information
177
RDC Table
178
RDC Offset and Symmetry Adjustment
178
Check RDC-DSE Communication
179
Drive Bus Diagnostics
181
Drive Bus Error List
181
Drive Bus - KPS
182
Drive Bus - KSD-16
184
KPS600 Error Messages
185
KSD Error Message
186
ESC Diagnosis
186
User Interface
186
Log File
187
ESC Circuit Reset
187
Terminating ESC Diagnosis
187
State Display of the ESC Nodes
188
Troubleshooting
189
Error Display of the ESC Nodes
189
Displaying All Status Bits
191
Configuring Controllers
192
Configuring the Controller Properties
193
Configuring ESC Nodes
194
Selecting the Display for Signals
195
Selecting the Properties of the ESC Node
196
Assigning ESC Nodes to a Controller
197
Error Messages and Troubleshooting
197
KUKA Service
201
Requesting Support
201
KUKA Customer Support
201

Kuka KR C2 Operating Instructions Manual (157 pages)

Brand: Kuka | Category: Robotics | Size: 6 MB

Table of Contents
3
Introduction
9
Target Group
9
Robot System Documentation
9
Representation of Warnings and Notes
9
Terms Used
9
Product Description
11
Overview of the Robot System
11
Overview of the Robot Controller
11
Description of the Control PC
12
PC Interfaces
13
PC Slot Assignment
14
Motherboard
15
Hard Drive
16
CD-ROM Drive (Optional)
16
Floppy Disk Drive (Optional)
16
Multi-Function Card (MFC3)
16
Digital Servo-Electronics (DSE-IBS-C33)
18
KUKA VGA Card (KVGA)
18
Batteries
19
Description of the KUKA Control Panel (KCP)
19
Front View
20
Rear View
21
KCP Coupler (Optional)
21
Electronic Safety Circuit (ESC) Safety Logic
23
ESC Nodes
24
Overview of CI3 Boards
25
CI3 Standard Board
26
CI3 Extended Board
28
CI3 Bus Board
29
CI3 Tech Board
31
Description of the Power Unit
32
Power Supply Unit KPS600
33
Fuses
35
Low-Voltage Power Supply KPS-27
36
KUKA Servo Drive (KSD)
36
Mains Filter
38
Cabinet Cooling
38
Description of Interfaces
39
Power Supply Connection
40
KCP Connector X19
42
Motor Connector X20, Axes 1 to 6
43
Motor Connector X7 (Optional)
44
Data Cable X21, Axes 1 to 8
45
Description of the Mounting Plate for Customer Components (Optional)
45
Technical Data
47
Basic Data
47
KCP Coupler (Optional)
48
Dimensions of Robot Controller
49
Minimum Clearances, Robot Controller
49
Minimum Clearances, Top-Mounted / Technology Cabinet
50
Swing Range for Cabinet Door
50
Plates and Labels
50
Safety
53
System Planning
53
EC Declaration of Conformity and Declaration of Incorporation
53
Installation Site
53
External Safeguards
53
Workspace, Safety Zone and Danger Zone
54
Description
55
Category of the Safety-Oriented Circuits
55
Stop Reactions
55
Labeling on the Robot System
56
Safety Information
56
Safety Features
57
Overview of the Safety Features
57
ESC Safety Logic
57
Operator Safety Input
57
EMERGENCY STOP Button
58
Enabling Switches
58
Jog Mode
59
Mechanical End Stops
59
Mechanical Axis Range Limitation (Option)
59
Axis Range Monitoring (Option)
60
Software Limit Switches
60
Release Device (Option)
60
Kuka.saferobot (Option)
61
Personnel
61
Safety Measures
62
General Safety Measures
62
Transportation
63
Start-Up
63
Programming
64
Automatic Mode
64
Planning
65
Overview of Planning
65
Electromagnetic Compatibility (EMC)
65
Installation Conditions
66
Connection Conditions
67
Power Supply Connection
68
Power Supply Connection Via X1 Harting Connector
69
Power Supply Connection Via CEE Connector XS1
69
EMERGENCY STOP Circuit and Safeguard
70
Interface X11
71
PE Equipotential Bonding
74
Planning the KCP Coupler Option
75
Transportation
77
Transportation Using Lifting Tackle
77
Transportation by Pallet Truck
78
Transportation by Fork Lift Truck
78
Start-Up
79
Start-Up Overview
79
Installing the Robot Controller
80
Connecting the Connecting Cables
80
Connecting the KCP
81
Connecting the PE Equipotential Bonding
81
Connecting the Robot Controller to the Power Supply
81
Reversing the Battery Discharge Protection Measures
82
Connecting the EMERGENCY STOP Circuit and Safeguard
82
Configuring and Connecting Connector X11
82
Switching on the Robot Controller
82
Checking the Direction of Rotation of the External Fan
83
Operation
85
Display and Operator Control Elements of the KCP Coupler (Optional)
85
Uncoupling the KCP
85
Coupling the KCP
85
Booting the Robot Controller from a USB Stick
86
Maintenance
87
Maintenance Table
87
Cleaning the Robot Controller
88
Repair
89
Service Jumper Plug X11
89
Exchanging the Internal Fan
90
Exchanging the External Fan
91
Exchanging the Pressure Relief Plug
91
Exchanging the PC
92
Exchanging the PC Fans
93
Exchanging the Motherboard Battery
94
Exchanging the Motherboard
94
Exchanging DIMM Memory Modules
94
Exchanging the Batteries
95
Removal and Installation of the CD-ROM Drive (Optional)
96
Removal and Installation of the Floppy Disk Drive (Optional)
97
Exchanging the Hard Drive
98
Exchanging the KVGA Card
98
KVGA Card Settings
99
Exchanging the MFC3 Card
99
Exchanging the DSE-IBS-C33 Card
99
Exchanging the KPS600
100
Exchanging the KPS-27
100
Exchanging the KSD
101
Removal and Installation of the KCP Coupler
102
Installing the KUKA System Software (KSS)
102
Troubleshooting
103
Repair and Procurement of Spare Parts
103
PC Fault Profiles
103
MFC3 Error Messages
105
KCP Error Messages
105
Field Bus Communication Error Messages
106
Fuses and LED Indicators on the CI3 Board
106
CI3 Standard Board
106
CI3 Extended Board
108
CI3 Bus Board
109
CI3 Tech Board
110
KPS 600 Fuses, Messages and Error Displays
112
Error Messages
115
Error Messages on the KSD
115
KCP Coupler LED Display (Optional)
117
KCP Coupler Troubleshooting
119
DSE-RDW Diagnosis
120
Description of the User Interface
120
Setting the Language
121
MFC3 Register Display
121
DSE IBS Information
122
RDC Table
123
RDC Offset and Symmetry Adjustment
124
Check RDC-DSE Communication
125
Drive Bus Diagnostics
127
Drive Bus Error List
128
Drive Bus - KPS
128
Drive Bus - KSD-16
130
KPS600 Error Messages
131
KSD Error Messages
132
ESC Diagnosis
132
User Interface
132
Log File
133
ESC Circuit Reset
133
Terminating ESC Diagnosis
133
State Display of the ESC Nodes
134
Error Display of the ESC Nodes
135
Displaying All Status Bits
136
Configuring Controllers
137
Configuring the Controller Properties
138
Configuring ESC Nodes
139
Selecting the Display for Signals
140
Selecting the Properties of the ESC Node
141
Assigning ESC Nodes to a Controller
142
Error Messages and Troubleshooting
142
Appendix
145
KUKA Service
147
Requesting Support
147
KUKA Customer Support
147
Index
153

Kuka KR C2 Operating Handbook (96 pages)

Machine Data

Brand: Kuka | Category: Controller | Size: 0 MB

Table of Contents
3
1 Introduction

8
- Characteristics
  8
- System Requirements
  8
- Software
  8
- Hardware
  8
2 The File $MACHINE.DAT

9
- Description of the Individual Machine Data
  9
- V_R1Mada[ ]
  9
- Tech_Max
  9
- Num_Ax
  10
- Axis_Type[ ]
  11
- Coup_Comp[ ]
  11
- Excoup_Comp[ ]
  11
- Mames[ ]
  12
- Robroot
  13
- Ersysroot
  14
- Rat_Mot_Ax[ ]
  15
- Rat_Mot_Enc[ ]
  16
- Dsechannel[ ]
  16
- Pmchannel[ ]
  18
- Loop_Lg_Ptp[ ]
  19
- Loop_G_Vel_Ptp[ ]
  19
- Loop_I_Vel_Ptp[ ]
  20
- Loop_Direction[ ]
  20
- Slave_Loop_Fol_Critical[ ]
  20
- Slave_Loop_Fol_Alarm[ ]
  21
- Slave_Loop_Speed_Alarm[ ]
  21
- Slave_Loop_Pmchannel[Ln]
  21
- Loop_Type[Ln]
  21
- Loop_Type_Attribute[ ]
  22
- Master_Loop[Ln]
  22
- Slave_Torque_Ratio[ ]
  23
- Ninput_Sensortype[Ln]
  23
- Ninput_Sensorchannel[Ln]
  24
- Ninput_Subchannel[Ln]
  24
- Posinput_Sensortype[Ln]
  25
- Posinput_Sensorchannel[Ln]
  25
- Posinput_Subchannel[Ln]
  25
- Torqinput_Sensortype[Ln]
  26
- Loop_Rat_Mot_Ax[ ]
  26
- Loop_Rat_Extpos_Ax[ ]
  26
- Motor_Pole_Number[ ]
  27
- Servofile_Config[ ]
  27
- Servofilekps1[ ]
  27
- Curr_Max[ ]
  28
- Curr_Cal[ ]
  28
- Curr_Lim[I]
  29
- Curr_Mon[I]
  29
- Kps_Curr_Max
  30
- Kps_Curr_Rated
  30
- Curr_Com_Ex[ ]
  30
- Kt_Mot[ ]
  31
- Kt0_Mot[ ]
  31
- Raise_Time[ ]
  31
- Raise_T_Mot[ ]
  32
- Vel_Axis_Ma[ ]
  32
- Vel_Cpt1_Ma
  33
- Vel_Dse_Ma[ ]
  33
- Axis_Reso[ ]
  33
- Red_Vel_Axc[ ]
  34
- Red_Acc_Axc[ ]
  34
- Red_Acc_Dyn
  35
- Red_Vel_Cpc
  35
- Red_Acc_Cpc
  35
- Vel_Cp_T1
  35
- Vel_Cp_Com
  35
- Red_Jus_Ueb
  36
- Red_Acc_Ov[ ]
  36
- Acc_Car_Tool
  36
- Acc_Car_Limit
  37
- Acc_Car_Act
  37
- Acc_Car_Stop
  37
- Red_Acc_Emx[ ]
  38
- Warmup_Red_Vel
  38
- Warmup_Time
  39
- Cooldown_Time
  39
- Warmup_Curr_Limit
  39
- Warmup_Min_Fac
  39
- Warmup_Slew_Rate
  39
- St_Tol_Vel[ ]
  40
- St_Tol_Time
  40
- Bounce_Time
  41
- Vel_Ax_Jus[ ]
  41
- Sen_Del[ ]
  41
- L_Emt_Max[ ]
  42
- G_Vel_Cal
  42
- Lg_Ptp[ ]
  42
- Lg_Cp[ ]
  43
- Tc_Sym
  43
- Decel_Mb[]
  43
- G_Coe_Cur
  44
- G_Vel_Ptp[ ]
  44
- G_Vel_Cp[ ]
  44
- I_Vel_Ptp[ ]
  45
- I_Vel_Cp[ ]
  45
- Vel_Filt[ ]
  46
- Tm_Con_Vel
  46
- Apo_Dis_Ptp[ ]
  46
- Acc_Ma
  47
- Vel_Ma
  47
- Acc_Ov
  48
- Red_T1
  48
- Def_Flt_Ptp
  48
- Def_Flt_Cp
  48
- Def_Ov_Jog
  49
- Ana_Del_Flt
  49
- 100 $Seq_Cal
  49
- 101 $Dir_Cal
  49
- 102 $Red_Cal_Sd
  50
- 103 $Red_Cal_Sf
  50
- 104 $Brk_Mode
  50
- Maschinendaten 12.0400 en
  51
- 105 $Brk_Opentm
  52
- 106 $Brk_Del_Com
  52
- 107 $Brk_Del_Pro
  53
- 108 $Brk_Del_Ex
  54
- 109 $Serv_Off_Tm
  54
- 110 $Ms_Da
  54
- 111 $Ffc_Vel
  55
- 112 $Ffc_Torq
  55
- 113 $Geartorq_Mon
  55
- 114 $Servomode
  56
- 115 $Acc_Act_Ma
  56
- 116 $Vel_Act_Ma
  56
- 117 $In_Pos_Car
  57
- 118 $In_Pos_Ori
  57
- 119 $In_Pos_Ma[ ]
  58
- 120 $Time_Pos[ ]
  59
- 121 $In_Still_Ma
  59
- 122 $Fol_Err_Ma[ ]
  60
- 123 $Vel_Enc_Co
  60
- 124 $Com_Val_Mi[ ]
  60
- 125 $Tl_Com_Val
  61
- 126 $Touch_Vel
  61
- 127 $Touch_Acc
  61
- 128 $Softn_End[ ]
  61
- 129 $Softp_End[ ]
  62
- 130 $Axworkspace
  62
- 131 $Brk_Max_Tm
  62
- 132 $Emstop_Time
  63
- 133 $Act_Val_Dif
  63
- 134 $Trafoname
  63
- 135 $Kinclass
  63
- 136 $Ax_Sim_On
  64
- 137 $Simulated_Axis
  64
- 138 $Trafo_Axis
  65
- 139 $Main_Axis
  65
- 140 $Wrist_Axis
  69
- 141 $A4_Par
  69
- 142 $Def_A4Fix
  70
- 143 $Def_A5Link
  70
- 144 $Spindle
  71
- 145 $Axis_Seq
  71
- 146 $Axis_Dir[ ]
  72
- 147 $Inc_Axis
  72
- 148 $Inc_Extax[ ]
  73
- 149 $Inc_Car[ ]
  73
- 150 $Pos_Swb[ ]
  73
- 151 $Singul_Pos
  74
- 152 $Dis_Wrp1
  74
- 153 $Dis_Wrp2
  74
- 154 $Ori_Check
  75
- 155 $Tiroro
  75
- 156 $Tflwp
  76
- 157 $Tx3P3
  76
- 158 $Length_A
  76
- 159 $Length_B
  76
- 160 $Dh_4
  77
- 161 $Dh_5
  77
- 162 $Spin_A
  78
- 163 $Spin_B
  78
- 164 $Spin_C
  78
- 165 $Trp_A
  78
- 166 $Spc_Kin
  79
- 167 $Asr_Error
  79
- 168 $Rat_Ext_Enc
  79
- 169 $Ax_Energy_Max[ ]
  80
- 169.1Kinetic Energy
  80
- 169.2Potential Energy
  81
- 169.3Maximum Energy of the Linear Unit
  81
- 169.4Maximum Energy of a Turntable
  81
- 170 $Brk_Energy_Max[ ]
  81
- 171 $Brk_Cool_Off_Coeff[ ]
  81
- 172 $Brk_Torque[ ]
  82
- Machine Data for External Axes
  83
- Ex_Ax_Num
  83
- Ex_Ax_Async
  84
- Async_T1_Fast
  84
- Maschinendaten 12.0400 en
  85
- Async_Ex_Ax_Decouple
  86
- Interaction with System Variables
  87
- Ex_Kin
  88
- Et1_Ax
  88
- Et1_Name[ ]
  89
- Et1_Ta1Kr
  89
- Et1_Ta2A1
  90
- Et1_Ta3A2
  90
- Et1_Tfla3
  90
- Et1_Tpinfl
  91

Kuka KR C2 User Manual (89 pages)

CONTROL CABINET

Brand: Kuka | Category: Controller | Size: 1 MB

Table of Contents
3
1 Repair and Procurement of Spare Parts

7
2 Fault Analysis and Elimination

8
3 Typical Fault Profiles

9
4 Servo Drive Module Messages and Error Displays

25
- Servo Drive Module Leds (KSD1)
  25
- KCP Messages for Drives Diagnosis
  26
5 KPS- - 600 Messages and Error Displays

27
6 KPS- -27 Operating State Indicators

31
7 DSE- -IBS Operating State Indicators

32
8 RDC2 Operating State Indicators

33
9 ESC Diagnostic Tool

34
- Softkey Bar
  35
- ESC Diagnosis Error Messages
  37
10 DSE- - RDW Diagnostic Tool

39
- Main Menu of the DSE--RDW Diagnostic Tool
  39
- Language Selection
  40
- System Info
  41
- MFC2 Register Display
  42
- DSE IBS Information
  43
- Display RDC Table
  44
- RDC Offset and Symmetry Adjustment
  45
- Check RDC--DSE Communication
  46
- Drive Bus Diagnostics
  47
- Drive Bus Error List
  48
- Drive Bus Diagnostics -- KPS--2
  49
- Drive Bus KSD 1--16
  50
- Error Messages Valid for the KPS--600
  51
- Error Messages Valid for the Ksds
  52
11 Oscilloscope

53
- Display
  53
- File Selection
  54
- Oscilloscope Screen
  54
- The Information Window
  55
- The Softkey Bar
  56
- The Color Softkeys
  56
- The Scaling Function
  57
- The Zoom Function
  58
- The Save Function
  58
- The R.M.s. Value Function
  58
- Print
  60
- The Cursor Functions
  60
- The Filter Function
  63
- Superposing Traces
  64
- Changing Color Assignments
  66
- Switching Curves on and off
  67
- Configure
  68
- General
  70
- Trigger Condition
  71
- Trace Status
  73
- Trace Data
  73
- Examples of a Trace
  77
12 Robot Repair Card

81

Kuka KR C2 Assembly Instructions Manual (106 pages)

Brand: Kuka | Category: Robotics | Size: 2 MB

Table of Contents
3
Introduction
7
Documentation of the Industrial Robot
7
Representation of Warnings and Notes
7
Purpose
9
Intended Use
9
Target Group
10
Product Description
11
General
11
Wrist
12
Arm
13
Link Arm
14
Main Axis Motor Units A1 to A3
15
Rotating Column
16
Base Frame
18
Working Range Limitation for A1
19
Working Range Monitoring for A1 and A2
19
Energy Supply System
19
Technical Data
21
General
21
Principal Data
23
Safety
35
Representation of Warnings and Notes
35
General
35
Liability
36
Intended Use of the Industrial Robot
36
EC Declaration of Conformity and Declaration of Incorporation
37
Terms Used
38
Personnel
39
Workspace, Safety Zone and Danger Zone
40
Overview of Protective Equipment
41
Mechanical End Stops
41
Mechanical Axis Range Limitation (Optional)
42
Axis Range Monitoring (Optional)
42
Options for Moving the Manipulator Without Drive Energy
42
Labeling on the Industrial Robot
44
Safety Measures
44
General Safety Regulations
44
Transportation
46
Start--Up and Recommissioning
46
Manual Mode
47
Automatic Mode
48
Maintenance and Repair
48
Decommissioning, Storage and Disposal
50
Applied Norms and Regulations
51
Transportation
53
Installation
57
General
57
Information for Planning
58
Principal Loads
59
Mounting Variants
60
Mounting Base with Centering
60
Machine Frame Mounting
65
Adapter Plate
67
Installation
69
Moving the Manipulator Without Drive Energy
72
Electrical Installations
73
Description
73
Cabling Plans and Wiring Diagrams
77
Wiring Diagram
81
Connecting Cables
83
General
83
Routing of Cables
84
Junction Boxes on the Manipulator
84
Coding
85
Connector Panel on the Control Cabinet
85
Configuration of the Connecting Cables
86
Connector Pin Allocation
87
Tightening Torques
89
Tightening Torques, Standard
89
Consumables, Safety Data Sheets
91
Safety Data Sheet for Optitemp RB1 Cable Grease
91
Toxicological Information
92
Safety Data Sheet for Optimol Olit CLS Lubricating Grease
94
Disposal Information
101

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